风电机组总装环境中基于能源消耗最小的AGV调度算法  

AGV Scheduling Algorithm Based on Minimum Energy Consumption in Wind Turbine Lump Assembly Environment

作　　者：张政 ZHANG Zheng(R&D Centre,Beijing Goldwind Science&Creation Windpower Equipment Co.,Ltd.,Beijing 100176,China)

机构地区：[1]北京金风科创风电设备有限公司研发中心,北京100176

出　　处：《自动化应用》2024年第23期84-89,共6页Automation Application

摘　　要：AGV的调度效率是影响风电机组总装系统效率的主要因素。任务被下达后,需要在已完成任务的AGV中调度可最快到达该任务起点的AGV执行新任务。AGV驶向任务起始点的时间越短,总装系统的效率越高。由于现代棋盘式总装系统的特殊性,AGV调度环境较从前更加复杂:总装环境中障碍物(工作点)数目大,相同条件下不同的调度算法的结果可能不同。提出3种AGV调度算法,即基于k-NN的调度算法、基于Manhattan距离的调度算法、基于Dijkstra算法的调度算法。首先分析了3种调度算法的优缺点,然后考虑了AGV是否负载对上述3种调度算法性能的影响,最后通过实例验证对比了3种算法的可行性。结果表明,基于Dijkstra算法的AGV调度算法更适合棋盘式总装环境,可以实现调度过程中能源消耗最小。The scheduling efficiency of AGV is the main factor affecting the efficiency of the wind turbine assembly system.When a task is given,it is necessary to schedule the AGV that can reach the starting point of the task the fastest to perform the new task among the AGV that have already completed the task.The shorter the time for the AGV to travel to the starting point of the task,the higher the efficiency of the final assembly system.Due to the special characteristics of the modern checkerboard assembly system,the AGV scheduling environment is more complex than before:there are a large number of obstacles(work points)in the assembly environment,and the results of different scheduling algorithms may be different under the same conditions.Three AGV scheduling algorithms are proposed,i.e.,scheduling algorithm based on k-NN,scheduling algorithm based on Manhattan distance,and scheduling algorithm based on Dijkstra′s algorithm.The advantages and disadvantages of the three scheduling algorithms are firstly analysed,then the influence of whether the AGV is loaded or not on the performance of the above three scheduling algorithms is considered,and finally the feasibility of the three algorithms is compared by example verification.The results show that the AGV scheduling algorithm based on Dijkstra′s algorithm is more suitable for the checkerboard general loading environment,and can achieve the minimum energy consumption in the scheduling process.

关 键 词：风电机组总装系统 DIJKSTRA算法 自动引导车 最小能源消耗 调度算法 

分 类 号：TP399[自动化与计算机技术—计算机应用技术] TP29[自动化与计算机技术—计算机科学与技术]