Research On Scheduling Methods Of Unmanned Handling System In Manufacturing Workshop

With the development of artificial intelligence,the demand for Automated Guided Vehicles(AGV)has increased day by day in all walks of life,AGV has a wide range of applications,especially in automated three-dimensional warehouses,intelligent factories,intelligent manufacturing,intelligent unmanned station,intelligent unmanned ports and so on,and AGV has greatly improved the efficiency of people's life and production.It is one of the main use of AGV to complete the handling operations.Most of the traditional workshop handling operations consist of conveyor belts and manpower.Using AGV instead of traditional transportation operations can greatly improve the handling efficiency,save costs,and make upstream operations and downstream operations better connected.At present,in the high-end manufacturing industry,the application of unmanned handling systems has become a trend,and AGV's own high degree of flexibility has made itself to be the hardware equipment of most unmanned handling systems.The AGV control platform realizes the automation and intelligence of the AGV system.AGV scheduling method is the core technology of AGV scheduling system,which mainly includes path planning and task scheduling.Based on different realistic conditions and actual requirements,it also produces different scheduling method theories.This paper is based on the actual requirements of an actual manufacturing shop's handling task,combined with the site layout and the basic framework of unmanned handling system and other practical conditions,to study the AGV scheduling system,and use this as a theoretical basis for the development of the scheduling system and simulation experiments.The main work of this article includes:(1)The overall architecture of an unmanned handling system based on AGV is studied and the development status of each component and the functional modules of each component is introduced.The overall scheme and subsystem scheme are designed according to the existing conditions.The AGV unmanned handling system mainly includes the ground(superior)control system,the on-board(lower)control system,the basic hardware system and the navigation system,among which the scheduling method of the upper control system is the focus of this article.(2)The time window and the improved D* algorithm is combined to dynamically plan the multi-AGV real-time obstacle avoidance path,and the AGV operation parameters is combined to minimize the time spent as the optimization goal to plan paths,which fully reflects the actual conditions and actual needs of the unmanned handling task of the manufacturing workshop.According to the Resource Constrained Project Scheduling Problem(RCPSP),a mathematical model was established for the task scheduling problem,and the problem of multi-AGV task scheduling was solved using the Biogeography-Based Optimization(BBO)algorithm.(3)The scheduling system is developed and simulated based on the c++ Qt platform.Firstly,the virtual AGV system is designed to simulate the real AGV operation and communicate with the host computer.Then the scheduling system is developed and simulated based on the virtual AGV.The core scheduling method is the proposed improved D* algorithm with multiple windows in the dynamic path planning and BBO algorithm to solve task scheduling problem based on RCPSP problem model in this paper.(4)The research work of this article is comprehensively summarized and the future study is look forward to.