AGV logistics vehicle scheduling simulation method and system based on flexible island assembly mode

Abstract

The invention provides an AGV logistics vehicle scheduling simulation method and system based on a flexible island assembly mode. The method comprises the steps of obtaining a product production demand; the product production requirement is input to a preset flexible island simulation model, so that the flexible island simulation model determines a corresponding technological process according to the product production requirement, simulation is conducted on an actual scheduling process according to the technological process, and an initial simulation result is generated, the flexible island simulation model is constructed and obtained based on a flexible island production line, and comprises a mechanical arm model, an AGV logistics vehicle model and a scheduling system model; and if the initial simulation result meets a preset condition, outputting a model parameter corresponding to the initial simulation result, otherwise, adjusting the model parameter and performing analogue simulation again, and making a quick response in time according to the product adjustment and rhythm demand of the flexible island, thereby improving the flexibility and production efficiency of the flexible island production line.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle logistics scheduling, and in particular to a simulation method and system for scheduling AGV logistics vehicles based on a flexible island assembly method. Background Art

[0002] With the deepening of lean manufacturing concepts, production methods are developing in a more intelligent direction. Products, equipment, and material interactions are increasingly transmitted in the form of digital information. Lean manufacturing flexible islands are a production method that integrates intelligence, unmanned, and digitalization; different from traditional assembly lines, it is a production line that combines dynamic and static. Flexible islands are flexible in production, mainly using robotic arms to achieve fully automatic assembly, with a high degree of automation. Flexible islands can also switch production rhythms according to product types, which can adapt to the production needs of diversified products and have great results in product assembly. In order to meet the needs of flexible switching of products on flexible islands, material distribution requirements are usually supplemented by AGV intelligent mobile robots, requiring AGV carts to deliver different materials according to the needs of production products, and adjust the delivery speed when the rhythm changes. These distribution tasks require AGV carts to synchronize with production line adjustments, and can respond quickly to product adjustments and rhythm requirements of flexible islands in a timely manner.

[0003] However, the higher the degree of intelligence, the more complex the production requirements, the more derived data types and the larger the data volume. In order to design a material distribution scenario function that meets the requirements and is lean and efficient, the most direct way is to adjust the various data of the AGV car through actual scenario testing. However, actual scenario testing will consume a lot of manpower, material resources, time and other costs, the test effect cannot be seen once, and the test cycle is long. Therefore, it is possible to consider simulating the above-mentioned lean manufacturing scenario function requirements, pre-positioning the test content, and through simulation methods, combining the actual scenario and the current production layout, generate the optimal solution for the coordination of car material distribution and flexible island production. Summary of the invention

[0004] In response to the above technical problems, the present application provides a simulation method and system for scheduling AGV logistics vehicles based on the flexible island assembly method. By simulating the scheduling process between the AGV logistics vehicle and the robotic arm, it can respond quickly according to the product adjustment and rhythm requirements of the flexible island, thereby improving the flexibility and production efficiency of the flexible island production line.

[0005] In a first aspect, an embodiment of the present application provides a simulation method for scheduling an AGV logistics vehicle based on a flexible island assembly method, comprising:

[0006] Obtain product production requirements;

[0007] The product production demand is input into a preset flexible island simulation model, so that the flexible island simulation model determines the corresponding process flow according to the product production demand, and simulates the actual scheduling process according to the process flow to generate an initial simulation result, wherein the flexible island simulation model is constructed based on the flexible island production line, including a robotic arm model, an AGV logistics vehicle model and a scheduling system model;

[0008] If the initial simulation result meets the preset conditions, the model parameters corresponding to the initial simulation result are output; otherwise, the model parameters are adjusted and the simulation is performed again.

[0009] The embodiment of the present application provides a simulation method for scheduling AGV logistics vehicles based on a flexible island assembly method. By constructing a flexible island simulation model to simulate the actual scheduling process of the flexible island production line, when the product production demand changes in the actual production process, the process flow, production rhythm and material demand will change, and then the material distribution demand for the AGV logistics vehicle will also change. At this time, the embodiment of the present application can input the product production demand into the preset flexible island simulation model, and automatically determine the above-mentioned unknown parameters through simulation, so that the actual production process of the flexible island matches the product production demand, thereby improving the flexibility of the flexible island production line. In addition, before outputting the model parameters, the embodiment of the present application verifies the initial simulation results. If the initial simulation results do not meet the preset conditions, it means that the model parameters preset by the simulation model cannot achieve the expected production efficiency. Then, the model parameters are further adjusted and re-simulated to search for the optimal production plan and improve the production efficiency of the flexible island production line.

[0010] Furthermore, the flexible island simulation model is obtained based on the flexible island production line, including:

[0011] According to the factory layout, path planning and robotic arm entity of the flexible island production line, a corresponding conveyor belt model, a virtual path and a robotic arm model are constructed;

[0012] According to the virtual path, a number of control points are set;

[0013] Construct an AGV logistics vehicle model according to the preset AGV logistics vehicle parameters, wherein the AGV logistics vehicle parameters include the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle;

[0014] Import the preset process flow chart and shift schedule to determine the process flow and production rhythm corresponding to each product;

[0015] The scheduling system model is constructed according to the scheduling algorithm used by the flexible island production line.

[0016] The embodiment of the present application provides a method for constructing a flexible island simulation model. By setting a virtual path and several control points, the AGV logistics vehicle model can move on the virtual path through the control points to simulate the actual logistics vehicle operation trajectory; at the same time, a mechanical arm model is constructed to interact with the logistics vehicle model to simulate the warehousing process of the logistics vehicle. Finally, the various parameters in the flexible island simulation model are initialized and set through the preset AGV logistics vehicle parameters, process flow table and shift table to provide a data basis for subsequent simulation.

[0017] In a possible implementation, the flexible island simulation model simulates the actual scheduling process according to the process flow to generate an initial simulation result, including:

[0018] Determine the current production rhythm of the flexible island simulation model according to the product production demand;

[0019] Determine the total amount of materials required according to the current production rhythm and the product production demand;

[0020] Determine the number of vehicles and vehicle running speed of the AGV logistics vehicle model according to the current production rhythm and the total amount of materials required;

[0021] Simulating the actual scheduling process according to the process flow and current model parameters to generate initial simulation results;

[0022] In the simulation, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model.

[0023] In an embodiment of the present application, when the simulation model obtains the latest product production demand, it simulates the situation when the production rhythm and process flow change in the actual production process, and automatically adjusts the current model parameters. First, adjust the production line part to determine the current production rhythm and the total amount of materials required according to the production demand. Then adjust the material distribution part, determine the required number of AGV logistics vehicles and the operating speed of the AGV logistics vehicle according to the current production rhythm and the required total amount of materials, and finally simulate the actual scheduling process according to the adjusted model parameters. During the simulation process, the embodiment of the present application establishes an information interaction structure of the robot arm-scheduling system model-logistics vehicle. The scheduling system model obtains the feedback information of each robot arm model in real time, and then controls the driving process of each AGV logistics vehicle model according to the feedback information.

[0024] Furthermore, the determining of the number of vehicles and the vehicle running speed of the AGV logistics vehicle model according to the current production cycle and the total amount of materials required includes:

[0025] Determine the required materials for a single production cycle according to the current production cycle and the total amount of required materials;

[0026] Determine the number of vehicles of the AGV logistics vehicle model according to the required materials of the single beat and the number of materials delivered by a single vehicle of the AGV logistics vehicle model;

[0027] The vehicle running speed of the AGV logistics vehicle model is determined according to the current production rhythm, the factory layout of the flexible island production line and the path planning.

[0028] Furthermore, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model, including:

[0029] When the AGV logistics vehicle model reaches a preset judgment control point, the storage request information of the judgment control point is obtained;

[0030] Forward the entry request information to the mechanical arm model corresponding to the judgment control point, so that the mechanical arm model confirms whether there are other AGV logistics vehicle models in the corresponding storage location. If not, generate feedback information to allow entry, otherwise, generate feedback information to suspend entry;

[0031] The feedback information of the robotic arm model is obtained, and a corresponding control instruction is generated to the judgment control point according to the content of the feedback information, so that the AGV logistics vehicle model continues to drive or stops driving.

[0032] The embodiment of the present application intervenes in the driving trajectory of the logistics vehicle by judging the control point, thereby realizing the scheduling of each AGV logistics vehicle model by the scheduling system model. Specifically, when the AGV logistics vehicle model arrives at the judgment control point according to the preset driving path, it is necessary to judge whether it can be put into storage based on the production situation of the production line, and the information about the production line is obtained and transmitted through each robotic arm model. During the data transmission process, the scheduling system model is located between the AGV logistics vehicle model and the robotic arm model. It is responsible for collecting and forwarding the request information of each AGV logistics vehicle model and the feedback information of each robotic arm model, and scheduling each logistics vehicle based on the integrated production line information and logistics distribution information. It can more accurately simulate the scheduling process of the AGV logistics vehicle in the actual production process and improve the accuracy of the simulation.

[0033] In a possible implementation manner, adjusting the model parameters and re-simulating includes:

[0034] According to the preset parameter adjustment sequence and parameter adjustment range, the various model parameters of the AGV logistics vehicle model are adjusted in sequence, including the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle;

[0035] After each adjustment of the model parameters, the simulation is re-performed according to the adjusted model parameters to generate corresponding comparative simulation results;

[0036] An optimal simulation result with the highest production efficiency is determined from the initial simulation result and each of the comparative simulation results, and a model parameter corresponding to the optimal simulation result is output.

[0037] In an embodiment of the present application, the optimal scheduling and distribution plan is obtained by controlling the single variable method in a simulation environment. When the initial simulation results do not meet the preset conditions, the various parameters in the model are automatically adjusted according to the preset parameter adjustment sequence and parameter adjustment range, and the simulation is re-performed after each adjustment of the model parameters, and the optimal simulation results and corresponding model parameters are determined from each simulation result, so as to achieve automated model parameter optimization and improve the efficiency of model parameter optimization. In addition, in the subsequent parameter optimization process, the embodiment of the present application is not limited to making the simulation results meet the preset conditions, but simulates multiple scheduling and distribution plans through the preset parameter adjustment sequence and parameter adjustment range, and determines the optimal scheduling and distribution plan, thereby further improving the production efficiency of the flexible island production line.

[0038] Furthermore, the step of sequentially adjusting various model parameters of the AGV logistics vehicle model according to a preset parameter adjustment sequence and parameter adjustment range also includes:

[0039] Adjust the average full load rate, average empty load rate and average maintenance time ratio of the AGV logistics vehicle model;

[0040] Adjust the acceleration at startup, deceleration value during braking, running speed of different path segments, loading time, unloading time, no-load power consumption rate and full-load power consumption rate of the AGV logistics vehicle model.

[0041] In a second aspect, an embodiment of the present application provides a simulation system for scheduling AGV logistics vehicles based on a flexible island assembly method, including an acquisition module, a simulation module, and a parameter adjustment module;

[0042] Wherein, the acquisition module is used to obtain product production requirements;

[0043] The simulation module is used to input the product production demand into a preset flexible island simulation model, so that the flexible island simulation model determines the corresponding process flow according to the product production demand, and simulates the actual scheduling process according to the process flow to generate an initial simulation result, wherein the flexible island simulation model is constructed based on the flexible island production line, including a robotic arm model, an AGV logistics vehicle model and a scheduling system model;

[0044] The parameter adjustment module is used to output the model parameters corresponding to the initial simulation results if the initial simulation results meet the preset conditions, otherwise adjust the model parameters and re-perform the simulation.

[0045] In a possible implementation manner, the flexible island simulation model is constructed based on the flexible island production line, including:

[0046] According to the factory layout, path planning and robotic arm entity of the flexible island production line, a corresponding conveyor belt model, a virtual path and a robotic arm model are constructed;

[0047] According to the virtual path, a number of control points are set;

[0048] Construct an AGV logistics vehicle model according to the preset AGV logistics vehicle parameters, wherein the AGV logistics vehicle parameters include the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle;

[0049] Import the preset process flow chart and shift schedule to determine the process flow and production rhythm corresponding to each product;

[0050] The scheduling system model is constructed according to the scheduling algorithm used by the flexible island production line.

[0051] In a possible implementation, the flexible island simulation model simulates the actual scheduling process according to the process flow to generate an initial simulation result, including:

[0052] Determine the current production rhythm of the flexible island simulation model according to the product production demand;

[0053] Determine the total amount of materials required according to the current production rhythm and the product production demand;

[0054] Determine the number of vehicles and vehicle running speed of the AGV logistics vehicle model according to the current production rhythm and the total amount of materials required;

[0055] Simulating the actual scheduling process according to the process flow and current model parameters to generate initial simulation results;

[0056] In the simulation, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 : A flow chart of a simulation method for scheduling AGV logistics vehicles based on a flexible island assembly method provided in an embodiment of the present application.

[0058] Figure 2 : A flow chart of determining the number of vehicles by a flexible island simulation model in a simulation method for scheduling AGV logistics vehicles based on a flexible island assembly method provided in an embodiment of the present application.

[0059] Figure 3 : Schematic diagram of the information interaction structure of each model in a simulation method for AGV logistics vehicle scheduling based on a flexible island assembly method provided in an embodiment of the present application.

[0060] Figure 4 : A structural schematic diagram of a simulation system for AGV logistics vehicle scheduling based on a flexible island assembly method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] It should be noted that the step numbers in the text are only for the convenience of explanation of the specific embodiments and do not serve to limit the order in which the steps are executed. In the description of this application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0063] Embodiment 1:

[0064] like Figure 1 As shown, the first embodiment provides a simulation method for AGV logistics vehicle scheduling based on a flexible island assembly method, including steps S1-S3:

[0065] Step S1, obtaining product production requirements;

[0066] Step S2, inputting the product production demand into a preset flexible island simulation model, so that the flexible island simulation model determines the corresponding process flow according to the product production demand, and simulates the actual scheduling process according to the process flow to generate an initial simulation result, wherein the flexible island simulation model is constructed based on the flexible island production line, including a robotic arm model, an AGV logistics vehicle model and a scheduling system model;

[0067] Step S3: if the initial simulation result meets the preset conditions, the model parameters corresponding to the initial simulation result are output; otherwise, the model parameters are adjusted and the simulation is performed again.

[0068] The embodiment of the present application provides a simulation method for scheduling AGV logistics vehicles based on a flexible island assembly method. By constructing a flexible island simulation model to simulate the actual scheduling process of the flexible island production line, when the product production demand changes in the actual production process, the process flow, production rhythm and material demand will change, and then the material distribution demand for the AGV logistics vehicle will also change. At this time, the embodiment of the present application can input the product production demand into the preset flexible island simulation model, and automatically determine the above-mentioned unknown parameters through simulation, so that the actual production process of the flexible island matches the product production demand, thereby improving the flexibility of the flexible island production line. In addition, before outputting the model parameters, the embodiment of the present application verifies the initial simulation results. If the initial simulation results do not meet the preset conditions, it means that the model parameters preset by the simulation model cannot achieve the expected production efficiency. Then, the model parameters are further adjusted and re-simulated to search for the optimal production plan and improve the production efficiency of the flexible island production line.

[0069] Further, in step S2, the flexible island simulation model is constructed based on the flexible island production line, including:

[0070] According to the factory layout, path planning and robotic arm entity of the flexible island production line, a corresponding conveyor belt model, a virtual path and a robotic arm model are constructed;

[0071] According to the virtual path, a number of control points are set;

[0072] Construct an AGV logistics vehicle model according to the preset AGV logistics vehicle parameters, wherein the AGV logistics vehicle parameters include the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle;

[0073] Import the preset process flow chart and shift schedule to determine the process flow and production rhythm corresponding to each product;

[0074] The scheduling system model is constructed according to the scheduling algorithm used by the flexible island production line.

[0075] The embodiment of the present application provides a method for constructing a flexible island simulation model. By setting a virtual path and several control points, the AGV logistics vehicle model can move on the virtual path through the control points to simulate the actual logistics vehicle operation trajectory; at the same time, a mechanical arm model is constructed to interact with the logistics vehicle model to simulate the warehousing process of the logistics vehicle. Finally, the various parameters in the flexible island simulation model are initialized and set through the preset AGV logistics vehicle parameters, process flow table and shift table to provide a data basis for subsequent simulation.

[0076] In a preferred embodiment, the main process of constructing the flexible island simulation model can be divided into two parts. The first part is to construct a three-dimensional entity, including:

[0077] 1. Use CAD maps to import factory layout and path planning;

[0078] 2. By establishing a three-dimensional entity of the robot arm to represent the assembly robot arm entity;

[0079] 3. By building a conveyor belt, the conveyor belt is used as a platform for the robotic arm to grab materials;

[0080] 4. By establishing a task executor entity, it is used to simulate the main body of material distribution;

[0081] 5. By establishing control points, it represents the path navigation points and path information acquisition nodes during the operation of the AGV logistics vehicle;

[0082] 6. By establishing a path, the path sets direction, length and width according to the plan;

[0083] 7. Use the Computer entity to simulate the scheduling system. All tasks of AGV logistics vehicle material distribution are mainly executed under the deployment of the scheduling system. At the same time, the information feedback from the robotic arm is processed and fed back to the vehicle.

[0084] The second part is to set the parameters for initialization based on the constructed 3D entity, including:

[0085] 1. Initialize and set the AGV logistics vehicle parameters, including the number of vehicles, vehicle operation path and direction, vehicle operation speed and the number of materials delivered by a single vehicle;

[0086] 2. The product rhythm is determined by the product assembly process. By importing the preset process flow table, the correspondence between each product and the process flow can be established, and then the initial rhythm of each product can be determined. Then the shift schedule is imported to execute the preset flexible island production target under this shift. In the subsequent simulation process, the product output of the production line can be affected by adjusting the assembly time of different product production lines, thereby affecting the rhythm and simulating the rhythm adjustment process.

[0087] 3. Input product parameters and create a timestamp to record the entire process of the production line from the start to the end of production.

[0088] In a possible implementation, in step S2, the flexible island simulation model simulates the actual scheduling process according to the process flow to generate an initial simulation result, including:

[0089] Determine the current production rhythm of the flexible island simulation model according to the product production demand;

[0090] Determine the total amount of materials required according to the current production rhythm and the product production demand;

[0091] Determine the number of vehicles and vehicle running speed of the AGV logistics vehicle model according to the current production rhythm and the total amount of materials required;

[0092] Simulating the actual scheduling process according to the process flow and current model parameters to generate initial simulation results;

[0093] In the simulation, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model.

[0094] In an embodiment of the present application, when the simulation model obtains the latest product production demand, it simulates the situation when the production rhythm and process flow change in the actual production process, and automatically adjusts the current model parameters. First, adjust the production line part to determine the current production rhythm and the total amount of materials required according to the production demand. Then adjust the material distribution part, determine the required number of AGV logistics vehicles and the operating speed of the AGV logistics vehicle according to the current production rhythm and the required total amount of materials, and finally simulate the actual scheduling process according to the adjusted model parameters. During the simulation process, the embodiment of the present application establishes an information interaction structure of the robot arm-scheduling system model-logistics vehicle. The scheduling system model obtains the feedback information of each robot arm model in real time, and then controls the driving process of each AGV logistics vehicle model according to the feedback information.

[0095] In a preferred embodiment, the determination of the total amount of materials required based on the current production rhythm and the product production demand is mainly achieved through the signal interaction between the scheduling system model and the robotic arm model. When the rhythm changes, the robotic arm feeds the rhythm back to the scheduling system, and the scheduling system recalculates the material demand information under the changed rhythm. The specific process is that when the rhythm changes, the product type remains unchanged, and the quantity required for a single product remains unchanged, the material system confirms the effective total production time of the current shift, and then calculates the total amount of materials required = (total production time / changed rhythm * quantity required for a single product); similarly, when the rhythm and product model change at the same time, the quantity of materials required for product assembly at each rhythm changes, the rhythm changes, and the total amount of materials required = (total production time / changed rhythm * quantity required for a single product).

[0096] Furthermore, the determining of the number of vehicles and the vehicle running speed of the AGV logistics vehicle model according to the current production cycle and the total amount of materials required includes:

[0097] Determine the required materials for a single production cycle according to the current production cycle and the total amount of required materials;

[0098] Determine the number of vehicles of the AGV logistics vehicle model according to the required materials of the single beat and the number of materials delivered by a single vehicle of the AGV logistics vehicle model;

[0099] The vehicle running speed of the AGV logistics vehicle model is determined according to the current production rhythm, the factory layout of the flexible island production line and the path planning.

[0100] Specifically, when the current beat and the materials required for the product are determined, the materials required at a single beat are compared with the material delivery quantity of a single AGV logistics vehicle model to obtain the number of AGV logistics vehicles required at a single beat. In addition, the system obtains the total delivery time of the AGV logistics vehicle according to the layout, and determines whether the delivery speed of the vehicle at a single beat can meet the material demand, thereby determining the vehicle running speed of the AGV logistics vehicle model. In the subsequent simulation process, the scheduling system can flexibly allocate the number of AGV logistics vehicles, the number of materials delivered by a single AGV logistics vehicle, and the vehicle running speed. The specific steps for the flexible island simulation model to determine the number of vehicles of the AGV logistics vehicle model are as follows. Figure 2 shown.

[0101] Furthermore, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model, including:

[0102] When the AGV logistics vehicle model reaches a preset judgment control point, the storage request information of the judgment control point is obtained;

[0103] Forward the entry request information to the mechanical arm model corresponding to the judgment control point, so that the mechanical arm model confirms whether there are other AGV logistics vehicle models in the corresponding storage location. If not, generate feedback information to allow entry, otherwise, generate feedback information to suspend entry;

[0104] The feedback information of the robotic arm model is obtained, and a corresponding control instruction is generated to the judgment control point according to the content of the feedback information, so that the AGV logistics vehicle model continues to drive or stops driving.

[0105] The embodiment of the present application intervenes in the driving trajectory of the logistics vehicle by judging the control point, thereby realizing the scheduling of each AGV logistics vehicle model by the scheduling system model. Specifically, when the AGV logistics vehicle model arrives at the judgment control point according to the preset driving path, it is necessary to judge whether it can be put into storage based on the production situation of the production line, and the information about the production line is obtained and transmitted through each robotic arm model. During the data transmission process, the scheduling system model is located between the AGV logistics vehicle model and the robotic arm model. It is responsible for collecting and forwarding the request information of each AGV logistics vehicle model and the feedback information of each robotic arm model, and scheduling each logistics vehicle based on the integrated production line information and logistics distribution information. It can more accurately simulate the scheduling process of the AGV logistics vehicle in the actual production process and improve the accuracy of the simulation.

[0106] During the scheduling simulation process, the simulation model schedules and controls each AGV logistics vehicle model through control points. The simulation model replaces the QR code in actual production by establishing control points. In actual production, the QR code consists of a unique serial number, which can guide the vehicle to reset its function. The vehicle relies on the QR code to navigate and perform the distribution tasks of the scheduling system. During the simulation process, when the AGV logistics vehicle model reaches the flexible island judgment control point, the AGV logistics vehicle model feeds back the control point information to the scheduling system model, and the scheduling system model then feeds back a request signal to the robotic arm model. The robotic arm model gives in to allow the AGV logistics vehicle model to enter the workstation or feeds back a signal to prevent the AGV logistics vehicle model from entering the workstation based on the request signal fed back by the system. The information interaction structure among the robotic arm, scheduling system model, and logistics vehicle is shown in the figure. Figure 3 shown.

[0107] The information of the control point corresponds to the QR code of the actual production site, which contains a series of information, including the XY position in the system and different action command triggers. The AGV logistics vehicle model and the scheduling system model feedback the control point position, and the scheduling system model determines the action command to be executed by the current vehicle based on the control point position. For example, the turning control point indicates that the vehicle turns here and the AGV needs to perform a 90-degree rotation; the waiting point control point indicates that the vehicle needs to wait here; and the judgment control point determines whether the AGV logistics vehicle model can enter the warehouse. The points where the robotic arm model and the scheduling system model interact with information are mainly the judgment control points. The scheduling system model confirms with the robotic arm model whether the current storage location can be entered according to the feedback point of the current trolley. After receiving the feedback of whether the current storage location is passable, the robotic arm model will determine whether there are other AGV logistics vehicle models in the current storage location. If there is a trolley in the storage, the feedback scheduling system model will not allow entry. After receiving the information, the scheduling system model will instruct the AGV logistics vehicle model to continue waiting for judgment. If there is no other AGV logistics vehicle model in the storage, the system will instruct the current AGV logistics vehicle model to enter the storage. In addition, when there is no material in the robotic arm storage, the robotic arm model will feedback the storage location material shortage warning to the scheduling system model. The scheduling system model instructs the AGV logistics vehicle model to go to the storage location according to the AGV logistics vehicle model waiting at the control point. The control point is an entity in the simulation, which is specially used to assist the simulation of the AGV module. By writing code and simulating the message sending mechanism to simulate information interaction, the robotic arm model will establish feedback information based on the received information. The information content can be customized, and the received information processing will be fed back to the corresponding entity, and the entity will perform the next step of logic.

[0108] In a possible implementation, in step S3, adjusting the model parameters and re-simulating includes:

[0109] According to the preset parameter adjustment sequence and parameter adjustment range, the various model parameters of the AGV logistics vehicle model are adjusted in sequence, including the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle;

[0110] After each adjustment of the model parameters, the simulation is re-performed according to the adjusted model parameters to generate corresponding comparative simulation results;

[0111] An optimal simulation result with the highest production efficiency is determined from the initial simulation result and each of the comparative simulation results, and a model parameter corresponding to the optimal simulation result is output.

[0112] In an embodiment of the present application, the optimal scheduling and distribution plan is obtained by controlling the single variable method in a simulation environment. When the initial simulation results do not meet the preset conditions, the various parameters in the model are automatically adjusted according to the preset parameter adjustment sequence and parameter adjustment range, and the simulation is re-performed after each adjustment of the model parameters, and the optimal simulation results and corresponding model parameters are determined from each simulation result, so as to achieve automated model parameter optimization and improve the efficiency of model parameter optimization. In addition, in the subsequent parameter optimization process, the embodiment of the present application is not limited to making the simulation results meet the preset conditions, but simulates multiple scheduling and distribution plans through the preset parameter adjustment sequence and parameter adjustment range, and determines the optimal scheduling and distribution plan, thereby further improving the production efficiency of the flexible island production line.

[0113] Furthermore, the step of sequentially adjusting various model parameters of the AGV logistics vehicle model according to a preset parameter adjustment sequence and parameter adjustment range also includes:

[0114] Adjust the average full load rate, average empty load rate and average maintenance time ratio of the AGV logistics vehicle model;

[0115] Adjust the acceleration at startup, deceleration value during braking, running speed of different path segments, loading time, unloading time, no-load power consumption rate and full-load power consumption rate of the AGV logistics vehicle model.

[0116] In a preferred embodiment, the initialization setting values ​​of the average full load rate, average empty load rate and average maintenance time ratio of the AGV logistics vehicle model are: the average full load of the vehicle is 75%, the average empty load is 20%, and the average maintenance time ratio of the vehicle is 5%. By adjusting the ratio of different states, repeatedly inputting model tests, and comparing and matching with historical data, the simulation results of the model are optimized to improve production efficiency. In addition, the simulation results can also be compared with the actual field results, the model difference rate can be tested, the hysteresis can be corrected, and the simulation accuracy of the simulation model can be improved.

[0117] In view of the changes in different production environments and requirements, the simulation method for scheduling AGV logistics vehicles based on the flexible island assembly method provided in the embodiment of the present application can be further expanded:

[0118] 1. Based on the realization of material distribution requirements for flexible island switching of different product assemblies; the distribution requirements can be obtained by obtaining the production status of different products according to the control single variable method in the simulation environment;

[0119] 2. The simulation can flexibly adjust the parameters of the shift cycle and beat change to meet the efficiency of the material distribution of the trolley;

[0120] 3. Currently, the material distribution of the trolley is mainly completed at a constant distribution speed. Once there is a shortage of materials, the speed and efficiency of the distribution process are flexibly adjusted according to the situation of the terminal island materials. The material shortage warning time can be increased in the simulation model. How much time is left before the material shortage warning? The trolley calculates the required time based on the running distance of the current delivery order number, adjusts to the maximum speed currently required, and distributes materials according to the maximum speed;

[0121] In summary, the simulation method for AGV logistics vehicle scheduling based on the flexible island assembly method provided in the embodiment of the present application has the following beneficial effects:

[0122] 1. Reduce the cost of on-site testing and trial and error. On-site debugging requires the provision of necessary environment and conditions, requires repeated testing, consumes space, personnel and time, and simulation can simulate the environment, not only to achieve debugging functions, but also to pre-empt problems, avoid existing logic problems in advance, and greatly improve test efficiency;

[0123] 2. The actual debugging time is long, and the project cycle is long. Simulation can be adjusted at any time according to the on-site conditions. It is simple and convenient. Through simulation methods, the project delivery time can be shortened;

[0124] 3. The simulation is a three-dimensional panoramic layout, which effectively restores the existing scene, with a high degree of scene restoration, high data credibility and high effectiveness;

[0125] 4. The island production method has a high degree of digitization, and AGV can cooperate with the production equipment adjustment of the flexible island to achieve a more accurate transportation scheduling strategy;

[0126] 5. Break through the interaction barriers between AGV and different platform objects, realize the three-party interaction between logistics vehicle, dispatching system and robotic arm, and improve the dispatching production efficiency;

[0127] 6. For different product models, the quantity of products required for different product models is inconsistent. The simulation model can be used to flexibly adjust the number of products carried by the trolley.

[0128] Embodiment 2:

[0129] like Figure 4 As shown, the second embodiment provides a simulation system for AGV logistics vehicle scheduling based on a flexible island assembly method, including an acquisition module 10, a simulation module 20 and a parameter adjustment module 30;

[0130] Wherein, the acquisition module 10 is used to obtain product production requirements;

[0131] The simulation module 20 is used to input the product production demand into a preset flexible island simulation model, so that the flexible island simulation model determines the corresponding process flow according to the product production demand, and simulates the actual scheduling process according to the process flow to generate an initial simulation result, wherein the flexible island simulation model is constructed based on the flexible island production line, including a robotic arm model, an AGV logistics vehicle model and a scheduling system model;

[0132] The parameter adjustment module 30 is used to output the model parameters corresponding to the initial simulation result if the initial simulation result meets the preset conditions, otherwise adjust the model parameters and re-perform the simulation.

[0133] In a possible implementation manner, the flexible island simulation model is constructed based on the flexible island production line, including:

[0134] According to the factory layout, path planning and robotic arm entity of the flexible island production line, a corresponding conveyor belt model, a virtual path and a robotic arm model are constructed;

[0135] According to the virtual path, a number of control points are set;

[0136] Construct an AGV logistics vehicle model according to the preset AGV logistics vehicle parameters, wherein the AGV logistics vehicle parameters include the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle;

[0137] Import the preset process flow chart and shift schedule to determine the process flow and production rhythm corresponding to each product;

[0138] The scheduling system model is constructed according to the scheduling algorithm used by the flexible island production line.

[0139] In a possible implementation, the flexible island simulation model simulates the actual scheduling process according to the process flow to generate an initial simulation result, including:

[0140] Determine the current production rhythm of the flexible island simulation model according to the product production demand;

[0141] Determine the total amount of materials required according to the current production rhythm and the product production demand;

[0142] Determine the number of vehicles and vehicle running speed of the AGV logistics vehicle model according to the current production rhythm and the total amount of materials required;

[0143] Simulating the actual scheduling process according to the process flow and current model parameters to generate initial simulation results;

[0144] In the simulation, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model.

[0145] Furthermore, the determining of the number of vehicles and the vehicle running speed of the AGV logistics vehicle model according to the current production cycle and the total amount of materials required includes:

[0146] Determine the required materials for a single production cycle according to the current production cycle and the total amount of required materials;

[0147] Determine the number of vehicles of the AGV logistics vehicle model according to the required materials of the single beat and the number of materials delivered by a single vehicle of the AGV logistics vehicle model;

[0148] The vehicle running speed of the AGV logistics vehicle model is determined according to the current production rhythm, the factory layout of the flexible island production line and the path planning.

[0149] Furthermore, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model, including:

[0150] When the AGV logistics vehicle model reaches a preset judgment control point, the storage request information of the judgment control point is obtained;

[0151] Forward the entry request information to the mechanical arm model corresponding to the judgment control point, so that the mechanical arm model confirms whether there are other AGV logistics vehicle models in the corresponding storage location. If not, generate feedback information to allow entry, otherwise, generate feedback information to suspend entry;

[0152] The feedback information of the robotic arm model is obtained, and a corresponding control instruction is generated to the judgment control point according to the content of the feedback information, so that the AGV logistics vehicle model continues to drive or stops driving.

[0153] In a possible implementation, the parameter adjustment module 30 adjusts the model parameters and re-performs the simulation, including:

[0154] According to the preset parameter adjustment sequence and parameter adjustment range, the various model parameters of the AGV logistics vehicle model are adjusted in sequence, including the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle;

[0155] After each adjustment of the model parameters, the simulation is re-performed according to the adjusted model parameters to generate corresponding comparative simulation results;

[0156] An optimal simulation result with the highest production efficiency is determined from the initial simulation result and each of the comparative simulation results, and a model parameter corresponding to the optimal simulation result is output.

[0157] Furthermore, the step of sequentially adjusting various model parameters of the AGV logistics vehicle model according to a preset parameter adjustment sequence and parameter adjustment range also includes:

[0158] Adjust the average full load rate, average empty load rate and average maintenance time ratio of the AGV logistics vehicle model;

[0159] Adjust the acceleration at startup, deceleration value during braking, running speed of different path segments, loading time, unloading time, no-load power consumption rate and full-load power consumption rate of the AGV logistics vehicle model.

[0160] The embodiment of the present application provides a simulation system for scheduling AGV logistics vehicles based on a flexible island assembly method. By constructing a flexible island simulation model to simulate the actual scheduling process of the flexible island production line, when the product production demand changes in the actual production process, the process flow, production rhythm and material demand will change, and then the material distribution demand for the AGV logistics vehicle will also change. At this time, the embodiment of the present application can input the product production demand into the preset flexible island simulation model, and automatically determine the above-mentioned unknown parameters through simulation, so that the actual production process of the flexible island matches the product production demand, thereby improving the flexibility of the flexible island production line. In addition, before outputting the model parameters, the embodiment of the present application verifies the initial simulation results. If the initial simulation results do not meet the preset conditions, it means that the model parameters preset by the simulation model cannot achieve the expected production efficiency. Then, the model parameters are further adjusted and re-simulated to search for the optimal production plan and improve the production efficiency of the flexible island production line.

[0161] The more detailed working principle and step flow of this embodiment can refer to, but are not limited to, the relevant records of Embodiment 1.

[0162] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A simulation method for AGV logistics vehicle scheduling based on flexible island assembly mode, characterized in that: include: Obtain product production requirements; The product production demand is input into a preset flexible island simulation model, so that the flexible island simulation model determines the corresponding process flow according to the product production demand, and simulates the actual scheduling process according to the process flow to generate an initial simulation result, wherein the flexible island simulation model is constructed based on the flexible island production line, including a robotic arm model, an AGV logistics vehicle model and a scheduling system model; If the initial simulation result meets the preset conditions, the model parameters corresponding to the initial simulation result are output; otherwise, the model parameters are adjusted and the simulation is performed again.

2. The simulation method for AGV logistics vehicle scheduling based on flexible island assembly method as described in claim 1 is characterized in that: The flexible island simulation model is obtained based on the flexible island production line, including: According to the factory layout, path planning and robotic arm entity of the flexible island production line, a corresponding conveyor belt model, a virtual path and a robotic arm model are constructed; According to the virtual path, a number of control points are set; Construct an AGV logistics vehicle model according to the preset AGV logistics vehicle parameters, wherein the AGV logistics vehicle parameters include the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle; Import the preset process flow chart and shift schedule to determine the process flow and production rhythm corresponding to each product; The scheduling system model is constructed according to the scheduling algorithm used by the flexible island production line.

3. The simulation method for AGV logistics vehicle scheduling based on flexible island assembly method as described in claim 1 is characterized in that: The flexible island simulation model simulates the actual scheduling process according to the process flow to generate initial simulation results, including: Determine the current production rhythm of the flexible island simulation model according to the product production demand; Determine the total amount of materials required according to the current production rhythm and the product production demand; Determine the number of vehicles and vehicle running speed of the AGV logistics vehicle model according to the current production rhythm and the total amount of materials required; Simulating the actual scheduling process according to the process flow and current model parameters to generate initial simulation results; In the simulation, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model.

4. The simulation method for AGV logistics vehicle scheduling based on flexible island assembly method as described in claim 3 is characterized in that: Determining the number of vehicles and the vehicle running speed of the AGV logistics vehicle model according to the current production cycle and the required total amount of materials includes: Determine the required materials for a single production cycle according to the current production cycle and the total amount of required materials; Determine the number of vehicles of the AGV logistics vehicle model according to the required materials of the single beat and the number of materials delivered by a single vehicle of the AGV logistics vehicle model; The vehicle running speed of the AGV logistics vehicle model is determined according to the current production rhythm, the factory layout of the flexible island production line and the path planning.

5. The simulation method for scheduling AGV logistics vehicles based on the flexible island assembly method according to claim 3, wherein the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each mechanical arm model, including: When the AGV logistics vehicle model reaches a preset judgment control point, the storage request information of the judgment control point is obtained; Forward the entry request information to the mechanical arm model corresponding to the judgment control point, so that the mechanical arm model confirms whether there are other AGV logistics vehicle models in the corresponding storage location. If not, generate feedback information to allow entry, otherwise, generate feedback information to suspend entry; The feedback information of the robotic arm model is obtained, and a corresponding control instruction is generated to the judgment control point according to the content of the feedback information, so that the AGV logistics vehicle model continues to drive or stops driving.

6. The simulation method for AGV logistics vehicle scheduling based on flexible island assembly method as claimed in claim 1 is characterized in that: The adjusting of the model parameters and re-simulation includes: According to the preset parameter adjustment sequence and parameter adjustment range, the various model parameters of the AGV logistics vehicle model are adjusted in sequence, including the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle; After each adjustment of the model parameters, the simulation is re-performed according to the adjusted model parameters to generate corresponding comparative simulation results; An optimal simulation result with the highest production efficiency is determined from the initial simulation result and each of the comparative simulation results, and a model parameter corresponding to the optimal simulation result is output.

7. The simulation method for AGV logistics vehicle scheduling based on flexible island assembly method as claimed in claim 6, characterized in that: The method of adjusting the various model parameters of the AGV logistics vehicle model in sequence according to the preset parameter adjustment sequence and parameter adjustment range also includes: Adjust the average full load rate, average empty load rate and average maintenance time ratio of the AGV logistics vehicle model; Adjust the acceleration at startup, deceleration value during braking, running speed of different path segments, loading time, unloading time, no-load power consumption rate and full-load power consumption rate of the AGV logistics vehicle model.

8. A simulation system for AGV logistics vehicle scheduling based on flexible island assembly method, characterized in that: It includes an acquisition module, a simulation module and a parameter adjustment module; Wherein, the acquisition module is used to obtain product production requirements; The simulation module is used to input the product production demand into a preset flexible island simulation model, so that the flexible island simulation model determines the corresponding process flow according to the product production demand, and simulates the actual scheduling process according to the process flow to generate an initial simulation result, wherein the flexible island simulation model is constructed based on the flexible island production line, including a robotic arm model, an AGV logistics vehicle model and a scheduling system model; The parameter adjustment module is used to output the model parameters corresponding to the initial simulation results if the initial simulation results meet the preset conditions, otherwise adjust the model parameters and re-perform the simulation.

9. The simulation system for AGV logistics vehicle scheduling based on flexible island assembly method as claimed in claim 8, characterized in that: The flexible island simulation model is obtained based on the flexible island production line, including: According to the factory layout, path planning and robotic arm entity of the flexible island production line, a corresponding conveyor belt model, a virtual path and a robotic arm model are constructed; According to the virtual path, a number of control points are set; Construct an AGV logistics vehicle model according to the preset AGV logistics vehicle parameters, wherein the AGV logistics vehicle parameters include the number of vehicles, the vehicle running speed, the number of materials delivered by a single vehicle, and the running path of each vehicle; Import the preset process flow chart and shift schedule to determine the process flow and production rhythm corresponding to each product; The scheduling system model is constructed according to the scheduling algorithm used by the flexible island production line.

10. The simulation system for AGV logistics vehicle scheduling based on flexible island assembly method as claimed in claim 8, characterized in that: The flexible island simulation model simulates the actual scheduling process according to the process flow to generate initial simulation results, including: Determine the current production rhythm of the flexible island simulation model according to the product production demand; Determine the total amount of materials required according to the current production rhythm and the product production demand; Determine the number of vehicles and vehicle running speed of the AGV logistics vehicle model according to the current production rhythm and the total amount of materials required; Simulating the actual scheduling process according to the process flow and current model parameters to generate initial simulation results; In the simulation, the scheduling system model schedules each of the AGV logistics vehicle models according to the feedback information of each robotic arm model.

Images