智能RGV的周期性移动研究

Periodic Movement of RGV

研究RGV智能加工系统中物料的加工时间对于RGV最优移动策略的影响.首先证明了RGV在2号CNC前的等待时间和3号CNC等待RGV上下料的时间是影响计算结果的关键因素,在此基础上研究了一道工序时物料的加工时间对RGV周期性移动规律的影响,证明了任意的加工时间RGV移动路径都存在稳定循环,且随加工时间增大,循环阶数增大;并给出加工时间与需要开启CNC数量之间的关系,得到详细对照表格,用元胞自动机做仿真验证,结果与理论推导完全一致;最后,讨论了CNC可能发生故障时企业的应对策略.

This paper aims to solve the problem of the influence of material processing time on the scheduling strategy of intelligent RGV.Firstly,we proved that the waiting time of RGV before No.2 CNC and the waiting time of No.3 CNC are the key factors affecting the calculation results.On this basis,the influence of material processing time on the periodic movement of RGV is studied.A stable cycle in RGV moving path in any situation is exist and the processing time increasing leads to the order of the cycle increases are also proved.Next,the relationship between the processing time and the number of CNCs is given and the simulation results fit the theoretical results perfectly.Finally,we discuss the enterprises coping strategies when CNC breaks down.