关键词: 多机器人存取系统, 数字孪生, 集中式调度, 实时调度, 重调度规则, 自动导引小车

Abstract: Aiming at the problem of unclear system performance and low optimization in Robotic Mobile Fulfillment System (RMFS) with multiple Automatic Guided Vehicle (AGV) distributed scheduling,a centralized scheduling approach based on digital twin was proposed.A digital twin model with physical system,virtual system,twin data center and support services for system operation was established.Instruction acceptance and data acquisition mechanism for physical system,scheme generation and simulation mechanism for virtual system,and data processing and comparison mechanism for twin data center were established.System support service was used to ensure the smooth operation of the three mechanisms.Through the data interaction between physical system and virtual system,the real-time scheduling was ensured when orders continue to arrive.According to the different disturbances in RMFS,the rescheduling rules were determined to generate new schemes.The accurately predict the state of the system in the future,collectively optimize system performance,and effectively deal with disturbances were verified by instances of centralized scheduling approach based on digital twin compared with traditional methods.

Key words: robotic mobile fulfillment system, digital twin, centralized scheduling, real-time scheduling, rescheduling rules, automatic guided vehicle