民用客机总装车间自动引导车任务分配及路径规划

doi:10.16183/j.cnki.jsjtu.2021.223

摘要/Abstract

摘要：

为了实现自动引导车(AGV)在某民用客机总装车间的高效运作,提出AGV任务分配与路径规划两阶段求解方法,有效地解决了车间内AGV的多次往返配送调度问题.在任务分配阶段,提出基于行程的AGV任务分配模型,提高任务分配的效率;在路径规划阶段,采用时间窗算法,对AGV占用的地图资源进行时间窗的初始化、更新和排布,并针对由于避障和等待引起的物料送达时间无法满足的情况,设计了料包交换、优先级提前、预留时长放宽共3种递进的调整策略,实现AGV的无冲突路径规划.在数值实验中,两阶段方法应用于50、100、150个料包问题的平均求解时间分别为15.86、41.12、162.29 s,表明两阶段方法有效缓解了多行程AGV调度问题的复杂性,能在合理时间内实现民用客机总装车间AGV的调度优化,以适应民用客机年产量逐年快速递增的生产需求.

关键词: 自动引导车, 行程, 任务分配, 路径规划, 时间窗算法

Abstract:

To realize efficient scheduling of automatic guided vehicles (AGV) in the aircraft final assembly workshop, a two-stage method of AGV task allocation and path planning is proposed which effectively solves the problem of multi-trip distribution scheduling of AGV in the workshop. In the task allocation stage, an AGV task allocation model based on the trip is established to improve task allocation efficiency. In the path planning stage, the time window algorithm is used to initialize, update, and arrange the time window of the resources occupied by the AGV. Considering that the latest delivery time constraints may be violated due to obstacle avoidance and waiting, three adjustment strategies are designed to realize the conflict-free path planning of AGV, including the package exchanging strategy, the priority exchanging strategy, and the reserved conflict duration relaxation strategy. In numerical experiments, the average solving time of the two-stage method applied to problems with the scale of 50, 100, and 150 is 15.86, 41.12, and 162.29 s, which indicates that the two-stage method effectively alleviates the complexity of the multi-trip AGV scheduling problem. The two-stage method can realize the scheduling of the AGV in aircraft assembly workshop within a reasonable time and adapt to the rapid increase in the annual production of aircraft.

Key words: automatic guided vehicle (AGV), multi-trip, task allocation, path planning, time window algorithm

中图分类号:

裘柯钧, 鲍中凯, 陈璐. 民用客机总装车间自动引导车任务分配及路径规划[J]. 上海交通大学学报, 2023, 57(1): 93-102.

QIU Kejun, BAO Zhongkai, CHEN Lu. Task Assignment and Path Planning for Automatic Guided Vehicles in Aircraft Assembly Workshop[J]. Journal of Shanghai Jiao Tong University, 2023, 57(1): 93-102.

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行程编号	目标暂存区	配送料包数量	行驶时长/min	行程编号	目标暂存区	配送料包数量	行驶时长/min
1	暂存区3	1	6	6	暂存区1	2	10
2	暂存区3	2	6	7	暂存区3、暂存区2	2	8
3	暂存区2	1	8	8	暂存区3、暂存区1	2	10
4	暂存区2	2	8	9	暂存区2、暂存区1	2	10
5	暂存区1	1	10

AO编号	需求时间/h	目标工位	AO编号	需求时间/h	目标工位
150C08RW6040	0	暂存区3	140C08ZF3401	8	暂存区2
150C08RW6030	0	暂存区3	140C08ZF3300	8	暂存区2
140C07BS0080	0	暂存区2	140C08ZF2500	8	暂存区2
140C05DA0030	0	暂存区2	140C08ZF2400	8	暂存区2
130C06KS0010	0	暂存区1	140C08ZF2100	8	暂存区2
130C01PJ0050	0	暂存区1	130C01RS0010	8	暂存区1
150C03RD0260	1	暂存区3	130C01KS0010	8	暂存区1
150C03JD0010	1	暂存区3	150C04SA0010	8.25	暂存区3
150C03DD0210	1	暂存区3	150C04AA0070	8.25	暂存区3
150C03DD0160	1	暂存区3	150C05SA0040	9	暂存区3

工作日编号	AO料包数量	工作日编号	AO料包数量
Day1	59	Day8	53
Day2	76	Day9	58
Day3	59	Day10	75
Day4	55	Day11	61
Day5	73	Day12	33
Day6	62	Day13	47
Day7	65	Day14	36

行程编号	AGV编号
行程编号	AGV1	AGV2	AGV3	AGV4	AGV5
行程1	16, 37	24, 28	14, 29	30, 34	20, 23
行程2	52, 64	45, 61	15, 26	9, 18	66, 73
行程3	42, 47	41, 43	53, 59	31, 36	19, 90
行程4	55, 93	48, 57	50, 58	51, 62	21, 67
行程5	32, 35	46, 56	25, 79	54, 63	22, 68
行程6	11, 12	6, 39	13, 38	7, 17	1, 2
行程7	49, 65	8, 33	75, 76	27, 69	100, 74
行程8	77, 82	98, 99	10, 40	89, 96	4, 5
行程9	78, 88	70, 72	94, 95	91, 92	3, 84
行程10	85, 86	71, 83	80, 97	81, 87	44, 60