Multi-AGV Collaborative Scheduling In Intelligent Workshop Based On Petri Net

As a core component of automation technology upgrade,the automatic guided vehicle has the characteristics of high flexibility,good scalability and good maintainability.As one of the main equipments for material transportation in modern factories,it has obvious advantages for material handling in the workshop.,Has been widely used in the industrial field.With the continuous expansion of the application of AGV in the production workshop,its requirements are no longer limited to simple task scheduling and path planning.As an intelligent device for material transportation in the intelligent workshop,the AGV system can operate normally according to certain scheduling rules,but In the actual production process,abnormal events that cause the AGV to fail to operate normally occur in the workshop,causing the AGV to react abnormally or stop when it is interfered by the outside world.Faced with the instantaneous changes of the environment,how to coordinate the operation of the AGV,ensure the smooth flow of materials on the site,and improve the efficiency of the workshop site are important links to achieve intelligent production.In view of the above problems,the main work completed in this paper includes:(1)Analyze the overall composition of the intelligent workshop integrated AGV,summarize the operating characteristics of the AGV system,abstract the simplified model of the intelligent workshop according to the actual operating environment of the workshop,and introduce the resource-oriented colored Petri net The PN model of the manufacturing system is established,which better simulates the operation process of multi-species parallel processing of the AGV integrated manufacturing system.(2)Aiming at the problem of multi-AGV task assignment,an AGV task assignment strategy based on the principle of shortest task waiting time is proposed,and a Petri net control model for selecting AGV under this strategy is established.(3)The shortest path search algorithm and time window are combined to solve the multi-AGV collision-free path planning.The AGV priority is dynamically adjusted by completing the remaining path length of this task and the repetition rate with other AGV paths,which solves the actual operation of the AGV.Conflicts in the process.(4)For possible road faults and AGV status abnormalities that may occur during system operation,an appropriate treatment strategy is proposed,and the effectiveness of the strategy is verified through examples.(5)Analyze the functional requirements of multi-AGV scheduling system software,use Visual C++.NET to write the upper-level monitoring software,and complete the system debugging work in conjunction with the actual operating environment.