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AGV Types Page   

You can get to the AGV Types page by right-clicking on a Path or Control Point and choosing AGV Network Properties.

A detailed conceptual overview of AGV Types can be found in Tutorial Lesson 3.

Path Classes - Here you can add, remove, re-order and rename the set of Path Classes for the model. Path Classes are specifically used for breaking out AGV speeds by path. When you add a Path Class, a new speed row associated with that Path Class will be added to each AGV Type table for both forward and reverse speed.

Load Types - Here you can add, remove, re-order and rename the set of Load Types for the model. Load Types are a user-defined list defining categories for what an AGV is carrying. This allows you to break out AGV speeds by the AGV's current load.

Initialize Travel - This is a trigger that is fired at the beginning of each travel operation. The primary objective of this trigger is to set the AGV's current Load Type.

AGV Types List - Here you can add, remove, re-order and rename the list of AGV Types for the model.

AGV Type Spec Table - In the AGV Type Spec Table you define max speeds by Path Class, Load Type and AGV direction, as well as acceleration, deceleration and non-idle battery usage. See Lesson 3 for a detailed description of these values.

Battery Levels and Usage

Each AGV Type has a defined Battery Capacity (in Amp Hours), Idle Battery Usage (in Amps), and Recharge Rate (in Amps). Additionally, each AGV Type has a non-idle Battery Usage (in Amps) broken out by Load Type. Each AGV starts the simulation at its maximum battery capacity, and then will track its battery usage over the course of the simulation. Whenever it is idle, its Idle Battery Usage applies. Whenever it is doing a travel operation, its battery usage is based on its current Load Type. If you set the AGV to recharge, it will recharge at its recharge rate until it is full or it starts its next travel operation, whichever comes first. To query battery level, start a recharge, or manually set the battery level, etc., see the documentation for the agvinfo() command.

Attaching Trailers

You can also make the AGV attach loaded items as trailers to the AGV. This will make the loaded items trail behind the AGV on its path, instead of being carried on the AGV. Check the box Attach Loads as Trailer, and then define the Trailer Gap, which is the distance of the gap between the back of the AGV and the front of the trailing item.

Deceleration and End Speed

Usually when you give an AGV a task to travel to a destination, you will want the AGV to end that travel task fully decelerated to a stop. However, in some cases you may want to end a travel task while still moving, for example if you want to make dispatching decisions on-the-fly. In this case you can define a non-zero end speed for the travel task. Doing this will actually shift earlier the end time of the travel task, as well as the position of the AGV at the time it finishes. In other words, instead of ending on the destination control point while still moving, the travel task will end while the AGV is still approaching the control point, at the defined end speed. If you don't immediately give the AGV any subsequent travel tasks, then the AGV will decelerate down to stopped, arriving at the control point AFTER the travel task has finished. If, however, you immediately give the AGV a new travel task, it will continue to the new task, starting at the end speed of the previous task, traveling through the original destination control point.

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FlexSim 2016.1