agv various problems

[a9080109]

[ FlexSim 20.0.10 ]

0701.fsmI have a model now and I'm having some problems

Question 1

I don't understand why my model cannot be implemented smoothly now. When my Q2 goods accumulate quickly, it will show that I cannot successfully create a task sequence, but I should have ended the previous task sequence. And I also use the pull-list function in the model to determine whether I need to park or move the next cargo.

Question 2

I now want to use the waypoint function for simulation, but I now observe that my model may not have the opportunity to trigger this function. How can I adjust the process of the model to give me the opportunity to use the waypoint function.

[moehlmann_fe]

1) When you pull AGVs you use a 0 as the request and require number. This means that the pull actually just queries the list. Any entries that fit the query will be assigned to the token (but left on the list). The token will always continue immediately, even if no entries are found, which is why you are running into problems with the task sequence, because the labels will contain NULL values.

it would be easier to not have the "isIdle" expression and instead have only AGVs on the list that are available. Then pull them (request/require = 1) and once the task is finished push them back to the list.

2) I'm not sure what exactly you mean here or what goal you pursue. The Waypoint tab in the AGV properties? Why wouldn't you be able to use those in your model?

[a9080109]

Now I can DELAY it for 0.001 seconds and it can be executed smoothly, but my current problem is that I want the WAYPOINT function, but my current situation cannot use it. Can you give me an example to reference how to design this situation? Are there any examples about AGV charging that you can give a reference to?

[moehlmann_fe]

You still have not given any details what you want to accomplish with waypoints. Do you mean travel from A to B should use a longer, pre-determined route defined by CPs along the way (waypoints)?

Because the waypoint feature of the AGV system allows you to run any code you want once an AGV arrives at a CP, so just the fact that you want to utilize the system is not much help to understand you goals.

[a9080109]

07001.fsmWhat I want to use now is to design a situation where two cars may collide with each other and use WAYPOINT to dodge. And now I have encountered a new situation. My model has now encountered a situation where it will not move at all.

[moehlmann_fe]

I have made the main flow more robust in the attached model by changing the pull logic to actually remove the AGVs/Parkpoints from the list. This also means there is no need for the isIdle or isAvailable list expressions.

The charging flows in the model are clearly incomplete. Many of the Run Sub Flow activities are missing a link to a target activity and multiple labels do not match up (what pulled values are assigned to and what is later used as a label name).

07001_1.fsm

In the version you are using, FlexSim will throw an error as soon as a deadlock occurs. The ability to manually handle these and tell FlexSim to ignore them was only added in a later version.

So you will need to build a system that prevents deadlocks/collisions from occuring in the first place.

A rough idea would be as follows:

- Build a routing table, so you know which points the AGV will have to visit in order to get from point A to point B.

- Route the AGV along the point one by one. Each time, on the pre-arrival event of the current target CP check if the next CP is available (meaning no other AGV has allocated it or the AGVs that do have allocated it will not drive towards the current CP of the AGV for whom the check is made.

- If the CP is availabe, reroute the AGV to the next point. If not, route it instead to a siding where it will wait until the next CP is available.

[a9080109]

I plan to use this new model to replace the previous one

, I also want to use waypoint to meet cars. My idea is that the car will hide on the CP next to it and wait for it.agv jp4wu6.fsm

[Jeanette_Fullmer]

Hi @mark zhen ,

Please be aware that your FlexSim version is past its supported lifecycle and is no longer eligible for paid technical support. For more information, please see the article "Software Support Lifecycle".

Community members here may still be able to offer advice, but features have been added and bugs fixed in the time since your software version was released. You may find that an offered solution that works in more recent versions of the software is not compatible with your old version, or that a posted sample must be opened in a recent version.

Contact your local FlexSim distributor for information on upgrading or getting a trial license.

Good luck!

[a9080109]

0701agv.fsm

Or can I use the agent system to deal with deadlock problems? After upgrading to the 2022 version, I found that I can do this, but I currently have no idea about this function. Can you demonstrate it for me? Or use this model. Do see how to deal with dead knots.