Deceleration before reaching AGV destination

Question

question

Solidworksan asked Aug 15, '21 Ryan Clark commented Aug 24, '21

Deceleration before reaching AGV destination

Hi I want to construct a model where the AGV decelerates its speed to 1 -> 0.4 m/s before it gets to the path.

But I don't have a good idea, can you give me a model or example you can recommend?

There is a model I want to apply below. I made it as a networknode. Should I make it an AGV path?

Software Version:

FlexSim 19.0.0

agv flexsim 19.0.0 agvpath networknodes

· 3

Solidworksan commented · Aug 16, 2021 at 03:29 AM

As I continued to study, an idea came to mind. But to envision this, we need the real-time coordinates of the AGV and the destination coordinates, how do we extract them?

BSN_Rver.1.fsm

0 ·

1629084452307.png (112.6 KiB)

bsn-rver1.fsm (85.0 KiB)

Solidworksan commented · Aug 16, 2021 at 03:48 AM

I think I can get the spatial value, but how do I do this?

0 ·

1629085656365.png (275.4 KiB)

Ryan Clark commented · Aug 24, 2021 at 11:38 PM

Hi @solidworksan, was Felix Möhlmann's answer helpful? If so, please click the red "Accept" button at the bottom of their answer. Or if you still have questions, add a comment and we'll continue the conversation.

If we haven't heard back from you within 3 business days we'll auto-accept an answer, but you can always unaccept and comment back to reopen your question.

0 ·

Answer 1 · 2021-08-16T07:09:11Z

Felix Möhlmann answered Aug 16, '21

When using a travel network you could use triggers on the network nodes to set the maximum speed of the task executer depending on what direction it came from/where it is going.

In the OnArrival trigger you can access the "toedge" and "fromedge" variable which relate to the rank of the respective path the transporter came from or is travelling to.

set_speed_on_NN.fsm

If you want to pursue your idea further:

"Object.location" and "Object.getLocation()" are the commands to determine the position of an object in the model. In your screenshot, you are trying to get the location of the transporter library object (which doesn't have one as it's not an actual object in the model). Use

Model.find("<Name of the transporter>")

to reference to the actual task executer.

To know what object the transporter is travelling to next, you can use this code

Object GoalObject = nullvar;
treenode TS = getvarnode(Model.find("Transporter2"), "activetasksequence");

if(TS.subnodes.length > 0)
{
    // There is an active task sequence
    TaskSequence.Task CurTask;
    for(int index = 1; index <= TS.subnodes[1].subnodes.length; index++)  
    {
        CurTask = TS.subnodes[1].subnodes[index];
        if(CurTask.state > 2 || CurTask.type != TASKTYPE_TRAVEL)
        {
            // Task is already finished or not a travel task
            continue;
        }
        GoalObject = CurTask.involved1;
        break;
    }
}

This will assign the object that the task executer is travelling to next (if there is one) to the variable "GoalObject".

1629096613554.png (17.7 KiB)

set-speed-on-nn.fsm (72.6 KiB)

question