自动化立体车库管理系统的研究(英文文献+CAD图纸)
Fig. 10. Activity diagram of NEA.
removal processes, e.g. machining centers, turning machines, drilling machines, and so on. Equipment classified into MFP performs shape-changing processes without making chips from a product, e.g. forming, forging, assembly, and so on. All equipment that inspects a product belongs to MIP. Equipment classified into PD performs auxiliary processes without changing material volume or shape. For example, PD equipment may change a product’s orientation or some non-geometrical property of the product. PD class equipment includes gravity-based inverters, heat lamps used for drying parts after a painting operation, etc.
Equipment that transfers products between pieces of equipment is in the MH class. MH normally indicates several types of robots, and it is partitioned into fixed material handler (FMH) and movable material handler (MMH). The controller of MH class equipment requires synchronization with equipment associated with the transfer of products. If a robot operates within a designated position without moving, it belongs to FMH; otherwise it belongs to MMH. Human operators also can be classified as MMH.
Fig. 11. Class diagram for classification of equipment.
Equipment that moves products from one location to another location is in the MT class. MT is partitioned into fixed material transporter (FMT) and movable material transporter (MMT) in the same way that the MH class is partitioned. Conveyors belong to FMT, and AGVs, fork trucks, and human operators belong to MMT.
Equipment that stores products is in the BS class. General equipment that stores products is classified into either ABS or PBS. If storage equipment requires its own controller, it belongs to the ABS class; otherwise it belongs to the PBS class. Some requirements for ABS equipment controllers include synchronization with MH class equipment, location allocation, capacity control, etc. Since PBS equipment does not have its own controller, it must be controlled and maintained by some other controller that uses it.
5.2. Information for controlling equipment
The information and messages used in the FrMS can be classi?ed into two major categories: (1) durable information and messages and (2) instantaneous information and messages. ‘‘Durable’’ means the operations and communication messages that exist during the entire lifecycle of a fractal. When a fractal is created for the purpose of controlling equipment, it can handle control-related operations and messages until it is destructed or its role is changed. On the other hand, ‘‘instantaneous’’ describes the operations and communication messages that can be changed at any time. Table 2 shows the information and messages that have been defined in this research. Operations and messages are clarified with several pieces of exemplary equipment in  If operations or messages are dependent upon specific hardware vendors, they are classified as ‘‘specific’’. Otherwise, they are classified as ‘‘common’’. Messages including commands and signals are italicized in Table 2. In addition, Table 3 describes the abbreviated information and messages in Table 2. For example, fr_id (durable common information) means the fractal identification, and reset_ml (instantaneous specifi

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