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

Abstract

The application provides a simulation method and system for AGV logistics vehicle scheduling based on a flexible island assembly mode, the method comprising: obtaining product production requirements; inputting the product production requirements into a preset flexible island simulation model, so that the flexible island simulation model determines a corresponding process flow according to the product production requirements, and simulates an actual scheduling process according to the process flow to generate an initial simulation result, wherein the flexible island simulation model is obtained based on a flexible island production line and comprises a mechanical arm model, an AGV logistics vehicle model and a scheduling system model; if the initial simulation result meets a preset condition, the model parameters corresponding to the initial simulation result are output, otherwise the model parameters are adjusted and simulation is re-performed, and quick response is made according to product adjustment and beat requirements of the flexible island in a timely manner, so that the flexibility and production efficiency of the flexible island production line are improved.

Description

TECHNICAL FIELD

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

[0002] With the deepening of the concept of lean manufacturing, the production mode is developing towards more intelligent direction, and the interaction of products, equipment and materials is more and more transmitted in the form of digital information. The flexible island of lean manufacturing is a production mode that integrates intelligence, unmanned and digitization. It is different from the traditional assembly line and is a combination of dynamic and static production lines. The flexible island production is flexible, mainly realizes full-automatic assembly through mechanical arms, has high automation degree, and can switch production rhythm according to product types, so as to adapt to diversified product production demands and has great effect on product assembly. In order to meet the demand of flexible island for flexible switching of products, AGV intelligent mobile robots are usually used for material distribution, which requires the AGV car to distribute different materials according to the needs of the production products, and to adjust the distribution speed when the rhythm changes. These distribution tasks require the AGV car to adjust synchronously with the production line, and to respond quickly according to the product adjustment and rhythm demand of the flexible island.

[0003] However, the higher the intelligent degree, the more complex the production demand, and the more diversified and larger the data type. In order to design a material distribution scene function that meets the demand and is lean and efficient, the most direct way is to test and adjust the data of the AGV car through actual scene test. However, actual scene test will consume a lot of personnel, material and time costs, and the test effect cannot be effective at one time, and the test period is long. Therefore, the scene function requirements of the above-mentioned lean manufacturing can be simulated, the test content is preposed, and the optimal scheme of cooperation between the material distribution of the car and the production of the flexible island is generated through the simulation method combined with the actual scene and the production layout status. SUMMARY

[0004] In view of the above technical problems, the present application provides a simulation method and system for AGV logistics vehicle scheduling based on a flexible island assembly mode. The scheduling process between the AGV logistics vehicle and the mechanical arm is simulated, the AGV car can respond quickly according to the product adjustment and rhythm demand of the flexible island, and the flexibility and production efficiency of the flexible island production line are improved.

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

[0006] obtaining product production demand;

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

[0008] if the initial simulation result meets a preset condition, output model parameters corresponding to the initial simulation result, otherwise adjust the model parameters and re-simulate.

[0009] The embodiment of the present application provides a simulation method for AGV logistics vehicle scheduling based on a flexible island assembly mode, which simulates an actual scheduling process of a flexible island production line by constructing a flexible island simulation model. When the product production demand in the actual production process changes, the process flow, production rhythm and material demand will also change, and thus the material distribution demand of the AGV logistics vehicle will also change. At this time, the embodiment of the present application can input the product production demand to a preset flexible island simulation model, automatically determine the above unknown parameters through simulation, so that the actual production process of the flexible island matches the product production demand, and the flexibility of the flexible island production line is improved. In addition, the embodiment of the present application verifies the initial simulation result before outputting the model parameters. If the initial simulation result does not meet the preset condition, it means that the model parameters preset by the simulation model cannot achieve the expected production efficiency, and the model parameters are further adjusted and re-simulated to search for an optimal production scheme, thereby improving the production efficiency of the flexible island production line.

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

[0011] constructing a corresponding conveyor belt model, a virtual path and a mechanical arm model according to the factory layout, path planning and mechanical arm entity of the flexible island production line;

[0012] setting a plurality of control points according to the virtual path;

[0013] constructing an AGV logistics vehicle model according to preset AGV logistics vehicle parameters, the AGV logistics vehicle parameters including the number of vehicles, the running speed of the vehicles, the number of materials distributed by a single vehicle and the running path of each vehicle;

[0014] importing a preset process flow table and a shift table to determine the process flow and production rhythm corresponding to each product;

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

[0016] The embodiment of the application provides a method for constructing a flexible island simulation model, a virtual path and a plurality of control points are set, so that the AGV logistics vehicle model can move on the virtual path through the control points, the actual logistics vehicle running track is simulated, a mechanical arm model is constructed to interact with the logistics vehicle model, and the warehouse entry process of the logistics vehicle is simulated. Finally, the parameters in the flexible island simulation model are initialized by preset AGV logistics vehicle parameters, a process flow table and a scheduling table, so as to provide a data basis for subsequent simulation.

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

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

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

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

[0021] The actual scheduling process is simulated and simulated according to the process flow and the current model parameters, and an initial simulation result is generated;

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

[0023] In the embodiment of the application, when the simulation model obtains the latest product production demand, the situation that the production rhythm and the process flow change in the actual production process is simulated, and the current model parameters are automatically adjusted. First, the production line part is adjusted, the current production rhythm and the total amount of required materials are determined according to the production demand. Then, the material distribution part is adjusted, the number of required AGV logistics vehicles and the running speed of the AGV logistics vehicle are determined according to the current production rhythm and the total amount of required materials, and finally, the actual scheduling process is simulated according to the adjusted model parameters. In the simulation simulation process, the information interaction structure of the mechanical arm-scheduling system model-logistics vehicle is established, the scheduling system model obtains the feedback information of each mechanical arm model in real time, and then controls the driving process of each AGV logistics vehicle model according to the feedback information.

[0024] Further, the number of vehicles and the running speed of the AGV logistics vehicle model are determined according to the current production rhythm and the total amount of required materials, including:

[0025] determining required materials of a single beat according to the current production beat and the total required materials;

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

[0027] determining the running speed of the vehicles of the AGV logistics vehicle model according to the current production beat, the factory layout and the path planning of the flexible island production line.

[0028] Further, the scheduling system model schedules each AGV logistics vehicle model according to the feedback information of each robot arm model, comprising:

[0029] when the AGV logistics vehicle model reaches a preset judgment control point, obtaining the warehousing request information of the judgment control point;

[0030] forwarding the warehousing request information to the robot arm model corresponding to the judgment control point, so that the robot arm model confirms whether there is other AGV logistics vehicle model in the corresponding storage location, if not, generating feedback information allowing warehousing, otherwise, generating feedback information suspending warehousing;

[0031] obtaining the feedback information of the robot arm model, and generating corresponding control instructions to the judgment control point according to the content of the feedback information, so that the AGV logistics vehicle model continues to drive or suspends driving.

[0032] The embodiments of the application intervene in the driving track of the logistics vehicle through the judgment control point, and further realize the scheduling of the scheduling system model to each AGV logistics vehicle model. Specifically, when the AGV logistics vehicle model reaches the judgment control point according to the preset driving path, it is necessary to judge whether it can be warehoused according to the production situation of the production line, and the information of the production line is obtained and transmitted through each robot arm model. The scheduling system model is located between the AGV logistics vehicle model and the robot arm model in the data transmission process, is responsible for collecting and forwarding the request information of each AGV logistics vehicle model and the feedback information of each robot arm model, and schedules each logistics vehicle by comprehensively considering the production line information and the 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 simulation.

[0033] In a possible implementation manner, the adjusting the model parameters and re-performing the simulation simulation comprises:

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

[0035] After adjusting the model parameters each time, re-perform simulation according to the adjusted model parameters, and generate corresponding comparative simulation results;

[0036] Determine the optimal simulation result with the highest production efficiency from the initial simulation result and each of the comparative simulation results, and output the model parameters corresponding to the optimal simulation result.

[0037] In the embodiments of the present application, the optimal scheduling and distribution scheme is obtained by controlling the single variable method in the simulation environment. When the initial simulation result does not meet the preset condition, each parameter in the model is automatically adjusted according to the preset parameter adjustment order and parameter adjustment amplitude, and simulation is re-performed after adjusting the model parameters each time, and the optimal simulation result and the corresponding model parameters are determined from each simulation result, realizing automatic model parameter optimization and improving the efficiency of model parameter optimization. In addition, in the subsequent parameter optimization process, the present application is not limited to making the simulation result meet the preset condition, but simulates multiple scheduling and distribution schemes through the preset parameter adjustment order and parameter adjustment amplitude to determine the optimal scheduling and distribution scheme, further improving the production efficiency of the flexible island production line.

[0038] Further, the adjusting of each model parameter of the AGV logistics vehicle model according to the preset parameter adjustment order and parameter adjustment amplitude further comprises:

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

[0040] Adjusting the acceleration at start, deceleration value at braking, running speed of different path segments, loading time, unloading time, empty load power consumption rate and full load power consumption rate of the AGV logistics vehicle model.

[0041] In a second aspect, the embodiments of the present application provide a simulation system for AGV logistics vehicle scheduling based on flexible island assembly mode, comprising an acquisition module, a simulation module and a parameter adjustment module;

[0042] The acquisition module is configured to acquire product production demand.

[0043] The simulation module is configured to input the product production demand into a preset flexible island simulation model, so that the flexible island simulation model determines a 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. The flexible island simulation model is obtained based on a flexible island production line, and comprises a mechanical arm model, an AGV logistics vehicle model and a scheduling system model.

[0044] The parameter adjustment module is configured to output the model parameters corresponding to the initial simulation result if the initial simulation result meets preset conditions, or to adjust the model parameters and perform simulation again.

[0045] In a possible implementation, the flexible island production line is used to build the flexible island simulation model, including:

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

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

[0048] According to preset AGV logistics vehicle parameters, an AGV logistics vehicle model is built, the AGV logistics vehicle parameters including the number of vehicles, the running speed of vehicles, the number of materials distributed by a single vehicle and the running path of each vehicle;

[0049] The preset process flow table and the scheduling table are imported to determine the process flow and production rhythm corresponding to each product;

[0050] According to the scheduling algorithm used by the flexible island production line, a scheduling system model is built.

[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] According to the product production demand, the current production rhythm of the flexible island simulation model is determined;

[0053] According to the current production rhythm and the product production demand, the total amount of required materials is determined;

[0054] According to the current production rhythm and the total amount of required materials, the number of vehicles and the running speed of vehicles of the AGV logistics vehicle model are determined;

[0055] According to the process flow and the current model parameters, the actual scheduling process is simulated to generate an initial simulation result;

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

[0057] Figure 1 FIG. 1 is a flowchart of a simulation method for AGV logistics vehicle scheduling based on a flexible island assembly method according to an embodiment of the present application.

[0058] Figure 2 A process schematic diagram for determining the number of vehicles in a flexible island simulation model in a simulation method for AGV logistics vehicle scheduling based on a flexible island assembly method provided by the embodiment of the present application.

[0059] Figure 3 A 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 by the embodiment of the present application.

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

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0062] It should be noted that the step numbers in the text are only for the convenience of explaining the specific embodiments, and do not serve as the function of limiting the execution sequence of the steps. In the description of the present application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features.

[0063] Embodiment one:

[0064] As shown in Figure 1 Embodiment one provides a simulation method for AGV logistics vehicle scheduling based on a flexible island assembly method, comprising steps S1-S3:

[0065] Step S1, obtaining product production demand;

[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 obtained based on a flexible island production line, including a mechanical arm model, an AGV logistics vehicle model and a scheduling system model;

[0067] Step S3, if the initial simulation result meets the preset condition, outputting the model parameters corresponding to the initial simulation result, otherwise adjusting the model parameters and re-simulating.

[0068] The embodiment of the present application provides a simulation method of AGV logistics vehicle scheduling based on a flexible island assembly mode, a flexible island simulation model is constructed to simulate the actual scheduling process of the flexible island production line, when the product production demand in the actual production process changes, the process flow, the production rhythm and the material demand will all change, and then the material distribution demand of 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, automatically determine the unknown parameters through simulation, so that the actual production process of the flexible island matches the product production demand, and the flexibility of the flexible island production line is improved. In addition, the initial simulation result is tested before the model parameters are output, if the initial simulation result does not satisfy the preset condition, it indicates that the model parameters of the simulation model cannot achieve the expected production efficiency, then the model parameters are further adjusted and simulation is re-performed, and the optimal production scheme is searched, and the production efficiency of the flexible island production line is improved.

[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, the path planning and the mechanical arm entity of the flexible island production line, a corresponding conveyor belt model, a virtual path and a mechanical arm model are constructed;

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

[0072] According to the preset AGV logistics vehicle parameters, an AGV logistics vehicle model is constructed, the AGV logistics vehicle parameters include the number of vehicles, the running speed of the vehicle, the number of materials distributed by a single vehicle and the running path of each vehicle;

[0073] A preset process flow table and a shift table are imported to determine the process flow and the production rhythm corresponding to each product;

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

[0075] The embodiment of the present application provides a method for constructing a flexible island simulation model, by setting a virtual path and a plurality of control points, so that the AGV logistics vehicle model can move on the virtual path through the control points, and the actual logistics vehicle running track is simulated; meanwhile, the mechanical arm model is constructed to interact with the logistics vehicle model, and is used to simulate the warehousing process of the logistics vehicle. Finally, the preset AGV logistics vehicle parameters, the process flow table and the shift table are used to initialize the parameters in the flexible island simulation model, and provide a data basis for subsequent simulation.

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

[0077] 1. Import factory layout and path planning using CAD map;

[0078] 2. Establish a three-dimensional entity representing the assembly robot entity by establishing a robot arm;

[0079] 3. Establish a conveyor belt, which is used as a platform for the robot arm to grab materials;

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

[0081] 5. Establish a control point, which represents the path navigation point and path information acquisition node in the process of AGV logistics vehicle running path;

[0082] 6. Establish a path, which sets the direction, length and width according to the planning;

[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, while processing the information feedback from the robot arm to the vehicle.

[0084] The second part is to initialize the parameters based on the constructed three-dimensional entity, including:

[0085] 1. Initialize AGV logistics vehicle parameters, including vehicle quantity, vehicle running path and direction, vehicle running speed and vehicle single distribution material quantity;

[0086] 2. The product rhythm is determined by the assembly process of the product, by importing the preset process flow table, the corresponding relationship between each product and process flow can be established, and then the initial rhythm of each type of product is determined, then the scheduling table is imported, the preset flexible island production target is executed 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 lines, and then the rhythm is affected, the process of rhythm adjustment is simulated.

[0087] 3. Input product parameters, record the whole process from the beginning of production to the end of production by establishing time stamp.

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

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

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

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

[0092] simulating an actual scheduling process according to the process flow and the current model parameters to generate an initial simulation result;

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

[0094] In the embodiments of the present application, when the simulation model obtains the latest product production demand, the current model parameters are automatically adjusted when the production rhythm and the process flow in the actual production process change. First, the production line part is adjusted, and the current production rhythm and the total amount of required materials are determined according to the production demand. Then, the material distribution part is adjusted, and the number of required AGV logistics vehicles and the running speed of the AGV logistics vehicles are determined according to the current production rhythm and the total amount of required materials. Finally, the actual scheduling process is simulated according to the adjusted model parameters. In the simulation process, the information interaction structure of the robot-scheduling system model-logistics vehicle is established in the embodiments of the present application. The scheduling system model obtains the feedback information of each robot 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 required materials according to the current production rhythm and the product production demand is mainly realized through signal interaction between the scheduling system model and the robot model. When the rhythm changes, the robot feeds back the rhythm to the scheduling system, and the scheduling system recalculates the material demand information under the changed rhythm. The specific process is as follows. When the rhythm changes, the product type does not change, and the required number of single products does not change. The material system confirms the effective total production time of the current shift, and then calculates the total amount of required materials = (total production time / changed rhythm * required number of single products). Similarly, when the rhythm and the product type change at the same time, the required amount of materials for product assembly per rhythm changes, and the required amount of materials = (total production time / changed rhythm * changed required number of single products).

[0096] Further, the determination of the number of AGV logistics vehicles and the running speed of the AGV logistics vehicles according to the current production rhythm and the total amount of required materials includes:

[0097] determining the required materials per rhythm according to the current production rhythm and the total amount of required materials;

[0098] determining the number of vehicles of the AGV logistics vehicle model according to the required materials of the single beat and the number of material distribution of a single vehicle of the AGV logistics vehicle model;

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

[0100] Specifically, in the case of determining the current beat and the required materials of the product, the required AGV logistics vehicle number in a single beat is obtained by comparing the required materials in a single beat with the number of material distribution of a single AGV logistics vehicle model. In addition, the system obtains the total distribution time of the AGV logistics vehicle from the layout, judges whether the distribution speed of the vehicle in a single beat can meet the material requirement, and determines the running speed of the vehicle 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 material distribution of a single AGV logistics vehicle and the running speed of the vehicle. The specific process of determining the number of vehicles of the AGV logistics vehicle model by the flexible island simulation model is shown in Figure 2 .

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

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

[0103] The warehouse entry request information is forwarded to the robot arm model corresponding to the judgment control point, so that the robot arm model confirms whether there is other AGV logistics vehicle model in the corresponding storage location. If not, the feedback information of allowing warehouse entry is generated, otherwise, the feedback information of temporarily suspending warehouse entry is generated;

[0104] The feedback information of the robot arm model is obtained, and the 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 temporarily suspends driving.

[0105] The embodiment of the application realizes the scheduling of each AGV logistics vehicle model by the scheduling system model by judging the intervention of the control point on the driving track of the logistics vehicle, specifically, when the AGV logistics vehicle model reaches the judgment control point according to the preset driving path, it is necessary to judge whether it can be warehoused according to the production situation of the production line, and the information of the production line is obtained and transmitted through each mechanical arm model. The scheduling system model is located between the AGV logistics vehicle model and the mechanical arm model in the data transmission process, is responsible for collecting and forwarding the request information of each AGV logistics vehicle model and the feedback information of each mechanical arm model, and schedules each logistics vehicle by comprehensively considering the production line information and the logistics distribution information, which can more accurately simulate the scheduling process of the AGV logistics vehicle in the actual production process and improve the accuracy of simulation.

[0106] In the scheduling simulation process, the simulation model controls each AGV logistics vehicle model through the control point. The simulation model replaces the two-dimensional code in the actual production by establishing the control point. In the actual production, the two-dimensional code is composed of a unique serial number and can guide the function of the trolley. The trolley relies on the two-dimensional code to navigate and execute the distribution task of the scheduling system. In 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 further feeds back the request signal to the mechanical arm model. The mechanical arm model makes concessions according to the request signal fed back by the system, so that the AGV logistics vehicle model enters the station or feeds back the signal to prevent the AGV logistics vehicle model from entering the station. The information interaction structure of the mechanical arm-scheduling system model-logistics vehicle is as shown in Figure 3

[0107] ​The information of the control point corresponds to the two-dimensional code of the actual production site, contains a series of information, including the X-Y position in the system, and different action instruction triggers, the AGV logistics vehicle model and the scheduling system model feedback control point, the scheduling system model judges the action instruction to be executed by the current vehicle according to the control point, such as the turning control point, indicating 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 judges whether the AGV logistics vehicle model can enter the warehouse position. The point of interaction information between the mechanical arm model and the scheduling system model is mainly the judgment control point. The scheduling system model feeds back the point according to the current vehicle, and then confirms with the mechanical arm model whether the current warehouse position can be stored. The mechanical arm model receives the feedback of whether it is allowed to pass, and judges whether there is other AGV logistics vehicle model in the current warehouse position. If there is a vehicle in the warehouse, the scheduling system model is fed back that it is not allowed to store, and the scheduling system model receives the information and instructs the AGV logistics vehicle model to continue to wait for judgment. If there is no other AGV logistics vehicle model in the warehouse, the system instructs the current AGV logistics vehicle model to store. In addition, when the mechanical arm in the warehouse has no material, the mechanical arm model feeds back the material shortage warning to the scheduling system model, and the scheduling system model instructs the AGV logistics vehicle model to go to the warehouse position according to the AGV logistics vehicle model in the waiting control point. The control point is an entity in simulation, which is specially used to assist the simulation of AGV module. By writing code, the message sending mechanism is simulated to simulate information interaction. The mechanical arm model establishes feedback information according to the received information, and the information content can be customized. The received information is processed and fed back to the corresponding entity, and the entity performs the next logic.

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

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

[0110] After adjusting the model parameters each time, the simulation is re-performed according to the adjusted model parameters, and the corresponding comparison simulation result is generated;

[0111] From the initial simulation result and each comparison simulation result, the optimal simulation result with the highest production efficiency is determined, and the model parameters corresponding to the optimal simulation result are output.

[0112] In the embodiments of the present application, the optimal scheduling and distribution scheme is obtained by controlling the single variable method in the simulation environment. When the initial simulation result does not satisfy the preset condition, the parameters in the model are automatically adjusted according to the preset parameter adjustment sequence and parameter adjustment amplitude, and simulation is performed again after adjusting the model parameters each time, and the optimal simulation result and the corresponding model parameters are determined from the simulation results, so as to realize automatic optimization of the model parameters and improve the efficiency of the model parameter optimization. In addition, in the subsequent parameter optimization process, the present application is not limited to making the simulation result satisfy the preset condition, but simulates a plurality of scheduling and distribution schemes through the preset parameter adjustment sequence and parameter adjustment amplitude to determine the optimal scheduling and distribution scheme, thereby further improving the production efficiency of the flexible island production line.

[0113] Further, the adjusting of the model parameters of the AGV logistics vehicle model according to the preset parameter adjustment sequence and parameter adjustment amplitude further comprises:

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

[0115] adjusting the acceleration at start, the deceleration value at braking, the running speed of different path segments, the loading time, the unloading time, the empty load power consumption rate and the full load power consumption rate of the AGV logistics vehicle model.

[0116] In a preferred embodiment, the initial set values of the average full load rate, the average empty load rate and the average maintenance time proportion of the AGV logistics vehicle model are: 75% for the average full load rate of the trolley, 20% for the average empty load rate, and 5% for the average maintenance time proportion of the trolley. By adjusting the proportion of different states, repeatedly inputting the model test, comparing with the historical data, optimizing the simulation result of the model, and improving the production efficiency. In addition, the simulation result can also be compared with the actual field result to test the model difference rate, correct the difference, and improve the simulation accuracy of the simulation model.

[0117] For different production environments and changes in demand, the simulation method for AGV logistics vehicle scheduling based on the flexible island assembly mode provided in the embodiments of the present application can be further expanded:

[0118] 1. Based on the material distribution demand of realizing flexible island switching of different product assembly; the scheduling demand of different products can be obtained by controlling the single variable method in the simulation environment to obtain the production status of different products;

[0119] 2. Shift cycle change, beat change, simulation can flexibly adjust the parameter change, which can also satisfy the efficiency of trolley material distribution;

[0120] 3、Current trolley material distribution is mainly completed at a constant distribution speed. Once the material is short, the speed and distribution efficiency of the distribution process are flexibly adjusted according to the terminal island type material. In the simulation model, the material shortage warning time can be increased. How much time is left before the material shortage warning? The trolley calculates the required time according to the running distance of the current distribution order number, adjusts to the maximum speed required at the moment, and distributes the material according to the maximum speed;

[0121] In summary, the simulation method for AGV logistics vehicle scheduling based on the flexible island assembly method provided by the embodiments has the following beneficial effects:

[0122] 1. Reducing the cost of field test and error. Field debugging requires necessary environment and conditions, repeated testing, and consumption of site, personnel and time. Simulation can realize debugging functions, pre-position problems, and avoid existing logical problems in advance, greatly improving testing efficiency;

[0123] 2. Actual debugging time is long, and project cycle is long. Simulation can be adjusted at any time according to the field situation, which is simple and convenient. Through the simulation method, the time of project delivery can be reduced;

[0124] 3. Simulation is a three-dimensional panoramic layout, which effectively restores the existing scene live, has high scene restoration degree, high data credibility and high effectiveness;

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

[0126] 5. Breakthrough AGV and different platform object interaction barriers, realize three-way interaction of logistics vehicle-scheduling system-robot, and improve scheduling production efficiency;

[0127] 6. For different product models, different product models require different product quantities. The number of products carried by the trolley can be flexibly adjusted through the simulation model.

[0128] Embodiment two:

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

[0130] The acquisition module 10 is used to acquire product production demand.

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

[0132] The parameter adjustment module 30 is configured to output the model parameters corresponding to the initial simulation result if the initial simulation result meets a preset condition, or adjust the model parameters and re-simulate.

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

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

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

[0136] According to preset AGV logistics vehicle parameters, an AGV logistics vehicle model is constructed, the AGV logistics vehicle parameters including the number of vehicles, the running speed of the vehicles, the number of materials distributed by a single vehicle, and the running paths of the vehicles;

[0137] A preset process flow table and a shift table are imported to determine the process flow and production rhythm corresponding to each product;

[0138] According to a scheduling algorithm used by the flexible island production line, the scheduling system model is constructed.

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

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

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

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

[0143] The actual scheduling process is simulated according to the process flow and the current model parameters to generate the initial simulation result;

[0144] In the simulation, the scheduling system model schedules each AGV model according to feedback information of each robot model.

[0145] Further, the vehicle quantity and the vehicle running speed of the AGV model are determined according to the current production rhythm and the total quantity of required materials, including:

[0146] The required materials of a single rhythm are determined according to the current production rhythm and the total quantity of required materials.

[0147] The vehicle quantity of the AGV model is determined according to the required materials of a single rhythm and the quantity of materials distributed by a single vehicle of the AGV model.

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

[0149] Further, the scheduling system model schedules each AGV model according to feedback information of each robot model, including:

[0150] When the AGV model reaches a preset judgment control point, the warehouse entry request information of the judgment control point is obtained.

[0151] The warehouse entry request information is forwarded to the robot model corresponding to the judgment control point, so that the robot model confirms whether there is another AGV model in the corresponding storage location, if not, the feedback information of allowing warehouse entry is generated, otherwise, the feedback information of pausing warehouse entry is generated.

[0152] The feedback information of the robot 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 model continues to drive or pauses driving.

[0153] In one 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 amplitude, each model parameter of the AGV model is adjusted in turn, including the vehicle quantity, the vehicle running speed, the quantity of materials distributed by a single vehicle, and the running path of each vehicle.

[0155] After adjusting the model parameters each time, the simulation is re-performed according to the adjusted model parameters, and a corresponding comparison simulation result is generated.

[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 the model parameters corresponding to the optimal simulation result are output.

[0157] Further, the adjusting of each model parameter of the AGV logistics vehicle model according to the preset parameter adjustment sequence and parameter adjustment range further comprises:

[0158] The average full load rate, average empty load rate and average maintenance time proportion of the AGV logistics vehicle model are adjusted.

[0159] The acceleration at start, deceleration value at braking, running speed of different path segments, loading time, unloading time, empty load power consumption rate and full load power consumption rate of the AGV logistics vehicle model are adjusted.

[0160] The embodiment of the present application provides a simulation system for AGV logistics vehicle scheduling based on a flexible island assembly method. The actual scheduling process of the flexible island production line is simulated by constructing a flexible island simulation model. When the product production demand in the actual production process changes, the process flow, production rhythm and material demand will also change, and then the material distribution demand of the AGV logistics vehicle will also change. At this time, the product production demand can be input to the preset flexible island simulation model, and the above unknown parameters are automatically determined by simulation simulation, so that the actual production process of the flexible island matches the product production demand, and the flexibility of the flexible island production line is improved. In addition, the initial simulation result is tested before the model parameters are output. If the initial simulation result does not meet the preset condition, it means that the model parameters of the simulation model preset cannot achieve the expected production efficiency, and then the model parameters are further adjusted and re-simulated to search for the optimal production scheme, thereby improving the production efficiency of the flexible island production line.

[0161] The more detailed working principle and step flow of the embodiment can be but not limited to the related description of the first embodiment.

[0162] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only for specific embodiments of the present application and does not limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A simulation method for AGV logistics vehicle scheduling based on a flexible island assembly mode, characterized in that, The method comprises the following steps: acquiring product production requirements; inputting the product production requirements into a preset flexible island simulation model, so that the flexible island simulation model determines a corresponding process flow according to the product production requirements, and simulates an actual scheduling process according to the process flow to generate an initial simulation result, wherein the flexible island simulation model is obtained based on a flexible island production line and comprises a mechanical arm model, an AGV logistics vehicle model and a scheduling system model; the flexible island simulation model is obtained based on the flexible island production line, which comprises the following steps: constructing a corresponding conveyor belt model, a virtual path and a mechanical arm model according to the factory layout, path planning and mechanical arm entity of the flexible island production line; setting a plurality of control points according to the virtual path; constructing an AGV logistics vehicle model according to preset AGV logistics vehicle parameters, the AGV logistics vehicle parameters comprising the number of vehicles, the running speed of the vehicles, the number of materials distributed by a single vehicle and the running paths of the vehicles; importing a preset process flow table and a shift table to determine the process flow and production rhythm of each product; and constructing the scheduling system model according to the scheduling algorithm used by the flexible island production line; if the initial simulation result meets a preset condition, outputting model parameters corresponding to the initial simulation result, otherwise adjusting the model parameters and re-simulating.

2. The simulation method of AGV logistics vehicle scheduling based on the flexible island assembly mode according to claim 1, characterized in that, the flexible island simulation model simulates the actual scheduling process according to the process flow to generate an initial simulation result, which comprises the following steps: determining a current production rhythm of the flexible island simulation model according to the product production requirements; determining the total amount of required materials according to the current production rhythm and the product production requirements; determining the number of vehicles and the running speed of the vehicles of the AGV logistics vehicle model according to the current production rhythm and the total amount of required materials; simulating the actual scheduling process according to the process flow and the current model parameters to generate an initial simulation result; in the simulation, the scheduling system model schedules each AGV logistics vehicle model according to the feedback information of each mechanical arm model.

3. The simulation method of claim 2, wherein, determining the number of vehicles and the running speed of the vehicles of the AGV logistics vehicle model according to the current production rhythm and the total amount of required materials, which comprises the following steps: determining the required materials of a single rhythm according to the current production rhythm and the total amount of required materials; determining the number of vehicles of the AGV logistics vehicle model according to the required materials of a single rhythm and the number of materials distributed by a single vehicle of the AGV logistics vehicle model; determining the running speed of the vehicles of the AGV logistics vehicle model according to the current production rhythm, the factory layout and the path planning of the flexible island production line.

4. The simulation method of claim 2, wherein the scheduling system model schedules each AGV logistics vehicle model according to the feedback information of each mechanical arm model, which comprises the following steps: when the AGV logistics vehicle model reaches a preset judgment control point, acquiring the warehousing request information of the judgment control point; Forward the warehousing request information to the mechanical arm model corresponding to the judgment control point, so that the mechanical arm model confirms whether there is other AGV logistics vehicle model in the corresponding storage location, if not, generate feedback information allowing warehousing, otherwise, generate feedback information suspending warehousing; Get the feedback information of the mechanical arm model, and generate corresponding control instructions to the judgment control point according to the content of the feedback information, so that the AGV logistics vehicle model continues to drive or suspends driving.

5. The simulation method of AGV logistics vehicle scheduling based on the flexible island assembly mode according to claim 1, characterized in that, The adjustment of the model parameters and the re-simulation include: According to the preset parameter adjustment sequence and parameter adjustment amplitude, the model parameters of the AGV logistics vehicle model are adjusted in turn, including the number of vehicles, the running speed of vehicles, the number of materials distributed by a single vehicle, and the running path of each vehicle; After adjusting the model parameters each time, the simulation is re-performed according to the adjusted model parameters to generate corresponding comparison simulation results; From the initial simulation results and each of the comparison simulation results, determine the optimal simulation result with the highest production efficiency, and output the model parameters corresponding to the optimal simulation result.

6. The AGV logistics vehicle scheduling simulation method based on the flexible island assembly method according to claim 5, characterized in that, The adjustment of the model parameters and the re-simulation include: Adjust the average full load rate, average empty load rate and average maintenance time proportion of the AGV logistics vehicle model; Adjust the acceleration at start, deceleration value at braking, running speed of different path segments, loading time, unloading time, empty load power consumption rate and full load power consumption rate of the AGV logistics vehicle model.

7. A simulation system for AGV logistics vehicle scheduling based on a flexible island assembly mode, characterized in that, It includes an acquisition module, a simulation module and a parameter adjustment module; The acquisition module is used to acquire product production demand; 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 obtained based on a flexible island production line, including a mechanical arm model, an AGV logistics vehicle model and a scheduling system model; The flexible island simulation model is obtained based on the flexible island production line, including: constructing a corresponding conveyor belt model, a virtual path and a mechanical arm model according to the factory layout, path planning and mechanical arm entity of the flexible island production line; a plurality of control points are set according to the virtual path; an AGV logistics vehicle model is constructed according to a preset AGV logistics vehicle parameter, the AGV logistics vehicle parameter including the number of vehicles, the running speed of vehicles, the number of materials distributed by a single vehicle, and the running path of each vehicle; a preset process flow table and a shift table are imported to determine the process flow and production rhythm of each product; the scheduling system model is constructed according to the scheduling algorithm used by the flexible island production line; The parameter adjustment module is used to output the model parameters corresponding to the initial simulation result if the initial simulation result meets the preset condition, otherwise adjust the model parameters and re-simulate.

8. The AGV logistics vehicle scheduling simulation system based on the flexible island assembly mode according to claim 7, characterized in that, The flexible island simulation model simulates the actual scheduling process according to the process flow, generates an initial simulation result, and includes: determining a current production tempo of the flexible island simulation model according to the product production demand; determining a total amount of required materials according to the current production tempo and the product production demand; determining a vehicle quantity and a vehicle running speed of the AGV logistics vehicle model according to the current production tempo and the total amount of required materials; simulating the actual scheduling process according to the process flow and the current model parameters to generate an initial simulation result; in the simulation, the scheduling system model schedules each AGV logistics vehicle model according to feedback information of each robotic arm model.

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