JP3728865B2

JP3728865B2 - Unmanned vehicle operation control device and method

Info

Publication number: JP3728865B2
Application number: JP12255897A
Authority: JP
Inventors: 隆己江川
Original assignee: アシストシンコー株式会社
Priority date: 1997-05-13
Filing date: 1997-05-13
Publication date: 2005-12-21
Anticipated expiration: 2017-05-13
Also published as: JPH10312216A

Description

【０００１】
【発明の属する技術分野】
本発明は、工場等の自動搬送システムにおいて、無人搬送車（以下、無人車と呼ぶ）の運行を管理し、搬送経路の決定等を行う無人車運行制御装置及びその方法に関する。
【０００２】
【従来の技術】
工場等の無人搬送システムでは、生産量の増大に伴い、複数台の無人車を効率的に運行させる必要が生じている。
図８は、複数台の無人車の運行を制御する、従来例としての無人車の運行管理制御装置２０２の構成を示すブロック図である（特開平０７−２１９６３３参照）。
図８において、２００は運行制御部であり、ＣＰＵ（中央処理装置）、ＲＯＭ（リードオンリメモリ）、ＲＡＭ（ランダムアクセスメモリ）等からなる処理装置である。
計画部２０７は、ＣＰＵ等により構成され、各無人車の最適な走行経路および動作順序を決定する。この計画部２０７は、機能的には経路探索部２１０、経路計画部２０９、動作計画部２０８よりなる。運行制御部２００は計画部２０７を起動し、計画部２０７が求めた各無人車の走行経路に基づいて無人車の運行制御を行う。
【０００３】
２０１は、搬送実行テーブルメモリであり、無人搬送システムに与えられる仕事に関するデータをプールしておく記憶領域である。
２０３は、計画結果格納メモリであり、計画部２０７において計画された各無人車の確定経路、及び、走行路上において無人車が停止可能な各ノードに関する予約シーケンス等を記憶する領域である。運行制御部２００は、計画結果格納メモリ２０３内のデータをチェック・参照し、各無人車への走行指示を出力する。
【０００４】
２０４は、計画指示テーブルメモリであり、各無人車をどのように扱うかを指示するデータ、具体的には、経路確定レベル、目的ノード（目標点）、作業時間の各データが格納されている。計画部２０７は、これらのデータに基づいて、経路計画および動作計画を立てる。各データについて以下に説明する。
【０００５】
経路確定レベル：各無人車の走行経路の確定状況を示すデータであり、「未定」、「目的ノードまで確定」、「退避先ノードまで確定」の３種類がある。
「未定」は、現在ノードから目的ノードまでの経路は確定しておらず、故にその経路を求める必要があることを示す。
「目的ノードまで確定」は、現在ノードから目的ノードまでの経路が確定していることを意味する。目的ノード以降の経路については、動作計画部２０８において退避先ノードが付け加えられることによって、そこまでの経路が追加される可能性がある。退避先ノードを決定する退避動作については、後述する。
「退避先ノードまで確定」は現在ノードから目的ノードを経て退避先ノードまでの経路が確定していることを意味する。退避先ノード以降の経路については、動作計画部２０８においてさらに退避先ノードが追加されることによって、そこまでの経路が追加される可能性がある。
【０００６】
２０５は各無人車の状態に関するデータメモリである。運行制御部２００は、無人車インタフェース２１１から各無人車の状態を逐次受信し、その内容を元に無人車データメモリ２０５の内容を更新する。
２０６は、運行制御データメモリである。計画部２０７による計画動作が終了し、そのデータが計画結果格納メモリ２０３へ格納されると、運行制御部２００はその内容を調べて、計画が成功（即ち、計画部２０７が少なくとも１台以上の無人車に対して、新たに確定経路を追加できた場合）していれば、運行制御データメモリ２０６へ当該データをコピーする。
【０００７】
２１２は、走行路データメモリであり、走行路上において無人車が停止可能な各ノードの座標と、その接続関係およびコストなどに関するデータが納められている。
運行制御部２００は、搬送実行テーブルメモリ２０１および無人車データメモリ２０５を参照して、未割当の仕事の存在および仕事を持たない無人車の存在を確認した場合、その参照データを元に、計画指示テーブルメモリ２０４に経路確定レベル・目的ノード・作業時間をセットし、計画部２０７を起動する。
【０００８】
次に、計画部２０７の動作について、説明する。
経路計画部２０９は、計画指示テーブルメモリ２０４及び無人車データメモリ２０５を参照して、各無人車に対する走行経路を作成する。この作成動作は、他の無人車の作業完了を待たず、作業が完了した無人車に対して直ちに行われる。従って、経路計画部２０９が基本経路（逆方向区間の無いコスト最小経路）を求める時には、走行が確定している経路がすでにいくつか存在していることになる。
ここで、運行制御部２００は、経路計画部２０９の処理と並行して各無人車に対し走行指示を出すので、経路計画部２０９は処理を開始する前に各無人車の現在位置情報を得る必要があり、処理開始に先立ち、確定走行路および各無人車の現在位置に関する初期設定を行う。
【０００９】
経路探索部２１０は、経路計画部２０９によって起動され、起動時において、特定の経路に対し、方向付けおよび通行禁止の情報を探索時条件として指示することが可能である。経路探索部２１０は、計画指示テーブルメモリ２０４内の経路確定レベルが「未定」の無人車に対してのみ初期経路（無人車同士の競合を考慮しない、コストが最小となる経路）を求める。一方、計画指示テーブルメモリ２０４内の経路確定レベルが「目的ノードまで確定」または「退避先ノードまで確定」の無人車は、すでに目的ノードまたは退避先ノードまでの経路が確定しており、この確定経路は固定条件となる。
【００１０】
動作計画部２０８は、経路計画部２０９から供給される基本経路に基づいて各無人車の時間的な移動を調べ、移動順序を調整したり、必要に応じて経路を変更、追加するなどして、全無人車の目標ノードまでの最も効率的な移動動作を計画する。
動作計画の１つとして、退避動作がある。退避動作は、移動中のある無人車の経路上に作業を終えて待機状態にある他の無人車が存在する場合に、その待機状態の無人車を邪魔にならない他のノードに移動（退避）させる動作である。退避先として可能なノードは、以下の条件を満たすノードである。
▲１▼そのノードへの移動が禁止されていない。
▲２▼待機状態でない無人車に占有されていない。
【００１１】
動作計画部２０８における退避経路追加は目的ノードに到達後にのみ、必要ならば行われる。また、退避先ノードまでの経路が確定すると、その退避先ノードより前に新たな退避先ノードおよび経路を挿入することも行わない。即ち、各無人車の走行経路がどの程度まで確定しているのかを常に把握する必要があり、計画指示テーブルメモリ２０４に記憶された、上述した「経路確定レベル」が参照される。
【００１２】
上記運行管理制御装置によれば、無人車が移動を開始する前に、予め無人車同士の干渉を考慮して全ての無人車の走行経路および走行順序を得ることができるので、多数の無人車が走行路上で頻繁に干渉する可能性がある場合にもスムーズな移動が可能となり、従って無人車の搬送効率を向上させることができる。
また、周期的に各無人車の状態を監視し、作業を完了した無人車が発生すると、その無人車に関して新たな作業を設定して他の無人車の状態を考慮して走行経路探索を行う。従って、時々刻々と変化する各無人車の状況の元で、作業を完了した無人車に直ちに新たな作業および動作指示を与えることができるので、無人車の搬送効率を向上させることができる
【００１３】
以下、係る運行管理制御による従来の無人車運行制御の具体例を示す。
図９（ａ）に、３台の無人車＃１、＃２、＃３とその走行路に関する運行図を示す。図中の黒丸はノードを示し、各ノードの添え数字は当該ノードに付されたノード番号である。無人車は、指定されたノードにおいて、停止、方向転換、搬送物の積み降ろし（移載）等の作業を行う。
【００１４】
＜走行例１＞
図９（ａ）の運行図において、無人車＃１はノード２の位置で移載中に異常になったとし、その時、無人車＃２、＃３は、それぞれ各々の目標点に向けて走行中であるとする。これら無人車の状態、目標点、（図９（ａ）中矢印で示す）現在走行中の経路に関する運行状況を、図９（ｂ）の表に示す。
ここで、上述した計画部２０７で設定された、無人車＃２、＃３に関する運行計画条件が図１０（ｂ）の表のようであるとする。即ち、無人車＃２は、ノード１７での移載を終えて、次の移載のために目標点であるノード１３へ運行予定である。また、無人車＃３の目標点はノード１であり、ノード３において、無人車＃１がノード２を離れるのを待っている状態である（図１０（ａ）に示す運行状況参照）。
【００１５】
図１０（ｂ）に示す運行計画条件において、無人車＃２については、経路が決定していない「未定」状態であるので、出発点１７と目標点１３とを結ぶ経路「１７→１６→１５→１４→１３」が決定され、この計画に従って無人車＃２はノード１３へ移動するように制御される。
一方、無人車＃３については、図１０（ｂ）に示す運行計画条件において、経路「３→２→１」の順での走行が「目的地まで確定」されている。従って、無人車＃３が既にこの経路に沿って移動中の場合（即ち、今の場合）は経路の変更ができず、無人車＃３をノード１へ到達させるためには、ノード２を通過できる状態になるまで、即ち、無人車＃１がノード２から離れるまで無人車＃３をノード３に待機させる必要があった。
【００１６】
＜走行例２＞
走行例１と同様に、無人車＃１がノード２で移載中に異常になったとし、無人車＃３は、図１１（ｂ）の運行計画条件の表に示すように、無人車＃１が停止しているノード２を目標として、ノード３で停止しているとする（図１１（ａ）に示す運行状況参照）。
この状況の下で、図１１（ａ）に示すように、ノード７に居る無人車＃２をノード３へ向かわせる必要が生じた場合、図１１（ｂ）に示す運行計画条件に基づいて計画が立てられ、無人車＃３は、走行例１の場合と同様に、経路が確定されているためにノード３において停止状態となり、無人車＃２については、新たな経路「７→６→５→４→３」が得られる。
この運行計画に従って無人車＃２は運行されるが、目標点のノード３へは、無人車＃３がノード３から離れない限り到達できず、一方、この無人車＃３は、異常でないにも関わらず、無人車＃１がノード２を離れない限りノード＃３から動けない。
【００１７】
【発明が解決しようとする課題】
上述のように、狭隘な走行路に複数の無人車が投入されると、確定した経路を走行中の無人車が、異常等に陥ることにより走行不能になった無人車に邪魔されて動けない状況が生じていた。この場合、動けない無人車は正常であるにも関わらず経路を変更せずに停止状態で待機することになるので、システムの搬送能力が低下する。
本発明の目的は、異常等に陥ることにより走行不能になった無人車に邪魔されて動けない無人車に対し、迂回や退避を行う運行計画を立てることにより、搬送能力の低下を最低限に抑える無人搬送車運行制御装置及び方法を提供することである。
【００１８】
上記課題を解決するために、請求項１記載の発明にあっては、所定の走行路を走行する複数の無人車について、各無人車の走行経路を、前記走行路上の停止可能位置である複数のノードの通過順序によりそれぞれ確定し、全ての無人車について各無人車の運行を統合的に制御する無人車運行制御装置において、走行不能状態となった第１の無人車により、別の第２の無人車の確定された経路による運行が不能となった場合、前記確定された経路を破棄し、前記第１の無人車の居る区間を迂回する新たな経路を構築する運行計画手段と、前記構築された新たな経路に基づいて前記第２の無人車を運行制御する制御手段とを具備し、前記運行計画手段は、走行不能状態となった無人車の居るノードもしくはその前後のノードを検出するともに、該検出されたノードに対し、互いのノードに２台の無人車がそれぞれ到着する場合に衝突する可能性のあるノードを更に検出する検出手段と、
前記検出手段が検出した各ノードを一端とする走行区間を全て通行禁止に設定する運行計画手段と、前記構築された新たな経路に基づいて前記第２の無人車を運行制御する制御手段とを具備することを特徴とする。
【００１９】
上記課題を解決するために、請求項２記載の発明にあっては、所定の走行路を走行する複数の無人車について、各無人車の走行経路を、前記走行路上の停止可能位置である複数のノードの通過順序によりそれぞれ確定し、全ての無人車について各無人車の運行を統合的に制御する無人車運行制御装置において、走行不能状態となった第１の無人車により、確定された経路を有する別の第２の無人車が停止状態になり、該停止状態となった第２の無人車により、別の第３の無人車の所望の運行が不能となった場合、前記第２の無人車の確定された経路を破棄し、前記第３の無人車の前記所望の運行を妨げない位置に前記第２の無人車を退避させる新たな経路を構築する運行計画手段と、前記構築された経路に基づいて前記第２の無人車を退避させる制御手段とを具備し、前記運行計画手段は、走行不能状態となった無人車の居るノードもしくはその前後のノードを検出するともに、該検出されたノードに対し、互いのノードに２台の無人車がそれぞれ到着する場合に衝突する可能性のあるノードを更に検出する検出手段と、前記検出手段が検出した各ノードを一端とする走行区間を全て通行禁止に設定することを特徴とする。
【００２１】
この場合、請求項３に示すように、前記運行計画手段は、走行不能状態でない稼働中の各無人車の、現在位置のノードを出発点として設定する手段と、前記稼働中の各無人車に関して確定済みの経路における目標ノードを目標点として設定する手段であって、目標点に走行不能状態の無人車が居る場合を含む停止状態の無人車については、前記設定された出発点を目標点として設定する手段と、前記稼働中の各無人車に関し、前記出発点から前記目標点に至る、前記通行禁止区間を経由しない新たな経路を設定する手段とを有するようにしても良い。
【００２２】
更にこの場合、請求項４に示すように、前記運行計画手段は、前記停止状態の無人車が他の無人車に関して設定される経路中に存在する場合、前記停止状態の無人車を当該経路中から退避させる退避経路を設定する手段を有するようにしても良い。
【００２３】
また、本発明は、無人車運行制御方法も提案するものであり、第１の方法は、請求項５に示すように、運行計画手段が、所定の走行路を走行する複数の無人車について、各無人車の走行経路を、前記走行路上の停止可能位置である複数のノードの通過順序によりそれぞれ確定し、全ての無人車について各無人車の運行を統合的に制御する無人車運行制御方法において、走行不能状態となった第１の無人車により、別の第２の無人車の確定された経路による運行が不能となった場合、前記確定された経路を破棄する過程と、前記第１の無人車の居る区間を迂回する新たな経路を構築する過程と、走行不能状態となった無人車の居るノードもしくはその前後のノードを検出するとともに、該検出されたノードに対し、互いのノードに２台の無人車がそれぞれ到着する場合に衝突する可能性のあるノードを更に検出し、検出された各ノードを一端とする走行区間を全て通行禁止に設定する過程と、前記構築された新たな経路に基づいて前記第２の無人車を運行制御する過程とを具備することを特徴とする。
【００２４】
また、第２の方法は、請求項６に示すように、運行計画手段が、所定の走行路を走行する複数の無人車について、各無人車の走行経路を、前記走行路上の停止可能位置である複数のノードの通過順序によりそれぞれ確定し、全ての無人車について各無人車の運行を統合的に制御する無人車運行制御方法において、走行不能状態となった第１の無人車により、確定された経路を有する別の第２の無人車が停止状態になり、該停止状態となった第２の無人車により、別の第３の無人車の所望の運行が不能となった場合、前記第２の無人車の確定された経路を破棄する過程と、前記第３の無人車の前記所望の運行を妨げない位置に前記第２の無人車を退避させる新たな経路を構築する過程と、前記構築された経路に基づいて前記第２の無人車を退避させる過程と、走行不能状態となった無人車の居るノードもしくはその前後のノードを検出するとともに、該検出されたノードに対し、互いのノードに２台の無人車がそれぞれ到着する場合に衝突する可能性のあるノードを更に検出し、検出された各ノードを一端とする走行区間を全て通行禁止に設定する過程と、前記構築された新たな経路に基づいて前記第２の無人車を運行制御する過程とを具備することを特徴とする。
【００２６】
この場合、請求項７に示すように、前記新たな経路を構築する過程は、走行不能状態でない稼働中の各無人車の、現在位置のノードを出発点として設定する過程と、前記稼働中の各無人車に関して確定済みの経路における目標ノードを目標点として設定する過程であって、目標点に走行不能状態の無人車が居る場合を含む停止状態の無人車については、前記設定された出発点を目標点として設定する過程と、前記稼働中の各無人車に関し、前記出発点から前記目標点に至る、前記通行禁止区間を経由しない新たな経路を設定する過程とを含むようにしても良い。
【００２７】
更にこの場合、請求項８に示すように、前記新たな経路を設定する過程において、前記停止状態の無人車が他の無人車に関して設定される経路中に存在する場合、前記停止状態の無人車を当該経路中から退避させる退避経路を設定する過程を含むようにしても良い。
【００２８】
【発明の実施の形態】
以下、図面を参照して、本発明の実施形態について説明する。
図１は、実施形態の一例としての、無人車の運行管理制御装置１００の構成を示すブロック図であり、前掲図８と同じ部分については同一の符号を付し、その説明を省略する。図１において、運行計画部１１０は、図８の計画部２０７と同様にＣＰＵ等により構成され、計画結果格納メモリ２０３、計画指示データメモリ２０４、無人車データメモリ２０５、及び走行路データメモリ２１２の各メモリを参照し、無人車の最適な走行経路および動作順序を決定する。
【００２９】
本発明は、異常の無人車が存在する場合の効率的走行制御に関するものであり、無人車インターフェース２１１から受信した各無人車の状態に基づき、異常の無人車が検出された場合に行われる運行計画部１１０の運行計画処理について、図２を参照して説明する。
まず、図２のステップＳＰ１において、異常の無人車等を除いた、運行制御管理下にある全ての無人車が停止状態にある、即ち走行状態でないか否かを判定する。全車が停止状態でなければ、計画失敗として処理は終了する。
全車（全台）停止と判定されると、処理はステップＳＰ２に進み、走行路、無人車、計画指示の各データメモリ２１２、２０５、２０４を参照し、走行路の閉鎖処理や、新たな運行計画を立てるための条件の設定が行われる。これについて、以下に詳述する。
【００３０】
（１）走行路の閉鎖処理
処理の前提として、無人車が停止中の場合はそのノードを、走行中の場合はその前後のノードを禁止ノードと定義する。また、任意の２つのノードに関し、互いのノードに２台の無人車がそれぞれ到着する場合に衝突する可能性のあるノード同士のことを「干渉ノード」というが、禁止ノードに対して干渉ノードとなる任意のノードについても、禁止ノードに加える。
ここでの処理においては、各ノードの座標、無人車の物理的形状、位置及び姿勢制御データ等に基づいて禁止ノードを全て検出する。
そして、検出された禁止ノードを一端とする走行区間（アーク）を全て通行禁止に設定する。
【００３１】
例えば、図１２に示すような走行路（前掲例と同様の走行路に関し、説明上更にノード３と４の間にノード９９を増設したもの）において、ノード４と５にそれぞれ無人車が入ると衝突の可能性があるのでこれらは干渉ノードである。また、同様に、ノード９９と５も干渉ノードとなる。仮に、ノード５において異常の無人車が停止したとすると、禁止ノードは、ノード５と、それに対して干渉ノードとなる４，６，９９の計４つとなる。この場合、通行禁止に設定される走行区間は、これら各禁止ノードを一端とする区間、即ち、ノード３と９９、９９と４、４と５、５と６、６と７、６と１４の計６区間となる。
【００３２】
（２）新たな運行計画条件の設定
新たな運行計画条件の設定にあたり、対象となる無人車は、運行管理下にある無人車、即ち、稼働中の無人車であって、故障や点検のため非稼働状態にある無人車は対象外とする。ここで、現在搬送や移載等の仕事が与えられていない待機状態の無人車（以下、待機無人車と呼ぶ）も対象に含む。対象となる無人車に対し、以下の各項目が設定される。
【００３３】
（ａ）出発点：各無人車の、現在位置のノードを出発点とする。
（ｂ）目標点：各無人車が現（旧）計画において次に進もうとしているノード、すなわち、現在確定された経路における目標ノードを目標点とする。待機無人車については、出発点を目標点とする。また、目標点が走行不能の無人車の居るノードである無人車についても、出発点を目標点とする。
（ｃ）作業：各無人車が目標点で行う作業を設定する。移載、充電、待機等の作業がある。なお、目標点における「待機」とは、目標点において何もせずに待機することを意味する。目標点が走行不能の無人車の居るノードである無人車については、作業を「待機」に設定する。
（ｄ）経路確定レベル：全対象無人車について、”経路が未定、あるいは既に目標点にいる”場合を示す「未定」を設定する。
（ｅ）経路：出発点（目標点がこれに等しい場合もある）のノードのみを設定する。従って、この計画前に目標点までの経路が既に求められている無人車については、その経路が破棄される。
【００３４】
次に、処理はステップＳＰ３に進み、上記設定による運行計画条件により、運行計画が実施される。これは、運行計画部１１０において、上述した図８の計画部２０７（経路計画部２０９、経路探索部２１０、及び動作計画部２０８）の計画実行動作と同様の処理が行われることにより実施される。
次に、処理はステップＳＰ４に進み、計画が成功したか否か、即ち、運行計画部１１０が少なくとも１台以上の無人車に対して、新たに確定経路を追加できたか否かが判定される。
計画成功の場合、処理はステップＳＰ５に進み、使用された運行計画条件、及び、新規に得られた各無人車の経路及び各ノードの予約シーケンス等を、計画結果格納メモリ２０３に書き込む。計画が成功しなかった場合は、処理はそのまま終了する。
【００３５】
【実施例】
＜第１実施例＞
本実施例は、従来技術の「走行例１」のケースに関して、本発明による制御を実行した例である。まず、図１０（ａ）に示した状況は、異常の無人車＃１以外の、運行管理制御下にある無人車＃２及び＃３はともに停止状態にあるので、「全台停止」と判定される。
【００３６】
この判定により、上述した「走行時の閉鎖処理」が実行される。禁止ノードは、異常の無人車の居るノード”２”で、それを含む走行区間は”１と２”、及び”２と３”となる。これにより、ノード１と２の間、及び、ノード２と３の間の走行区間がそれぞれ通行禁止に設定される。この状態を図３（ａ）中に「×印」で示す。そして、「新たな運行計画条件」は、上述の処理内容に従い、図３（ｂ）のように設定される。
【００３７】
図３（ｂ）のように運行計画条件が設定され、経路確定レベルが「未定」とされたことにより、無人車＃３について、ノード３と１とを結ぶ経路を新たに設定する必要が生じる。ここで、上述のように、ノード２を一端とする走行区間が通行禁止とされたため、ノード２を通る経路は算出されない。よって、無人車＃３の新しい最短経路として、経路「３→１２→１１→１」が得られる。一方、無人車＃２については、従来と同様に、経路「１７→１６→１５→１４→１３」が得られる。この結果を、図４に、矢印で模式的に示す。
これにより新たな確定経路が得られたので計画は成功と判定され、上記運行計画条件、及び、新規に得られた各無人車の経路及び各ノードの予約シーケンス等が、計画結果格納メモリ２０３に書き込まれる。そして、運行制御部２００は、計画結果格納メモリ２０３内のデータをチェック・参照し、無人車＃２及び＃３へ新たな走行指示を出力するので、無人車＃３は、無人車＃１がノード２にとどまった状態で目標点であるノード１に到達できる。
【００３８】
＜第２実施例＞
本実施例は、従来技術の「走行例２」のケースに関して、本発明による制御を実行した例である。ここでも、異常の無人車＃１以外の、運行管理制御下にある無人車＃２及び＃３はともに停止状態にあるので、「全台停止」と判定される。そして、第１実施例と同様に、禁止ノード２を一端とする走行区間、即ち、ノード１と２の間、及び、ノード２と３の間の走行区間が通行禁止に設定される。
【００３９】
ここでは、新たな運行計画条件は、図５のように設定される。即ち、無人車＃３の現（旧）計画における目標点であるノード２には異常の無人車＃１が居るため、目標点は出発点であるノード３に設定され、作業は「待機」、経路確定レベルは「未定」となり、図１１（ｂ）に設定されていた経路「３→２」も破棄される。
この条件の下で運行計画を実施すると、図６に示す運行結果のように、無人車＃３については、無人車＃２に関して設定される経路「７→６→５→４→３」の邪魔にならないような退避経路「３→１２」が得られる。
即ち、無人車＃３を一時的に待機（仕事が割り当てられない）状態にしてノード１２に退避させることができ、無人車＃２はノード３へ到達することができる。
【００４０】
なお、異常の無人車が検出されない場合は、例えば、図７に示すような制御手順が実行される。ここでは、この手順について、簡単に説明する。
この場合、図２のステップＳＰ１で行われる「全台停止か否か」の判定は行われず、ステップＳＰ１１及びＳＰ１２で、従来と同様に運行計画条件の設定及び運行計画の実施が行われる。そして、ステップＳＰ１３で計画が成功したか否かが判定され、成功すればステップＳＰ１４において計画結果が保存され、不成功に終わればステップＳＰ１５において運行計画条件の変更が行われる。そして、ステップＳＰ１６において変更計画が実施可能であるか否かが判定され、可能であると判定されると処理は再びステップＳＰ１２に移行して運行計画が実施される。ステップＳＰ１６で変更が不可能と判定されると、処理は終了する。
【００４１】
【発明の効果】
本発明によれば、確定した経路を走行中の無人車が、異常等に陥ることにより走行不能になった無人車に邪魔されて動けなかったり、そのために更に目標点に到達できなくなった無人車がある場合でも、
・走行不能状態の無人車を迂回する経路が可能である場合は、その経路に変更した走行が可能であり、
・走行不能状態の無人車により他の無人車の走行を妨げる無人車がある場合は、やむをえず妨害状態となっている無人車を一時的に待機状態と考えることができ、これを他の無人車の運行を妨げない位置に退避させることが可能であり、
よって、異常発生による搬送能力の低下を最低限に抑えることができる。
【図面の簡単な説明】
【図１】本発明の実施形態の一例としての、無人車の運行管理制御装置の構成を示すブロック図である。
【図２】図１の装置内の運行計画部１１０の運行計画処理の流れを示すフローチャートである。
【図３】本発明による第１実施例の運行計画における無人車と走行路の状態及び、運行計画条件を示す図である。
【図４】第１実施例による運行計画結果を示す図である。
【図５】本発明による第２実施例の運行計画条件を示す図である。
【図６】第２実施例による運行計画結果を示す図である。
【図７】異常の無人車が検出されない場合の制御手順例を示すフローチャートである。
【図８】従来の実施形態の一例としての、無人車の運行管理制御装置の構成を示すブロック図である。
【図９】３台の無人車＃１、＃２、＃３の走行路上の運行図及び現在走行中の経路に関する運行状況を示す図である。
【図１０】従来方式による一走行例における無人車の運行状況及び運行計画条件を示す図である。
【図１１】従来方式による別の走行例における無人車の運行状況及び運行計画条件を示す図である。
【図１２】本発明に関する、禁止ノードの決定と通行禁止区間の設定を説明するための図である。
【符号の説明】
１１０運行計画部
２００運行制御部
＃１、＃２、＃３無人車
１〜１９ノード[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an unmanned vehicle operation control apparatus that manages the operation of an automated guided vehicle (hereinafter referred to as an unmanned vehicle) and determines a transportation route and the like in an automatic transfer system such as a factory.
[0002]
[Prior art]
In an unmanned conveyance system such as a factory, it is necessary to efficiently operate a plurality of unmanned vehicles as the production volume increases.
FIG. 8 is a block diagram showing a configuration of an unmanned vehicle operation management control device 202 as a conventional example for controlling the operation of a plurality of unmanned vehicles (see Japanese Patent Application Laid-Open No. 07-219633).
In FIG. 8, reference numeral 200 denotes an operation control unit, which is a processing device including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory) and the like.
The planning unit 207 is configured by a CPU or the like, and determines the optimum travel route and operation order of each unmanned vehicle. Functionally, the planning unit 207 includes a route search unit 210, a route planning unit 209, and an operation planning unit 208. The operation control unit 200 activates the planning unit 207, and controls the operation of the unmanned vehicles based on the travel route of each unmanned vehicle obtained by the planning unit 207.
[0003]
Reference numeral 201 denotes a transfer execution table memory, which is a storage area for pooling data related to work given to the unmanned transfer system.
Reference numeral 203 denotes a plan result storage memory, which is an area for storing a confirmed route of each unmanned vehicle planned by the planning unit 207, a reservation sequence regarding each node at which the unmanned vehicle can stop on the travel route, and the like. The operation control unit 200 checks and references data in the plan result storage memory 203, and outputs a traveling instruction to each unmanned vehicle.
[0004]
Reference numeral 204 denotes a plan instruction table memory which stores data instructing how to handle each unmanned vehicle, specifically, data on a route determination level, a target node (target point), and work time. . The planning unit 207 makes a route plan and an operation plan based on these data. Each data will be described below.
[0005]
Route decision level: Data indicating the decision status of the travel route of each unmanned vehicle, and there are three types: “undecided”, “established to destination node”, and “established to save destination node”.
“Undecided” indicates that the route from the current node to the target node has not been determined, and therefore it is necessary to obtain the route.
“Confirm to target node” means that the route from the current node to the target node has been determined. As for the route after the target node, there is a possibility that the route up to that point may be added by adding the save destination node in the operation planning unit 208. The save operation for determining the save destination node will be described later.
“Confirm to save node” means that the path from the current node to the save node via the target node is confirmed. With respect to the route after the save destination node, there is a possibility that a route up to that point may be added by further adding a save destination node in the operation planning unit 208.
[0006]
Reference numeral 205 denotes a data memory relating to the state of each unmanned vehicle. The operation control unit 200 sequentially receives the state of each unmanned vehicle from the unmanned vehicle interface 211 and updates the content of the unmanned vehicle data memory 205 based on the content.
206 is an operation control data memory. When the planning operation by the planning unit 207 is completed and the data is stored in the planning result storage memory 203, the operation control unit 200 examines the contents, and the planning is successful (that is, the planning unit 207 has at least one or more units. If a confirmed route can be newly added to the unmanned vehicle), the data is copied to the operation control data memory 206.
[0007]
Reference numeral 212 denotes a travel road data memory, which stores data on the coordinates of each node at which the unmanned vehicle can stop on the travel road, the connection relationship, the cost, and the like.
When the operation control unit 200 refers to the transfer execution table memory 201 and the unmanned vehicle data memory 205 and confirms the presence of an unassigned job and the presence of an unmanned vehicle without a job, the operation control unit 200 plans based on the reference data. The route determination level, the target node, and the work time are set in the instruction table memory 204, and the planning unit 207 is activated.
[0008]
Next, the operation of the planning unit 207 will be described.
The route plan unit 209 refers to the plan instruction table memory 204 and the unmanned vehicle data memory 205 to create a travel route for each unmanned vehicle. This creation operation is performed immediately on the unmanned vehicle that has completed the work without waiting for the completion of the work of the other unmanned vehicle. Therefore, when the route planning unit 209 obtains a basic route (minimum cost route without a backward section), there are already some routes that have been confirmed to travel.
Here, since the operation control unit 200 issues a traveling instruction to each unmanned vehicle in parallel with the processing of the route planning unit 209, the route planning unit 209 obtains the current position information of each unmanned vehicle before starting the processing. It is necessary, and prior to the start of processing, initial settings are made regarding the confirmed travel path and the current position of each unmanned vehicle.
[0009]
The route search unit 210 is activated by the route plan unit 209, and at the time of activation, it is possible to instruct information on direction and passage prohibition as a search time condition for a specific route. The route search unit 210 obtains an initial route only for an unmanned vehicle whose route determination level in the plan instruction table memory 204 is “undecided” (a route that minimizes cost without considering competition between unmanned vehicles). On the other hand, for an unmanned vehicle whose route confirmation level in the plan instruction table memory 204 is “confirm to the destination node” or “confirm to the evacuation destination node”, the route to the destination node or the evacuation destination node has already been established. The route is a fixed condition.
[0010]
The motion planning unit 208 checks the temporal movement of each unmanned vehicle based on the basic route supplied from the route planning unit 209, adjusts the movement order, changes the route as necessary, and so on. Plan the most efficient travel movement to the target node of all unmanned vehicles.
One of the operation plans is an evacuation operation. In the evacuation operation, when there is another unmanned vehicle in a standby state after finishing work on the route of the unmanned vehicle that is moving, the unmanned vehicle in the standby state is moved (retracted) to another node that does not get in the way. It is an action to make. Possible nodes as save destinations are nodes that satisfy the following conditions.
(1) Movement to the node is not prohibited.
(2) The vehicle is not occupied by an unmanned vehicle that is not on standby.
[0011]
The addition of the save route in the operation planning unit 208 is performed only after reaching the target node, if necessary. In addition, when the route to the save destination node is determined, a new save destination node and route are not inserted before the save destination node. That is, it is necessary to always grasp to what extent the travel route of each unmanned vehicle is confirmed, and the above-mentioned “route confirmation level” stored in the plan instruction table memory 204 is referred to.
[0012]
According to the operation management control device, since the unmanned vehicles can obtain the travel routes and the traveling order of all unmanned vehicles in advance in consideration of the interference between the unmanned vehicles before the unmanned vehicles start moving, a large number of unmanned vehicles Even when there is a possibility of frequent interference on the travel path, smooth movement is possible, and therefore the transport efficiency of the unmanned vehicle can be improved.
In addition, the state of each unmanned vehicle is periodically monitored, and when an unmanned vehicle that has completed the work occurs, a new work is set for the unmanned vehicle and a travel route search is performed in consideration of the state of the other unmanned vehicle. . Therefore, under the situation of each unmanned vehicle that changes from moment to moment, it is possible to immediately give a new operation and operation instruction to the unmanned vehicle that has completed the operation, thereby improving the conveyance efficiency of the unmanned vehicle.
[0013]
Hereinafter, a specific example of conventional unmanned vehicle operation control by the operation management control will be described.
FIG. 9A shows an operation diagram relating to three unmanned vehicles # 1, # 2, and # 3 and their travel routes. Black circles in the figure indicate nodes, and the subscript number of each node is the node number assigned to the node. The unmanned vehicle performs operations such as stopping, turning around, and loading / unloading (transferring) the transported object at the designated node.
[0014]
<Running example 1>
In the operation diagram of FIG. 9A, it is assumed that the unmanned vehicle # 1 becomes abnormal during transfer at the position of the node 2, and at that time, the unmanned vehicles # 2 and # 3 travel toward their respective target points. Suppose that it is inside. The state of these unmanned vehicles, the target points, and the operation status relating to the route currently being traveled (indicated by the arrow in FIG. 9A) are shown in the table of FIG. 9B.
Here, it is assumed that the operation plan conditions related to the unmanned vehicles # 2 and # 3 set by the planning unit 207 are as shown in the table of FIG. That is, the unmanned vehicle # 2 is scheduled to run to the node 13 that is the target point for the next transfer after the transfer at the node 17 is completed. Further, the target point of the unmanned vehicle # 3 is the node 1, and the node 3 is waiting for the unmanned vehicle # 1 to leave the node 2 (see the operation status shown in FIG. 10A).
[0015]
In the operation plan condition shown in FIG. 10B, the unmanned vehicle # 2 is in an “undecided” state in which the route is not determined, and therefore the route “17 → 16 → 15” connecting the starting point 17 and the target point 13. → 14 → 13 ”is determined, and the unmanned vehicle # 2 is controlled to move to the node 13 according to this plan.
On the other hand, for the unmanned vehicle # 3, traveling in the order of the route “3 → 2 → 1” is “confirmed to the destination” in the operation plan condition shown in FIG. Therefore, when the unmanned vehicle # 3 is already moving along this route (that is, in this case), the route cannot be changed and the unmanned vehicle # 3 passes through the node 2 in order to reach the node 1 Until the unmanned vehicle # 1 leaves the node 2, the unmanned vehicle # 3 has to be made to wait at the node 3 until it becomes ready.
[0016]
<Running example 2>
As in the driving example 1, it is assumed that the unmanned vehicle # 1 becomes abnormal during the transfer at the node 2, and the unmanned vehicle # 3 has the unmanned vehicle # 1 as shown in the table of the operation plan conditions in FIG. Suppose that node 2 is stopped at node 3 where 1 is stopped (see operation status shown in FIG. 11A).
Under this situation, as shown in FIG. 11 (a), when it is necessary to move the unmanned vehicle # 2 in the node 7 to the node 3, the plan is made based on the operation plan condition shown in FIG. 11 (b). As in the case of the driving example 1, the unmanned vehicle # 3 is stopped at the node 3 because the route is fixed, and the unmanned vehicle # 2 has a new route “7 → 6 → 5”. → 4 → 3 ”is obtained.
The unmanned vehicle # 2 is operated in accordance with this operation plan, but the target point node 3 cannot be reached unless the unmanned vehicle # 3 leaves the node 3, while the unmanned vehicle # 3 is not abnormal. Regardless, unless the unmanned vehicle # 1 leaves the node 2, it cannot move from the node # 3.
[0017]
[Problems to be solved by the invention]
As described above, when a plurality of unmanned vehicles are thrown into a narrow traveling road, the unmanned vehicle traveling on the determined route cannot be moved due to being disturbed by an unmanned vehicle that has become unable to travel due to an abnormality or the like. A situation was occurring. In this case, since the unmanned vehicle that cannot move is normal and waits in a stopped state without changing the route, the transport capability of the system is reduced.
It is an object of the present invention to minimize a decrease in conveying capacity by making an operation plan for detouring or evacuating an unmanned vehicle that cannot be moved due to an unmanned vehicle that has become unable to travel due to an abnormality or the like. It is an object of the present invention to provide an automatic guided vehicle operation control apparatus and method for suppressing the operation.
[0018]
  In order to solve the above-mentioned problem, in the invention according to claim 1, for a plurality of unmanned vehicles traveling on a predetermined traveling route, a plurality of unmanned vehicle traveling routes are a plurality of stoppable positions on the traveling route. In the unmanned vehicle operation control device that determines each unmanned vehicle in an integrated manner and controls the operation of each unmanned vehicle with respect to all the unmanned vehicles, the second unmanned vehicle is in a state where it cannot travel. When the operation of the unmanned vehicle of the unmanned vehicle becomes impossible, the operation planning means for discarding the confirmed route and constructing a new route that bypasses the section where the first unmanned vehicle is located, and Control means for controlling the operation of the second unmanned vehicle based on the constructed new route,The operation planning means detects a node where an unmanned vehicle is in an inoperable state or a node before and after the unmanned vehicle, and when two unmanned vehicles arrive at each other node with respect to the detected node. Detection means for further detecting nodes that may collide;
All travel sections having one end of each node detected by the detection means are set to be prohibited from passing.It is characterized by comprising operation planning means and control means for controlling the operation of the second unmanned vehicle based on the constructed new route.
[0019]
  In order to solve the above-mentioned problem, in the invention according to claim 2, for a plurality of unmanned vehicles traveling on a predetermined travel route, a plurality of unmanned vehicle travel routes are a plurality of stoppable positions on the travel route. Route determined by the first unmanned vehicle that has become unrunnable in the unmanned vehicle operation control device that controls each unmanned vehicle operation in an integrated manner for each unmanned vehicle. When the second unmanned vehicle having the state is stopped and the second unmanned vehicle in the stopped state disables the desired operation of the other third unmanned vehicle, the second unmanned vehicle The operation planning means for destroying the determined route of the unmanned vehicle and constructing a new route for retracting the second unmanned vehicle to a position that does not interfere with the desired operation of the third unmanned vehicle; Evacuating the second unmanned vehicle based on the route ; And a control that means,The operation planning means detects a node where an unmanned vehicle is in an inoperable state or a node before and after the unmanned vehicle, and when two unmanned vehicles arrive at each other node with respect to the detected node. Detection means for further detecting nodes that may collide, and all travel sections having one end of each node detected by the detection means are set to be prohibited from passing.It is characterized by that.
[0021]
  in this case,Claim 3As shown in the figure, the operation planning means includes means for setting a node of the current position of each unmanned vehicle in operation that is not in an inoperable state as a starting point, and a target in a route that has been determined for each unmanned vehicle in operation. Means for setting a node as a target point, and for a stopped unmanned vehicle including a case where there is an unmanned unmanned vehicle at the target point, the means for setting the set starting point as a target point; and For each unmanned vehicle in operation, there may be provided means for setting a new route from the starting point to the target point that does not pass through the prohibited passage section.
[0022]
  In this case,Claim 4As shown in the figure, the operation planning means sets a retreat route for retreating the stopped unmanned vehicle from the route when the stopped unmanned vehicle exists in a route set with respect to another unmanned vehicle. You may make it have a means to do.
[0023]
  The present invention also proposes an unmanned vehicle operation control method, and the first method is:Claim 5As shown inThe operation plan meansFor a plurality of unmanned vehicles traveling on a predetermined travel route, the travel route of each unmanned vehicle is determined by the passing order of a plurality of nodes that are stoppable positions on the travel route, and for each unmanned vehicle, In the unmanned vehicle operation control method for controlling operation in an integrated manner, when the first unmanned vehicle that has become unable to travel cannot operate on another determined route of the second unmanned vehicle, the confirmation is performed. A process of discarding the route that has been made, a process of building a new route that bypasses the section where the first unmanned vehicle is located,There is a possibility that a node where an unmanned vehicle that has become unrunnable is present or a node before and after the unmanned vehicle is detected, and the detected node may collide when two unmanned vehicles arrive at each other node. A process for further detecting nodes, setting a travel prohibition for all travel sections having each detected node as one end, and a process for controlling the operation of the second unmanned vehicle based on the constructed new route.It is characterized by comprising.
[0024]
  The second method is:Claim 6As shown inThe operation plan meansFor a plurality of unmanned vehicles traveling on a predetermined travel route, the travel route of each unmanned vehicle is determined by the passing order of a plurality of nodes that are stoppable positions on the travel route, and for each unmanned vehicle, In the unmanned vehicle operation control method for controlling the operation in an integrated manner, the second unmanned vehicle having the determined route is stopped by the first unmanned vehicle that has become unable to travel, and the stopped state A process of discarding a determined route of the second unmanned vehicle when the desired operation of another third unmanned vehicle is disabled by the second unmanned vehicle, and the third unmanned vehicle; A process of constructing a new route for retracting the second unmanned vehicle at a position that does not hinder the desired operation of the vehicle, a process of retracting the second unmanned vehicle based on the constructed route,There is a possibility that a node where an unmanned vehicle that has become unrunnable is present or a node before and after the unmanned vehicle is detected, and the detected node may collide when two unmanned vehicles arrive at each other node. A process for further detecting nodes, setting a travel prohibition for all travel sections having each detected node as one end, and a process for controlling the operation of the second unmanned vehicle based on the constructed new route.It is characterized by comprising.
[0026]
  in this case,Claim 7As shown in FIG. 2, the process of constructing the new route is determined for each unmanned vehicle in operation that is not in an inoperable state by setting the node of the current position as a starting point and for each unmanned vehicle in operation. In the process of setting the target node on the route of No. 1 as the target point, for the unmanned vehicle in a stopped state including the case where there is an unmanned unmanned vehicle at the target point, the set starting point is set as the target point For each unmanned vehicle in operation, a process for setting a new route from the starting point to the target point that does not pass through the no-traffic zone may be included.
[0027]
  In this case,Claim 8In the process of setting the new route, when the unmanned vehicle in the stopped state exists in the route set for other unmanned vehicles, the unmanned vehicle in the stopped state is evacuated from the route. You may make it include the process of setting an evacuation path | route.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram illustrating a configuration of an unmanned vehicle operation management control apparatus 100 as an example of the embodiment. The same parts as those in FIG. 8 are denoted by the same reference numerals, and description thereof is omitted. In FIG. 1, the operation planning unit 110 is configured by a CPU or the like, similar to the planning unit 207 of FIG. 8, and includes a plan result storage memory 203, a plan instruction data memory 204, an unmanned vehicle data memory 205, and a travel route data memory 212. Each memory is referred to, and the optimum driving route and operation sequence of the unmanned vehicle are determined.
[0029]
The present invention relates to efficient driving control in the case where an abnormal unmanned vehicle exists, and the operation performed when an abnormal unmanned vehicle is detected based on the state of each unmanned vehicle received from the unmanned vehicle interface 211. The operation plan process of the plan part 110 is demonstrated with reference to FIG.
First, in step SP1 of FIG. 2, it is determined whether or not all unmanned vehicles under operation control management, except for abnormal unmanned vehicles, are in a stopped state, that is, not in a traveling state. If all the vehicles are not stopped, the process ends as a plan failure.
If it is determined that all the vehicles (all vehicles) are stopped, the process proceeds to step SP2, and referring to the data memories 212, 205, and 204 of the travel route, the unmanned vehicle, and the plan instruction, the travel route is closed and a new operation is performed. Conditions for planning are set. This will be described in detail below.
[0030]
(1) Closing process of the road
As a premise of processing, a node is defined as a prohibited node when the unmanned vehicle is stopped, and a node before and after the unmanned vehicle is traveling. In addition, regarding any two nodes, nodes that may collide when two unmanned vehicles arrive at each other's nodes are called "interference nodes". Any given node is also added as a prohibited node.
In this process, all the prohibited nodes are detected based on the coordinates of each node, the physical shape of the unmanned vehicle, the position and attitude control data, and the like.
Then, all travel sections (arcs) having the detected prohibited node as one end are set to be prohibited from passing.
[0031]
For example, in a travel route as shown in FIG. 12 (with respect to the travel route similar to the above example, a node 99 is further added between nodes 3 and 4 for the sake of explanation), if unmanned vehicles enter nodes 4 and 5, respectively. These are interfering nodes because of the possibility of collisions. Similarly, the nodes 99 and 5 are also interference nodes. If an abnormal unmanned vehicle stops at the node 5, there are a total of four prohibited nodes: the node 5 and 4, 6, 99, which are interference nodes. In this case, the travel section set to prohibit traffic is a section having each of these prohibited nodes as one end, that is, nodes 3 and 99, 99 and 4, 4 and 5, 5 and 6, 6 and 7, 6 and 14. There are a total of 6 sections.
[0032]
(2) Setting new operation plan conditions
When setting new operation plan conditions, the target unmanned vehicles are unmanned vehicles under operation management, that is, unmanned vehicles that are in operation and are not in operation due to breakdown or inspection. And Here, a stand-alone unmanned vehicle (hereinafter referred to as a stand-by unmanned vehicle) to which work such as conveyance or transfer is not given is also included. The following items are set for the target unmanned vehicle.
[0033]
(A) Starting point: The node at the current position of each unmanned vehicle is set as the starting point.
(B) Target point: The node to which each unmanned vehicle is going to proceed next in the current (old) plan, that is, the target node on the currently determined route is set as the target point. For standby unmanned vehicles, the starting point is the target point. For unmanned vehicles that are nodes where there are unmanned vehicles whose target points cannot travel, the starting point is the target point.
(C) Work: The work that each unmanned vehicle performs at the target point is set. There are operations such as transfer, charging and standby. Note that “waiting” at the target point means waiting without doing anything at the target point. For an unmanned vehicle that is a node where an unmanned vehicle whose target point cannot travel is set to “standby”.
(D) Route determination level: For all target unmanned vehicles, “undecided” is set to indicate the case where “route is undecided or already at target point”.
(E) Route: Only the node of the starting point (the target point may be equal to this) is set. Therefore, for an unmanned vehicle for which a route to the target point has already been obtained before the planning, the route is discarded.
[0034]
Next, a process progresses to step SP3 and an operation plan is implemented by the operation plan conditions by the said setting. This is implemented in the operation planning unit 110 by performing processing similar to the plan execution operation of the above-described planning unit 207 (route planning unit 209, route searching unit 210, and operation planning unit 208) of FIG. .
Next, the process proceeds to step SP4, and it is determined whether or not the plan is successful, that is, whether or not the operation planning unit 110 can newly add a confirmed route to at least one unmanned vehicle. .
If the plan is successful, the process proceeds to step SP5, and the operation plan conditions used, the route of each unmanned vehicle newly obtained, the reservation sequence of each node, and the like are written in the plan result storage memory 203. If the plan is not successful, the process ends.
[0035]
【Example】
<First embodiment>
The present embodiment is an example in which the control according to the present invention is executed with respect to the case of “travel example 1” of the prior art. First, the situation shown in FIG. 10A is determined to be “all vehicles stopped” because all of the unmanned vehicles # 2 and # 3 under operation management control other than the abnormal unmanned vehicle # 1 are in a stopped state. Is done.
[0036]
By this determination, the above-described “closing process during travel” is executed. The forbidden nodes are nodes “2” where there are abnormal unmanned vehicles, and the travel sections including them are “1 and 2” and “2 and 3”. As a result, the travel sections between the nodes 1 and 2 and between the nodes 2 and 3 are set to be prohibited from passing. This state is indicated by “x” in FIG. The “new operation plan condition” is set as shown in FIG. 3B in accordance with the above-described processing content.
[0037]
As the operation plan conditions are set as shown in FIG. 3B and the route confirmation level is set to “undecided”, it is necessary to newly set a route connecting the nodes 3 and 1 for the unmanned vehicle # 3. . Here, as described above, since the travel section having the node 2 as one end is prohibited, the route passing through the node 2 is not calculated. Therefore, the route “3 → 12 → 11 → 1” is obtained as the new shortest route of the unmanned vehicle # 3. On the other hand, the route “17 → 16 → 15 → 14 → 13” is obtained for the unmanned vehicle # 2 as in the conventional case. This result is schematically shown by arrows in FIG.
As a result, a new confirmed route is obtained, so the plan is determined to be successful, and the operation plan conditions, the route of each unmanned vehicle newly obtained, the reservation sequence of each node, and the like are stored in the plan result storage memory 203. Written. And since the operation control part 200 checks and refers to the data in the plan result storage memory 203 and outputs a new traveling instruction to the unmanned vehicles # 2 and # 3, the unmanned vehicle # 3 is the unmanned vehicle # 1. The node 1 that is the target point can be reached while staying at the node 2.
[0038]
<Second embodiment>
The present embodiment is an example in which the control according to the present invention is executed with respect to the case of “travel example 2” of the prior art. Also here, since the unmanned vehicles # 2 and # 3 under the operation management control other than the abnormal unmanned vehicle # 1 are both in the stopped state, it is determined as “all vehicles stopped”. As in the first embodiment, the travel section having the prohibited node 2 as one end, that is, the travel section between the nodes 1 and 2 and the travel section between the nodes 2 and 3 is set to be prohibited.
[0039]
Here, the new operation plan conditions are set as shown in FIG. That is, since there is an abnormal unmanned vehicle # 1 in the node 2 that is the target point in the current (old) plan of the unmanned vehicle # 3, the target point is set to the node 3 that is the starting point, and the work is “standby”. The route confirmation level is “undecided”, and the route “3 → 2” set in FIG. 11B is also discarded.
When the operation plan is executed under this condition, as shown in the operation result shown in FIG. 6, for the unmanned vehicle # 3, the route “7 → 6 → 5 → 4 → 3” set for the unmanned vehicle # 2 is obstructed. A retreat route “3 → 12” is obtained so that it does not become.
That is, the unmanned vehicle # 3 can be temporarily put into a standby (no job is assigned) state and retreated to the node 12, and the unmanned vehicle # 2 can reach the node 3.
[0040]
If no abnormal unmanned vehicle is detected, for example, a control procedure as shown in FIG. 7 is executed. Here, this procedure will be briefly described.
In this case, the determination of “whether or not all the vehicles are stopped” performed in step SP1 in FIG. 2 is not performed, and the operation plan conditions are set and the operation plan is executed in steps SP11 and SP12 as in the conventional case. Then, in step SP13, it is determined whether or not the plan is successful. If the plan is successful, the plan result is stored in step SP14. If the plan is unsuccessful, the operation plan condition is changed in step SP15. Then, in step SP16, it is determined whether or not the change plan can be executed. If it is determined that the change plan is possible, the process proceeds to step SP12 again and the operation plan is executed. If it is determined in step SP16 that the change is impossible, the process ends.
[0041]
【The invention's effect】
According to the present invention, an unmanned vehicle that is traveling along a determined route cannot be moved due to being disturbed by an unmanned vehicle that has become unable to travel due to an abnormality or the like, and therefore cannot be reached further. Even if there is
・ If a route that bypasses unattended unmanned vehicles is possible, you can travel to that route,
・ If there is an unmanned vehicle that prevents other unmanned vehicles from traveling due to the unmanned unmanned vehicle, it is unavoidable that the unmanned vehicle that is obstructed can be temporarily considered as a standby state, and this can be considered as another unmanned vehicle. It is possible to evacuate to a position that does not hinder the operation of the car,
Therefore, it is possible to minimize a decrease in the conveyance capability due to the occurrence of an abnormality.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an unmanned vehicle operation management control apparatus as an example of an embodiment of the present invention.
FIG. 2 is a flowchart showing a flow of operation plan processing of an operation plan unit 110 in the apparatus of FIG.
FIG. 3 is a diagram showing a state of an unmanned vehicle and a travel route and an operation plan condition in the operation plan of the first embodiment according to the present invention.
FIG. 4 is a diagram showing an operation plan result according to the first embodiment.
FIG. 5 is a diagram showing operation plan conditions of a second embodiment according to the present invention.
FIG. 6 is a diagram showing an operation plan result according to the second embodiment.
FIG. 7 is a flowchart showing an example of a control procedure when an abnormal unmanned vehicle is not detected.
FIG. 8 is a block diagram showing a configuration of an unmanned vehicle operation management control apparatus as an example of a conventional embodiment.
FIG. 9 is a diagram illustrating an operation diagram on a traveling route of three unmanned vehicles # 1, # 2, and # 3 and an operation state relating to a currently traveling route.
FIG. 10 is a diagram showing an unmanned vehicle operation situation and operation plan conditions in an example of traveling by a conventional method.
FIG. 11 is a diagram showing an unmanned vehicle operation situation and operation plan conditions in another example of traveling by the conventional method.
FIG. 12 is a diagram illustrating determination of a prohibited node and setting of a prohibited passage section related to the present invention.
[Explanation of symbols]
110 Operation Planning Department
200 Operation control unit
# 1, # 2, # 3 Unmanned vehicle
1-19 nodes

Claims

For a plurality of unmanned vehicles traveling on a predetermined travel route, the travel route of each unmanned vehicle is determined by the passing order of a plurality of nodes that are stoppable positions on the travel route, and for each unmanned vehicle, In the unmanned vehicle operation control apparatus that controls the operation in an integrated manner, when the first unmanned vehicle that has become unable to travel has become unable to operate along the determined route of another second unmanned vehicle, the confirmation is performed. The operation plan means for constructing a new route that discards the route that has been made and bypasses the section where the first unmanned vehicle is present, and the operation control of the second unmanned vehicle based on the constructed new route Control means,
The operation planning means detects a node where an unmanned vehicle is in an inoperable state or a node before and after the unmanned vehicle, and when two unmanned vehicles arrive at each other node with respect to the detected node. Detection means for further detecting nodes that may collide;
An automatic guided vehicle operation control device , wherein all the travel sections having one end of each node detected by the detection means are set to be prohibited from passing .

For a plurality of unmanned vehicles traveling on a predetermined travel route, the travel route of each unmanned vehicle is determined by the passing order of a plurality of nodes that are stoppable positions on the travel route, and for each unmanned vehicle, In the unmanned vehicle operation control apparatus that comprehensively controls the operation, the second unmanned vehicle having the determined route is stopped by the first unmanned vehicle that has become unable to travel, and the stopped state When the desired operation of another third unmanned vehicle becomes impossible due to the second unmanned vehicle, the determined route of the second unmanned vehicle is discarded, and the third unmanned vehicle An operation plan means for constructing a new route for retreating the second unmanned vehicle at a position not hindering a desired operation; and a control means for retreating the second unmanned vehicle based on the constructed route. And
The operation planning means detects a node where an unmanned vehicle is in an inoperable state or a node before and after the unmanned vehicle, and when two unmanned vehicles arrive at each other node with respect to the detected node. Detection means for further detecting nodes that may collide;
An automatic guided vehicle operation control device , wherein all the travel sections having one end of each node detected by the detection means are set to be prohibited from passing .

3. The automatic guided vehicle operation control device according to claim 2 , wherein the operation planning means includes means for setting a node of a current position of each unmanned vehicle in operation that is not in an inoperable state as a starting point, and each unmanned operation in operation. A means for setting a target node on a route determined for a vehicle as a target point, and for a stopped unmanned vehicle including a case where an unmanned unmanned vehicle is present at the target point, the set starting point is set as a target An automatic guided vehicle operation control device comprising: a means for setting a point; and a means for setting a new route from the starting point to the target point without passing through the forbidden section for each unmanned vehicle in operation.

4. The automatic guided vehicle operation control device according to claim 3 , wherein when the unmanned vehicle in the stopped state exists in a route set with respect to another unmanned vehicle, the operation planning unit selects the unmanned vehicle in the stopped state in the route. An automatic guided vehicle operation control device having means for setting a retreat route for retreating from inside.

For a plurality of unmanned vehicles traveling on a predetermined travel route, the travel route of each unmanned vehicle is determined by the passing order of a plurality of nodes that are stoppable positions on the travel route, and for each unmanned vehicle, In the unmanned vehicle operation control method for controlling the operation in an integrated manner, the operation planning means makes it impossible to operate the route of the other second unmanned vehicle by the first unmanned vehicle that has become unable to travel. A step of discarding the determined route, a step of constructing a new route bypassing the section where the first unmanned vehicle is located, and the second unmanned based on the constructed new route. The process of controlling the operation of the car ,
In the process of constructing the new route, the operation planning means detects a node where the unmanned vehicle is in an inoperable state or a node before and after the unmanned vehicle, and 2 to each other node with respect to the detected node. Including a step of further detecting nodes that may collide when each of the unmanned vehicles arrives, and setting all the travel sections having the detected nodes as one end to be prohibited from traffic. The automatic guided vehicle operation control method.

For a plurality of unmanned vehicles traveling on a predetermined travel route, the travel route of each unmanned vehicle is determined by the passing order of a plurality of nodes that are stoppable positions on the travel route, and for each unmanned vehicle, In the unmanned vehicle operation control method that controls the operation in an integrated manner,
By the first unmanned vehicle that has become unable to travel by the operation planning means, another second unmanned vehicle having a confirmed route is stopped, and the second unmanned vehicle that has been stopped is A position where the desired route of the second unmanned vehicle is discarded when the desired operation of another third unmanned vehicle becomes impossible, and the desired operation of the third unmanned vehicle is not hindered Performing a process for constructing a new route for retracting the second unmanned vehicle and a process for retracting the second unmanned vehicle based on the constructed route ,
In the process of constructing the new route, the operation planning means detects a node where the unmanned vehicle is in an inoperable state or a node before and after the unmanned vehicle, and 2 to each other node with respect to the detected node. Including a step of further detecting nodes that may collide when each of the unmanned vehicles arrives, and setting all the travel sections having the detected nodes as one end to be prohibited from traffic. The automatic guided vehicle operation control method.

7. The automatic guided vehicle operation control method according to claim 6 , wherein the process of constructing the new route starts from a node of the current position of each unmanned unmanned vehicle that is not in an inoperable state by the operation planning means. A setting process and a process of setting a target node on a route determined for each unmanned vehicle in operation as a target point, and including a case where there is an unmanned unmanned vehicle at the target point With respect to the above, the process of setting the set starting point as a target point, and setting a new route from the starting point to the target point that does not pass through the prohibited road section for each unmanned vehicle in operation An automated guided vehicle operation control method including a process.

8. The automatic guided vehicle operation control method according to claim 7 , wherein in the process of setting the new route , the stopped unmanned vehicle is present in a route set with respect to another unmanned vehicle by the operation planning means. The automatic guided vehicle operation control method including a process of setting a retreat route for retreating the unmanned unmanned vehicle from the route.