JPH0594213A - Method for scheduling conveyance of conveyance carriage - Google Patents

Abstract

PURPOSE:To efficiently schedule element operations constituting plural object conveying operations and to find the best conveyance schedule as to the method which requires job shop type conveyance scheduling. CONSTITUTION:In a step 302, element operations which are not performed yet and wait to be processed while processing conditions are already established among the element operations constituting the conveying operations are found. In a step 304, advance conditions are found by the process waiting element operations. Thus, the advance conditions are found and in a step 306, the conveyance scheduling processing of the process waiting element operations is performed. Namely, the conveyance schedule which enables plural conveying operations to be performed is found. Thus, the advance conditions are used to obtain the best schedule with efficiency.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plurality of transport carriages for carrying out independent transports, respectively, and an element constituting each of the plurality of transport works when performing a plurality of transport work in parallel. The present invention relates to a transportation schedule method for a transportation vehicle that creates a transportation schedule for an operation.

[0002]

2. Description of the Related Art In order to convey parts, products, etc. in an automated warehouse or a factory, conventionally, a transportation facility using an automatically operated transportation truck has been used.

In such a transportation facility, when the order of the transportation work to be performed and the transportation route are determined, the transported goods of each transportation work are operated according to a predetermined fixed transportation schedule.

Further, in a transfer facility in which the transfer conditions such as a transfer route are not relatively complicated, a relatively small number of transfer operations to be executed in parallel and a transfer schedule processing time with a relatively large margin are restricted. , Select the transfer operation to be performed,
This is a method in which the transfer schedule is performed in the order of the index amount indicating the priority order. Hereinafter, this method will be referred to as a transfer schedule method according to the conventional priority order.

Similarly, when the transportation conditions such as the transportation route of the transportation facility are not complicated, a plurality of predetermined transportation schedule patterns are also included in an algorithm including parameters such as predetermined selection criteria ( According to the transfer schedule process which is the program itself), the transfer schedule is automatically selected.

For example, an algorithm (program itself) including a transfer schedule pattern corresponding to all combinations of transfer start points and transfer end points in which a transfer operation can occur is obtained in advance, and these transfer schedule patterns are created when the transfer schedule is created. It is carried out to select sequentially.

Hereinafter, such a transportation schedule method will be referred to as a transportation schedule method according to a given process pattern.

Further, a plurality of transfer operations to be executed are decomposed into individual element operations constituting each transfer operation, and a predetermined selection is made from these divided element operations each time the transfer carriage becomes empty. A transportation control method for a transportation vehicle is also performed in which an element operation to be executed next is selected according to a condition. That is, in such a transportation control method for a transportation vehicle, a transportation schedule corresponding to a transportation schedule is not created. In addition, with such a carriage control method for a carriage,
As the selection condition for selecting one element operation to be executed next, for example, the execution priority of a plurality of transfer works to be executed, or other transfer equipment other than the transfer carriage is occupied by another transfer work. A relatively simple selection condition, such as whether or not it is used, is used.

Hereinafter, such a transportation control method for a transportation vehicle will be referred to as a transportation control method that is selected stepwise and executed.

On the other hand, in Japanese Patent Laid-Open No. 228710/1990, means for collecting information relating to a transport request for an object to be transported constructed by a conventional system, means for editing this information, and an inference system for this edited information. Means for converting the data into processable data, an inference means for determining a transportation instruction of the transported object based on the data configured by the expert system, and a means for activating the expert system from the conventional system. By providing the means for activating the means for conveying the conveyed object by the conventional system from the expert system and the transmitting means for transmitting the data of the inference result of the inference means by the expert system to the means, the object is transferred in real time. It relates to a physical distribution control device that collects information on conveyed items and controls them in real time. Techniques have been disclosed.

According to this Japanese Patent Laid-Open No. 2-228710, it is possible to obtain a guideline for the general design of a physical distribution control device that makes the most of the advantages of the expert system.

[0012]

However, the above-described conventional transfer schedule method according to the priorities has the following restrictions in order to carry out the transfer schedule in real time.

Element operations constituting the carrying work to be executed are independent of each other and there is no restriction on the execution order (flow shop type schedule).

Each time an individual element operation is completed,
In the stepwise case of deciding the next transfer work to be executed.

Therefore, when there is a restriction on the order of execution between the carrying operations to be executed or between the element operations, or when the carrying schedule of the carrying work composed of the element operations whose execution order is decided, that is, the job shop type In the case of the transportation schedule of No. 1, there was a problem that an appropriate transportation schedule could not be obtained.

Further, in the above-described conventional transfer schedule method according to a given transfer schedule pattern, all expected transfer schedule patterns including a response to an abnormal condition must be set in advance.

Therefore, if the transportation facility that is the object of the transportation schedule becomes complicated, the labor for obtaining all the expected transportation schedule patterns in advance becomes enormous. Moreover, even if various labor schedule patterns are set with a lot of labor and time, there is a risk that exception handling always occurs, and the preset transport schedule pattern cannot be used.

If such a preset transport schedule pattern cannot be used, the facility controller must decide the transport schedule at that time. In the worst case, the equipment controller must operate the equipment manually.

Further, even if the conventional transfer schedule method as described above can create an appropriate transfer schedule with a preset transfer schedule pattern,
There is also a problem that it is not possible to cope with various changes in the state of the transportation equipment.

For example, if a facility with transportation maintenance is in a dormant state after the transportation schedule is created, the operation of the transportation facility according to the transportation schedule will be seriously impaired, and as will be described later, There is a problem that a manual release policy must be taken based on the judgment of the facility controller.

Further, in the above-described conventional transfer control method which is selected stepwise and executed, the efficiency of all executions until the end of the whole of a plurality of transfer operations to be transferred, that is, the global transfer efficiency is pointed out. There was a problem that it was not possible to obtain a sufficient effect with.

For example, when the transportation equipment to be controlled for transportation becomes complicated, the global transportation efficiency is remarkably deteriorated by the transportation control method selected and executed stepwise.

In order to determine the optimum transfer schedule for more complicated transfer equipment, the use of an expert system, which has been attracting attention in recent years, makes use of the characteristics peculiar to this expert system to obtain an optimum transfer schedule. It seems that it is possible to realize the transfer schedule processing that can do.

However, the above-mentioned JP-A-2-2287.
In 10 and the like, it cannot be said that the detailed technique is disclosed with respect to the control of the automatic carrier truck.

Therefore, as described above, any of the conventional control methods for the carrier truck can obtain a carrier schedule with good global carrier efficiency and can precisely cope with the change of the condition of the carrier equipment. It was difficult.

Further, in the conventional control method of the carrier truck, once various abnormal situations occur due to various disturbances,
In the event of a serious failure, the automatic operation was stopped, and there was no choice but to manually implement a release policy based on the judgment of the facility controller.

Such disturbances to the control of the carrier truck include a partial failure or temporary failure of the equipment such as the carrier truck that does not seriously hinder the operation of the entire carrier equipment, a delay in work by an operator, etc. There are various factors.

Further, such an abnormal situation is called equipment interference or deadlock, in which the execution of a plurality of carrying operations interferes in the same portion (equipment) in the carrying equipment. For example, in a transport facility having a plurality of transport vehicles, a situation may occur in which a plurality of transport vehicles must travel on the same track portion.

In addition, in such an abnormal situation, there is a congestion state of the transported object called blocking. For example, there may be a situation in which there is no choice but to place further conveyed objects, even though all the conveyed object holders are full. In addition, there is a situation where uncarried goods are filled up in the transportation equipment part which is a neck which must always pass.

A manual release policy based on the judgment of the facility controller when such an abnormal situation occurs is as follows.
There are the following problems.

It takes time from the occurrence of the abnormal situation to the cancellation.

The judgment of the facility controller is not always correct.

Therefore, there is a problem that such a release policy based on the judgment of the facility controller has a risk of seriously affecting the entire transport facility.

The present invention has been made to solve the above-mentioned problems of the prior art. When a plurality of transport carriages performing independent transports are shared and a plurality of transport operations are executed in parallel, In the transfer schedule method of the transfer carriage for creating the transfer schedule of the element operation constituting each of the plurality of transfer operations, even if the transfer schedule of the job shop type is required, the plurality of transfer operations are performed. It is an object of the present invention to provide a transport schedule method for a transport vehicle that can efficiently schedule constituent element operations and obtain an optimal transport schedule.

[0035]

SUMMARY OF THE INVENTION According to the present invention, a plurality of transport carriages for independently transporting each other are shared,
In carrying out a plurality of carrying operations in parallel, in a carrying schedule method of a carrying vehicle for creating a carrying schedule of element operations constituting each of the plurality of carrying operations, an element operation selection rule is used to , A processing waiting element operation that has not yet been executed and a processable condition is already established is found, and a preceding condition is found for each processing waiting element operation using a preceding condition determination rule. By carrying out the transfer schedule process, the above-mentioned problems are achieved.

[0036]

According to the present invention, when a transfer schedule for executing a plurality of transfer operations in parallel is created, first, among the element operations constituting each of the plurality of transfer operations, a process waiting element operation is performed. The preceding condition is found for each element operation.

The preceding condition of the element operation which constitutes the carrying work is a condition which must be met prior to the execution of the element operation. For example, the preceding condition is a condition such as the completion of another preceding element operation that must be completed prior to the execution of the element operation.

Therefore, the preceding condition of the element operation becomes one of the conditions for starting the execution of the corresponding element operation, and is used at the time of the transfer schedule or at the time of executing the created transfer schedule.

As described above, prior to the transfer schedule process, first, by finding out the preceding condition for each process waiting element operation which is a schedule unit of the transfer schedule process, the condition to be considered in the transfer schedule process is also taken into consideration. However, it is possible to efficiently perform the transfer schedule process performed for each operation unit of the process waiting element.

Therefore, according to the present invention, even if it is necessary to perform a job shop type transfer schedule, it is possible to obtain an optimum transfer schedule for executing a plurality of transfer operations in parallel. It is possible.

Incidentally, the process waiting element operation among the element operations constituting the plurality of transfer operations executed in parallel means the transfer schedule processing target among the element operations constituting each of the plurality of transfer operations. This is an element operation in a state in which it can be performed.

Therefore, the operation of the waiting element is
Among the element operations constituting each of the plurality of target transfer operations, the element operations have not been executed yet and the processable condition has already been established.

The element operation that has not been executed yet means, for example, that the following unprocessed condition is satisfied (hereinafter, referred to as conditions a1 and a2).

A1. At this time, it should not be an element operation already included in the transfer schedule.

A2. At this point, it must not be an element operation that has already been executed (operation such as transportation).

The processable conditions include, for example, the following conditions (hereinafter referred to as conditions b1 to b4).

B1. The specific execution content of the element operation is fixed. For example, when the element operation is a transport operation, the transport start point (FROM point) and end point (TO point) are fixed.

B2. The execution deadline time (delivery date) is specified.

B3. The equipment in which the element operation is executed is operating normally. For example, the equipment on which the element operation is executed is not in the idle state.

B4. Among the other element operations of the transport work in which the element operation is incorporated, the equipment in which the element operation that has not been executed is executed is normally operating.

Further, in the present invention, there are, for example, the following criteria for finding out the preceding condition for each processing element operation (hereinafter referred to as criteria c1 and c2).

C1. Completion of execution of other element operations such as the same type of element operation immediately before being executed by the same equipment.

C2. Execution and execution of element operations that are executed by the same equipment, such as element operations that are of the same type as the element operation, of other transfer operations that precede the deadline time (delivery time) other than the transfer operation that includes the element operation When the time overlaps at least partially, the execution of the element operation of the transfer work preceded by this deadline time is completed. For example, when the element operation is a transfer operation and there is another transfer operation (element operation) of another transfer operation whose end point (TO point) is the start point (FROM point), Completion of the execution of another transport operation (element operation) of another transport operation is a prerequisite for the transport operation (element operation). That is, the end point (TO point) of the carrying operation (element operation) in this case must be in an empty state before the carrying operation is performed.

The element operation selection rule and the antecedent condition judgment rule of the present invention respectively include the above-mentioned conditions a1 and a.
2, b1 to b4 and the criteria c1 and c2.

Further, in the present invention, the element operation selection rule and the preceding condition judgment rule may be various rules based on knowledge by introducing an artificial intelligence technique which has been attracting attention in recent years.

By introducing such an artificial intelligence technique, it is possible to not only finely find the process waiting element operation of the present invention and the preceding condition by various cases, but also It is possible to facilitate the maintenance of algorithms such as element operation selection rules and precondition judgment rules, and in some cases, it is possible to automatically learn and correct them when executing the transfer schedule method of the transfer vehicle. is there.

[0057]

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 4 is a layout diagram of a cold rolling mill in which the embodiment of the present invention is used.

The cold rolling mill shown in the layout diagram of FIG. 4 mainly includes an annealing pickling skin pass line CAP,
Small-diameter mill line SCM, quality control line RC, and track L1 of a carrier for transferring coils between them
L5 and are included.

The annealed pickling skin pass line CAP is
Annealing treatment and continuous pickling are performed on the metal strip (for example, stainless steel strip) sent from the coil of the payoff reel POR on the right side of the annealing pickling skin pass line CAP,
The skin pass is performed, and the tension reel TR is wound as a coil.

The small-diameter mill line SCM has a left tension roll TR (to the right in FIG. 4) with respect to the metal strip of the coil carried into the payoff reel POR on the left side of the small-diameter mill line SCM. Rolling with a small diameter mill between the right tension roll TR (which is the left side in FIG. 4) is performed by reciprocating the metal strip plate left and right a predetermined number of times.

Further, the quality inspection line RC sends the metal strip of the coil carried in and attached to the payoff reel POR on the right side in FIG. 4 to the tension reel TR on the left side in FIG. First, the surface of the metal strip of the coil is inspected for defects.

The track L3 is laid in parallel with the annealing pickling skin pass line CAP and the quality inspection line RC. In FIG. 4, the coil carried in from the right end is carried out from the left end.

The track L2 is laid in parallel with the small diameter mill line SCM, and the coil carried in from the right end is carried out again from the right end after a predetermined process.

The tracks L4 and L5 are laid so as to be sandwiched between two line payout skids LS3 and LS4 or line payout skids LS1 and LS2, respectively, and the coils set to these line payout skids LS1 to LS4 are set. Is transferred to the carrier carriage (child carriage) CAR2 on the track L4 or L5, and is also transferred to the carrier carriage (parent carriage) CAR1 traveling on the track L1 described below together with the carrier carriage (child carriage) CAR2. It is supposed to be done.

Further, the trajectory L1 is the trajectory L2 described above.
~ L5 are laid orthogonally to each other, and for the transfer of the coil between these tracks L2 to L5, the track L1
Is used.

Along the portion of the track L2 between the track L1 and the small diameter mill line SCM, a turner TN1 that changes the coil winding direction by turning 180 ° and a loosening prevention band of the coil being wound are cut. The band cutter BC1 is provided with a banding machine BM1 for applying a locking band to the wound coil, and a band labeler BL1 for labeling the locking band on the coil with a coil type, a weight, and the like.

Also, along the trajectory L3, the turner TN
2, band cutter BC2, banding machine BM
2 and a band labeler BL2 in combination with a weighing machine W2 that measures the weight of the coil.

Tension reel T of quality inspection line RC
A banding machine BM3 is provided between the R and the track L3.

Further, along each of the tracks L1 to L5, the line delivery skids LS1 to L4 for placing the coils carried into the factory and the sleeve as the winding shaft of the coil are temporarily placed as a single unit. Sleeve skid SL1
And the CAP storage areas C5 and 6 for temporarily placing the waiting coils for the annealing pickling skin pass line CAP, the small diameter mill areas M4 through M6 for temporarily placing the waiting coils for the small diameter mill line SCM, and the quality inspection line RC. It is provided with RC storage areas R1 to 17 for temporarily placing coils waiting to be loaded into the storage area.

Reference numerals T1 to T6 are relay skids, and a method of using the relay skids T1 to T6 will be described later with reference to FIG.

Further, in FIG. 4, reference numerals C1, C2,
M1 and RC1 are loading places for the payoff reels POR of the corresponding lines. Also, the symbols C3 and C
4, M2, M3, and RC2 are storage areas for paying out from the tension reels TR of the corresponding lines.

In the cold rolling mill shown in the layout diagram of FIG. 4, the coils are carried in the line payout skids LS1 to LS4, as indicated by the symbol A. In addition, as indicated by the symbol B, the coil is taken out of the cold rolling factory by the packing place delivery skid P.
It is performed in 1 and 2.

From the loading of the coil indicated by the symbol A,
Annealed pickling skin pass line CAP and small diameter mill line SC
From the processing of the coil on the M and the quality inspection line RC to the unloading of the coil indicated by the reference symbol B, a carrier cart (parent car) CAR1 traveling on the track L1 and a carrier truck (child car) traveling on the tracks L2 to L4. ) CAR2 to 4 are used to carry the coil.

In FIG. 4, a track L10 for the work roll carriage is laid so as to intersect the track L3. This work roll trolley conveys the work rolls used in the annealing pickling skin pass line CAP at the roll shop RS, and thus conveys the work rolls between the annealing pickling skin pass line CAP and the roll shop RS. It is a dolly.

The traveling control of the work locomotive truck traveling on the track L10 intersecting with the trajectory L3 is performed by a manual operation, and is a disturbance factor of the transportation schedule of the transportation vehicle traveling on the track L1.

FIG. 5 is a perspective view of a carrier truck used in the above-described embodiment of the present invention.

In FIG. 5, reference characters CAR1 to L and L
1 to 5 are the same as those having the same reference numerals in FIG. 4 described above.

In FIG. 5, the carrier carriage CAR1 which is the parent carriage traveling on the track L1 can carry the carrier carriages CAR2-4 which are slave carriages traveling on the tracks L2-5. The carriages CAR2 to CAR4 are allowed to move on the track L6 on the carriage CAR1, and the track L6 is arranged to be aligned with the tracks L2, L3, L4 or L5.

Parent car CAR1 of this child car CAR2-4
The loading and unloading to and from is performed when the parent carriage CAR1 is positioned and stopped at the command stop point on the track L1 orthogonal to the tracks L2 to 5.

The child carriages CAR2 to CAR4 each have a track CLC orthogonal to the track L6, and the grandchild car CARC.
Is placed on the track CLC, and the CARC of the grandson is track C
By shifting to an orbit LCn (described later) aligned with LC, the coil 1 which is a conveyed object mounted on the grand cart CARC is transferred.

Child car CAR using this grandson car CAR
The transfer of the coils 2 to 4 is carried out when the child carriage is LS1 to LS1 in FIG.
4, P1, P2, SL1, C1-6, M1-6, R1-
19, T1-6, RC1, RC2 (orbit LCn
Is performed) while the positioning is stopped at the position of (1).

As shown in FIG. 5, the carriage CA
The vehicle top board 10a is provided in R1, and the carriages CAR2 to CAR4 are
A car top board 10b is provided for each. These vehicle upper boards 10a, 10b incorporate various control electrical components as described later with reference to FIG.

FIG. 6 is an overall block diagram mainly relating to the process computer and the like of this embodiment.

In FIG. 6, a total of seven process computers CPU0 to CPU6 are connected to the data communication network N.
It is connected by ET1.

The process computer CPU0 is used for software development of the other process computers CPU1 to CPU6, and the process computer CPU1 to CPU6 are used.
It is also used for the backup of 3.

Further, the process computer CPU1 is used for material handling, the production schedule and the transfer work schedule in the cold rolling mill are created, and the state of each coil in the cold rolling mill is also calculated. Is being processed.

The process computer CPU2 is used as a line process computer for the annealing pickling skin pass line CAP and the quality inspection line RC.

The process computer CPU3 is used as a line process computer for the small diameter mill line SCM.

These process computers CPU 0 to 3
The system consoles ISC0 to 3 for operating the operator are connected to the respective ones.

Further, these process computers CPU0
Between 3 and 2, two line printers LP1 and LP2,
4 hard disk devices HD1-4 and monitor CRT
0 is connected so that it can be shared.

The magnetic tape unit MT is connected only to the process computer CPU0.

The process computer CPU4 and the general DDC computer CPUs 7A and 7B are mainly used for carrying coils in the factory.
Related to data communication with the computer, display processing of the monitors CRT1 to CRT3 for performing a man-machine interface with the controller of the facility in the factory, printing processing to the teletype TW, two hard copy devices HC1 2 and the hard copy processing, and the parallel input / output device connected to the programmable sequencer SEQ3 that mainly controls the weighing machines W1 to W3, the band labelers BL1 and BL2, and the parent carriage CAR1.

The process computer CPU5, together with the above-mentioned process computer CPU3, assists the processing relating to the small diameter mill line SCM. Further, the process computer CPU6 is the above-mentioned process computer CPU.
Along with 2, the processing assistance for the annealing pickling skin pass line CAP and the quality inspection line RC is performed.

Overall DDC computer CPU 7A, 7B
Is a modem M3B, M3A and a process computer C
The above-mentioned process computer CP used as a material handling computer via the PU4.
Performs data communication with U1.

On the other hand, this general DDC computer CPU
7A and 7B are connected to the data communication network NET2.

This general DDC computer CPU 7A,
7B is mainly a process computer CPU1 used as a material handling computer.
Related to data communication between the programmable sequencers SEQ1 to 3 and the programmable sequencers SEQ1 to 3 connected to the data communication network NET2 (protocol generation and edit and develop the received protocol into bit map data easily read by the programmable sequencers SEQ1 to SEQ3). Processing etc.)
I do.

FIG. 7 is an overall block diagram mainly relating to the programmable sequencer and the like of this embodiment.

In FIG. 7, reference numerals CPU7A, CP
U7B, M3A, M3B and PIO are the same as those having the same reference numerals in FIG. 6 described above.

In FIG. 7, a total of three programmable sequencers SEQ1 to SEQ3 are connected to the data communication network NET2 together with the above-mentioned general DDC computers CPU7A and 7B. The data communication by the data communication network NET2 is the transmission of information expanded into bit data or byte data so that the data processing can be easily performed by the sequence programs in bit units performed by the programmable sequencers SEQ1 to SEQ3. ing.

Each transport carriage CAR from SEQ2
2 to 4 information of the closed block number during traveling, information of the closed block number of the traveling carriage CAR1 during traveling from the programmable sequencer SEQ3, and the carrier truck (parent carriage) CAR
Carrier vehicle number (CARNO) indicating which carrier vehicle CAR2 to 4 the carrier vehicle (child vehicle) mounted in 1 is
6 is directly input to the parallel input / output device PIO shown in FIG.

In FIG. 7, the programmable sequencer SEQ1 inputs a push button switch or the like from the operation panel to operate the equipment controller in the control room, and also displays the operation panel display lamp and the DDC monitor CRT4. Display output to.

The programmable sequencer SEQ2 is a general DDC computer CPU of the carriages CAR2-4.
Process computer CPU1 written in 7A, 7B
Performs sequence control according to the commands from.

The pro-crammable sequencer SEQ3 is a general DDC computer CPU7 of the carriage CAR1.
Process computer CPU written by A, 7B
Sequence control is performed according to the command from 1.

Note that these programmable sequencers S
EQ2 and SEQ3 are built in the ground 20 of the carrier.

FIG. 8 is a block diagram relating to data communication between the ground plane of the carrier vehicle and the upper panel of the carrier vehicle.

In FIG. 8, reference numeral 20, SEQ2,
SEQ3 is the same as the one with the same reference numeral in FIG. In addition, in FIG. 8, reference numeral 10 denotes the above-mentioned FIG.
This corresponds to the reference numeral 10a or 10b. That is,
The carrier cart upper board 10 of FIG. 8 has carrier carts CAR1 to CAR1.
4 mounted on each.

In FIG. 8, the on-board programmable sequencer 10SE built in the upper board 10 of the carrier vehicle.
Q performs sequence control on traveling of the carriages CAR1 to CAR4 on which the carriage top board 10 is mounted, positioning stop at a command stop point, loading and unloading of conveyed goods, and the like.

Data communication from the programmable sequencers SEQ2 and SEQ3 built in the carrier truck ground panel 20 to the on-board programmable sequencer 10SEQ built in the carrier truck upper plates mounted in the carrier trucks CAR1 to CAR4 is performed. , The programmable sequencer SEQ2 or SEQ3 built in the ground plane 20 of the carriage is sequentially performed through the modem 20M, the transceiver 20T, the transceiver 10T, and the modem 10M.

Data communication from the on-board programmable sequencer 10SEQ built in the transport vehicle upper panel 10 to the programmable sequencer SEQ2 or SEQ3 built in the transport vehicle ground panel 20 is performed by the transport vehicle upper panel 10. The on-board programmable sequencer 10SEQ built into the car, in order from the modem 10M and the transceiver 1
It is performed via 0T, transceiver 20T, and modem 20M.

Further, in FIG. 8, the carrier trolley ground 2
0 built-in transceiver 20T and carrier C
Data communication is performed by spatial light transmission with the transceiver 10T of the carrier vehicle upper panel 10 mounted on the ARs 1 to 4.

The data communication contents between the transport vehicle ground panel 20 and the transport vehicle vehicle upper panel 10 as shown in FIG. 8 are mainly related to the transport on which the transport vehicle vehicle upper panel 10 is mounted. Vehicles CAR1 to CAR4 related to traveling (command stop points, that is, stop points for loading and unloading of conveyed objects, etc.) and those related to loading and unloading of conveyed objects (data related to types of transported objects and loading / unloading locations). Data regarding type), and notification of completion of running and loading / unloading operations.

FIG. 3 is a model diagram of the method of dividing into closed sections and the occupied closed section of each carriage according to this embodiment.

In FIG. 3, the carriages CAR2 to CAR4 are shown.
According to the transport schedule, while traveling on the track, positioning is stopped at the command stop point to load and unload the transport objects, and transports independent of each other are performed.

In FIG. 3, the three carriages CAR are shown.
2 to 4 show a part of a traveling section (track L3) in which interference may occur.

This traveling section is divided into closed sections K22 to K33 of the same length in the range shown in FIG.

Further, the occupied block sections of the respective carriages CAR2 to CAR4 are, as an example in FIG. 3, the block section in which the corresponding carriages CAR2 to 4 are traveling and the block section in which they are traveling. There are a total of three closed sections including the front and rear closed sections.

As described above, by grasping the positions of the carriages CAR2 to CAR4 in units of divided closed sections, it is possible to more precisely respond to the state change (state change 4 or 5) of the carrier equipment. Therefore, the transport facility can be operated more effectively while preventing the occurrence of abnormal situations such as facility interference and blocking.

FIG. 9 is a block diagram of the track of this embodiment.

That is, FIG. 9 shows the trajectory L1 of FIG.
The closed sections of L5 to L5 are shown.

Further, in FIG. 9, reference characters CAP, SC
M, RC, POR, TR, C1-C3, M1-M3, R
C1 and RC2 are the same as those having the same reference numerals in FIG. 4 described above.

In FIG. 9, the track L1 of FIG. 4 is a closed section K21. Since the track L1 is a track on which only one carrier car (parent car) CAR1 travels,
No more than one carrier will interfere. For this reason, the track L1 is not divided into a plurality of closed sections, and is only the closed section K21.

The orbit L2 in FIG. 4 is 12 in total in FIG.
It is divided into individual closed sections K22 to K33. Further, the track L3 in FIG. 4 is divided into a total of five closed sections K3 to K7 as shown in FIG.

In addition, the tracks L4 and L5 of FIG. 4 can be operated by the carrier cars CAR2 to CAR4 which are child cars, but are managed so that only one carrier car CAR2 runs as will be described later. ) Has been. Therefore, as shown in FIG. 9, the tracks L4 and L5 are the non-divided block section K1 and block section K2, respectively.

The closed sections K1 to K7 and K2 shown in FIG.
Regarding 1 to 33, the defensive range (traveling range) of the carriages CAR1 to CAR4 is as follows.

Protective range of the carrier vehicle CAR1 which is the parent vehicle: closed section K21 (the protective range is structurally limited).

Protective range of carrier cart CAR2 which is a child cart: closed sections K1 to K7 and K22 to 25 (defensive range is administratively determined). SCM operation and delivery of coils for delivery and CAP charging.

Protective range of carrier cart CAR3 which is a child cart: closed sections K24 to K32 (defensive range is administratively determined). The coil is delivered on the CAP delivery side (payment).

Protective range of carrier cart CAR4 which is a child cart: closed sections K25 to K33 (defensive range is administratively determined). The RC and the coils related to packaging are transported.

The relay areas of the carrier carts CAR2 to CAR4, which are child carts, are as follows.

Relay area between the carriage CAR2 and the carriage CAR3: closed sections K24, 25.

Relay area between the carriage CAR2 and the carriage CAR4: a closed section K25.

Relay area between the carriage CAR3 and the carriage CAR4: closed sections K25 to K32.

If necessary, relay skids T1 to T6 as shown in FIG. 4 are also used to transfer the coils between the carriages CAR2 to CAR4. These relay skid T
1 to 6 are provided especially for coil transfer between such carrier carts CAR 2 to 4.

Incidentally, such a relay area between the carrier vehicles is a section in which the carrier vehicles can interfere with each other in terms of management of the operation of the carrier vehicles CAR2 to CAR4. Therefore, mainly in such a closed section of the relay area, the transfer schedule processing of the transfer carriages CAR2 to CAR4, which are child carriages, and the operation according to the transfer schedule are performed as shown in FIG.
The above-mentioned division into closed sections is applied in this embodiment.

Therefore, the presence or absence of occupancy due to the traveling of the transport vehicle for each of the divided closed sections (occupied closed section)
By identifying the transport schedule, a transport schedule that may cause an abnormal situation such as equipment interference such as deadlock or blocking, and various disturbances occur during the operation of the created transport schedule. Also, such an abnormal situation can be avoided.

In this embodiment, the division of the traveling section in which two or more carriages may interfere into a plurality of closed sections is performed according to the following conditions.

Condition of length of each closed section (fixed length or variable length by upper limit length and lower limit length)

Conditions for division position of each block section The block division condition and conditions are determined in consideration of the following points.

Traveling conditions such as the traveling frequency in a predetermined traveling section regarding a plurality of carrier vehicles.

The position of the command stop point of the carriage for loading and unloading the goods.

Contents of the transfer schedule process or contents of a program for executing the transfer schedule process.

The traveling speed of the carriage and the braking distance.

The detection speed of the closed section in which the carriage is traveling.

Further, the definition of which closed section, including the closed section in which the transport vehicle is traveling, is the occupied closed section (including the definition of the number of closed sections in the occupied closed section) is defined by the above-mentioned closed section division. It is almost the same as the considerations for determining the condition and.

In addition, in the present embodiment, at the time of creating the transfer schedule of the transfer vehicle or when operating according to the transfer schedule thus created, it is checked whether the occupied block sections of each transfer vehicle are adjacent or overlapping. This is done by setting the occupied blocking section of each of the carriages CAR2 to 4 as a total of three blocking sections including the blocking section in running and the sections before and after the running, and the occupied blocking section of each of the carriages CAR2 to CAR4. The presence or absence of duplication is checked. Further, the overlapping state of occupied block sections, that is, the blocking state in which the block section between the carriages CAR2 to CAR4 is less than one section except the block section in which each carriage is traveling is an abnormal situation that must be avoided. ing.

In the unlikely event that such a blocking state occurs during the operation of the carrier truck according to the prepared carrier schedule, this embodiment automatically eliminates the blocking condition. That is, when it is detected that the blocking state has occurred (state change 5), the transport schedule is reviewed in real time, and CARs 2 to 4 of any of the transport vehicles are automatically retracted.

FIG. 10 is a diagram showing a list of transit devices for each carrying operation according to this embodiment.

As shown in FIG. 10, a total of 9 types of transfer operations (transfer commands) are applied to the transfer facility of this embodiment.
Is given.

Each of these nine types of transport work in total is composed of subdivided element operations (tasks or elements).

That is, each transfer operation is performed by the turner T
N1-3, band cutters BC1-2, banding machines BM1-3, band labelers BL1-2, weighing machine W2,
3 and, if necessary, through various skids as a temporary relay point.

In FIG. 10, the ∘ mark indicates a device which must be passed through during the carrying work, and the (∘) mark indicates a transit device which can be passed in some cases. In addition, this temporary relay point is a small diameter mill line SCM, an annealing pickling skin pass line CAP, a quality inspection line RC, a temporary placement of coils for waiting for delivery to transit equipment, or a coil from these lines or transit equipment. Various skids that are temporarily used for dispensing.

In the present embodiment, the element operation is not only the operation of transporting the transported object by the transport carriages CAR1 to CAR4 but also the rotation of the coil by the turners TN1 to TN3.
Removal of the coil band by the band cutters BC1-2, banding of the coil by the banding machines BM1-2, labeling of the coil band by the band labelers BL1-2, weighing of the coil by the weighing machines W2, 3, etc. These individual actions are included.

FIG. 11 is a diagram showing a carrier occupancy table used in this embodiment. Further, FIG. 12 is a diagram showing a closed section occupation presence / absence table used in this embodiment.

Each of the tables shown in FIGS. 11 and 12 is constructed as a data table in the main memory of the process computer CPU1 (for material handling) of FIG. 6 described above.

In the transport vehicle occupancy table in FIG. 11, records (data addresses) are provided for each transport vehicle.
Further, each record for each of these carriages is composed of occupation end time data, occupation work data, and occupation element operation data.

In this embodiment, each of the carriages CAR1 to CAR1.
When the element operation (conveyance operation) is occupied for No. 4, the scheduled end time of the element operation is written in the occupation end time data of the data address corresponding to the conveyance carriage of this table. Further, when there is occupancy, the serial number of the occupying transportation work is written in the corresponding occupied transportation work data. At this time, the serial number of the element operation of the occupation work which is occupied is written in the corresponding occupied element operation data.

In the occupancy table of the carriages shown in FIG. 11, "99:99:99" is written at the occupancy end time of the carriages that are not occupied, and the occupied carriage work data and the occupancy element operation data are recorded. "0" is written in each.

The closed section occupation presence / absence table of FIG. 12 is shown in the closed sections K1-7 and K21-K33 shown in FIG.
It is composed of each record. Further, the record of each closed section is composed of occupancy start time data, occupancy end time data, occupancy transfer work data, occupancy element operation data, and occupancy transfer trolley data.

When a certain blocked section is occupied by traveling by one of the carriages CAR1 to CAR4, the occupied start time data and the occupied end time data of the corresponding record of the blocked section occupation presence / absence table include Each,
The scheduled times of start and end of occupancy due to the traveling of the carrier vehicle are written. Further, in the occupied transport work data and the occupied element operation data, the serial number of the transport work corresponding to the transport of the transport carriage that occupies and the serial number of the corresponding element operation of the transport work are written. The number of the carrier truck to be occupied is written in the dedicated carrier vehicle data.

Incidentally, "99:99:99" is written in the occupancy start time data and occupancy end time data of the unoccupied closed section of the closed section occupation presence / absence table, and the occupied transport work data and the occupied element are written. "0" is written in the operation data and the data of the dedicated carrier vehicle.

The data in the table of FIG. 11 and the table of FIG. 12 are stored in the line payout skid LS3.
This is a state at the time of starting the transfer of the coil set to the small-diameter mill storage area M7 using the transfer carts CAR1 and CAR2.

This transfer is carried out by the line skid LS.
The coil set to 3 is placed on the carrier carriage (child carriage) CAR2 at 13:14:10 (13: 1 for the closed section K1).
The carrier carriage (child car) CAR1 is mounted on the carrier carriage (parent car) CAR1 together with the coil at 13:14:30, occupying from 4:00). Further, after the carrier vehicle (parent vehicle) CAR1 travels on the track L1 to a point orthogonal to the track L2 and stops positioning, the track L2 arrives at 13:15:10.
The carrier cart (child car) CAR2 is unloaded from the carrier cart (parent car) CAR1 with the coil still mounted on the closed section K3 (the 13:15:10 block area K3 and the adjacent block section K4 are occupied). ). The carrier cart (child car) CAR2 runs to the small-diameter mill storage area M7 and stops positioning, and then ends the coil lowering operation to the small-diameter mill storage area M7 by 13:15:50.

FIG. 13 is a diagram showing a transfer work data memory used in this embodiment.

In FIG. 13, the transfer work data of one transfer work which is the transfer schedule target is shown.

That is, in the entire transfer work data memory of this embodiment, the transfer work data as shown in FIG. 13 is constituted by the number of transfer works which are the transfer schedule targets.

In FIG. 13, the transfer work data is
It is composed of a header part indicated by reference signs a1 to 9 and a plurality of element parts indicated by reference signs e1 to en, and is provided with EOT (end of text) code data indicated by reference sign a13 at the end. ..

Further, the number of the element parts e1 to en corresponds to the number of element operations of the corresponding carrying work.

The header portion contains identification code data a1 and
Coil number data a2, work classification data a3, line code data a4, command serial number data a5, express mark data a6, deadline time data a7 composed of start time data and completion time data, and re-expansion It is composed of required data a8 and transport work preceding condition data a9.

The identification code data a1 relates to the cause of occurrence of the carrying work, and the detailed description thereof is omitted.

In the coil number data a2, the coil number carried by the carrying work is written. This coil number is different for each individual coil, and is not the same number even for the same type of coil.

Data for identifying the following three patterns is written in the work classification data a3.

Basic pattern: An annealing pickling skin pass line CAP, a small diameter mill line SCM or a quality inspection line RC, a carrying operation for carrying in or unloading a coil.

Temporary placement pattern: A transfer operation for temporarily placing the coil on a predetermined skid.

Dissimilar material pattern: When an error is found in the data relating to the coil stored in the process computer CPU1 due to the weight measurement with the weighing machines W2 to W3,
Carrying work for paying out the corresponding coil.

The line code data a4 is written with data for identifying whether the carrying work is related to the annealing pickling skin pass line CAP, the small diameter mill line SCM or the quality inspection line RC.

In the command serial number data a5, the serial number of the transfer work which is the transfer schedule target is written.

In the express mark data a6, data relating to the execution priority of the carrying work is written.

As the start time data of the deadline time data a7, the startable time of the carrying work is written.
It should be noted that this start time data serves as a preceding condition for the carrying work together with the carrying work preceding condition data a9 described later.

In the completion time data of the deadline time data a7, the deadline time of the carrying work is written. That is, the carrying work must be completed by this completion time.

The re-expansion required data a8 is written with data relating to expansion (division) into the element operation of the carrying work as shown below.

The element operation of the carrying work is determined by the element parts e1 to e and cannot be redeployed.

The element operation of the carrying work is required for the element parts e1 to en, but it may be re-developed if necessary.

The element operation of the carrying work is not required at all, and it is necessary to re-deploy it before carrying out the carrying schedule.

The above-mentioned transport work preceding condition data a9 is written with data relating to the preceding conditions of the transport work which can be classified as follows.

Preliminary condition of vacancy of the transportation equipment such as the transportation vehicle used. In this case, data indicating which transportation facility is used is also written.

Preliminary condition for an empty block section in the transport route along which the transport vehicle travels. In this case, the data indicating which closed section is included is also written.

Pre-conditions for completion of other transport operations. In this case, the data indicating which of the other transport operations the completion of which is a prerequisite is also written.

The element parts e1 to en, for example, the element part ei, are element data b1 consisting of FROM point data and TO point data, element serial number data b2, equipment / device abbreviation data b3, and actual completion time data b4. And pass permission data b5 and element preceding condition data b6.

The FROM point data and TO point data of the element data b1 are data of the start point and the end point of the conveyance when the element operation corresponding to the element portion ei is related to the traveling of the conveyance carriage. Each is written.

The element serial number data b2 is written with a serial number for identifying the element portion ei or the element operation corresponding to the element portion ei.

The facility / apparatus code data b3 is written with data for identifying the transport facility used in the element operation corresponding to the element portion ei and data relating to the type of element operation performed in the transport facility. ing.

In the actual result completion time data b4, the actual result completion time of the element operation corresponding to the element portion ei is written. This actual completion time data b4
Is written with the value obtained from the element operation record completion time table in which the record completion time is written for each type of element operation. Also, this actual completion time data
b4 is used to consider the deadline of each transfer operation when creating the transfer schedule.

The passability data b5 is written with information as to whether or not the element operation corresponding to the element portion ei can be passed as required. For example, when the corresponding element operation is the rotation of the coil in any of the turners TN1 to TN3, the element operation is allowed to pass, and when this is written in the applicable pass / fail data, the corresponding Turner TN
When 1 to 3 have been occupied, the element operation is passed.

In the element preceding condition data b6, data concerning the preceding condition for executing the element part ei is written. This element preceding condition data b6
Includes, for example, the element part in the carrying work.
Data is written such that the completion of the element operation of the element part e (i -1) of the carrying work prior to the element operation of ei becomes a preceding condition of the element part ei.

The operation of the carrier schedule control method for the carrier truck of this embodiment will be described below.

The transport schedule control method of the transport vehicle according to this embodiment includes the transport facility described with reference to FIGS. 3 to 5, the control device described with reference to FIGS. 6 to 8, and the transport vehicle of FIG. It is executed using the closed section of the track, the transfer work of FIG. 10, and the data table and data memory of FIGS. 11 to 13.

The transport schedule control method for the transport carriage of this embodiment is particularly designed to detect the occurrence of a change in the state of the transport work that is the subject of the transport schedule and the occurrence of a change in the state of the transport facility. When such a state change occurs, the already created transfer schedule is reviewed in real time.

There are the following changes in the state of the transfer work or the state of the transfer facility to be detected.

New acceptance of a transfer work order. Hereinafter, this is referred to as state change 1.

Canceling the already accepted transfer work,
Or completion of execution. Hereinafter, this is referred to as state change 2.

Completion of the operation of the individual elements that make up the transfer operation. Hereinafter, this is referred to as state change 3.

Equipment for directly carrying operations such as a carrier truck,
Changes in the operation of equipment that directly carries out such transport operations and equipment that delivers the transported goods. Hereinafter, this is referred to as state change 4.

At the time of detecting various abnormalities. For example, when a discrepancy is found between the information about the state of the transportation facility or the transported object stored in the control device and the state of the actual transportation facility or the transported state, etc. Also, when an abnormal situation such as equipment interference or blocking is found. Hereinafter, this is referred to as state change 5.

In the transfer schedule method of the transfer vehicle of the present embodiment, for example, when a command is issued to carry out the transfer work, single devices (band cutters BC1 and BC2, banding machines BM1 and BM2) which should be passed midway in this transfer work. Turner TN 1-3, Band Labeler BL 1-2, Weighing machine W
(2, 3, etc.) and the information about the FROM point and TO point and the final TO point of the transport operation during this period are obtained. Further, according to such information, it is possible to obtain a transfer schedule in which a plurality of transfer operations to be transferred are executed in parallel.

[0206] Further, the above-mentioned transfer equipment, such as a single device, is constantly monitored for rest, and when a change in the rest of any of the transfer equipment is detected, the already created transfer schedule is real-time. Therefore, it is possible to obtain the optimum transfer schedule to be executed thereafter.

Also, the coil dissimilar material check by measuring the coil weight with the weighing machines W2 and W3 (process computer CPU
If the measured weight is inappropriate for the coil type stored in 1), the unprocessed portion of the corresponding conveyance work is re-developed to the element operation again as a different material route, and It is possible to take measures to prevent adverse effects on operation.

Further, it is possible to appropriately deal with a change in the state of the carrying work to be carried. For example, when the process computer CPU1 receives a notification that such a state has occurred, the process completion and the command cancellation are separately provided as the ending process of the carrying work to be carried, and at this time, The retained element operation is deleted.

In this embodiment, the state changes 1 to 5
When a transport schedule is detected in real time, the transport schedule is reviewed by finding the individual element motions that make up the target transport work, and the schedule of the element motions of each transport work obtained in this way. Of the transfer schedule, that is, the transfer schedule for executing a plurality of transfer operations in parallel.

FIG. 2 is a flowchart of the transfer schedule control of the transfer vehicle of this embodiment.

The process relating to the method of controlling the transfer schedule of the transfer vehicle as described above is executed by the process computer CPU1 shown in FIG.

In FIG. 2, first, at step 102, a transfer schedule process for a plurality of target transfer operations is performed by a predetermined transfer schedule method. The transport schedule process performed in step 102 will be described later in detail with reference to FIG.

Subsequently, in step 104, step 10
Start the operation of the transfer facility according to the transfer schedule created in 2. Therefore, step 1 that follows
The processing performed in 06 and 108 and the processing performed in steps 102 and 104 after branching from step 108 are executed in real time with respect to the operation of the transportation facility.

At step 106, the above-mentioned state changes 1 to
Occurrence of 5 is detected. That is, when a change is detected in any of these state changes 1 to 5, the process proceeds to step 108, and otherwise, this step 10
The process of 6 is repeatedly continued.

In the present embodiment, the detection of the occurrence of the state change in step 106 is performed by mainly using the process computer CPU1 of FIG. 6 described above and constantly monitoring the rest of the transportation equipment or the single equipment. There is. or,
When it is determined that the coil is a dissimilar material based on the weight of the coil by a single device, for example, the weighing machines W2, W3, the programmable sequencer SEQ3, the data communication network NET2, the general DDC computer CPU7A, 7
B, modems M3A, M3B, process computer CP
Also via U4, the process computer CPU1
Detect with.

The detection of the state change performed in step 106 is not limited to the detection of all of the state changes 1 to 5 described above. For example, in the transportation facility that does not detect the abnormality, the state change 5 may not be detected in step 106.

If it is determined in step 106 that a state change has occurred, then it is determined in step 108 whether this state change occurrence is related to the completion of the entire transport schedule. When it is determined in this step 108 that all the target carrying operations have been completed, it goes without saying that all the processes shown in the flowchart of FIG. 1 are completed.

On the other hand, if it is determined in step 108 that the target transfer work has not been completed,
The process branches to the front of step 102, and the transfer schedule is created again. At this time, the transfer schedule process performed in step 102 is performed in real time with respect to the operation of the transfer facility, as described above.

In the present embodiment, the detection of the above-mentioned state changes 1 to 5 and the subsequent processing of reviewing the transfer schedule are performed by introducing an artificial intelligence technology, which has been attracting attention in recent years. You may carry out using various rules that were said.

By introducing such an artificial intelligence technique, it is possible not only to detect the occurrence of these state changes 1 to 5 more finely, but also to perform subsequent steps depending on the type of these state changes. It is also possible to make it possible to more finely deal with the processing of reviewing the transfer schedule. Therefore, even when an abnormality such as the state change 5 occurs, the transport schedule can be automatically, flexibly and in real time reviewed according to the content of the abnormality, and the global transport efficiency is prevented from being lowered. You can also do it.

FIG. 1 is a flow chart showing a method of transport schedule of a transport vehicle, which is a part to which the present invention is applied, in this embodiment.

The transfer schedule method of the transfer vehicle shown in FIG. 1 is the transfer schedule method of the transfer vehicle in step 102 of the flowchart of the transfer schedule control method of the transfer vehicle shown in FIG.

Further, the transfer schedule method of the transfer carriage shown in FIG. 1 is mainly performed by the process computer C shown in FIG.
It is executed by PU1.

In FIG. 1, first, in step 302, using the element operation selection rule, among the element operations constituting each of the plurality of transfer operations executed in parallel, the element operations that have not yet been executed and have already been processed. A process of finding a process waiting element operation for which a feasible condition is satisfied is performed. The condition in which the predetermined element operation is determined to be the process waiting element operation in step 302 is a condition that all the above-described conditions a2 and b1 to b4 are satisfied. That is, the condition that a certain element operation is the waiting element operation is "condition a2 AND condition".
b1 AND condition b2 AND condition b3 AND condition b4 ”
Is the condition.

In this embodiment, since the transport schedule once created is reviewed as necessary, the above condition a1 is used for this processable condition as needed.

At step 304, the preceding condition is found by using the preceding condition judgment rule for each element operation which is set as the process waiting element operation at step 302. The criterion for finding out this precondition is that which complies with any one of the aforementioned criteria c1 and c2.

The preceding condition for each processing waiting element operation found in step 304 is the element of the corresponding transfer work in the transfer work data memory described above with reference to FIG. 13 inside the process computer CPU1 of FIG. It is written in the element preceding condition data b6 of the operation (element section).

When the preconditions for the operation of all the process waiting elements are found in step 304, the process proceeds to step 30.
In 6, a transfer schedule process of creating a transfer schedule for executing a plurality of target transfer operations in parallel is performed.

The contents of the transfer schedule process of step 306 will be described later with reference to the flowchart of FIG.

Hereinafter, the transfer schedule process corresponding to step 306 of the transfer schedule method shown in FIG. 1, that is, the transfer schedule process of the transfer schedule method of the transfer schedule control of the transfer vehicle of this embodiment will be described in more detail. To do.

In the transfer schedule process of the transfer vehicle of this embodiment, in response to requests for a total of 9 types of transfer work as shown in FIG. 11, the presence or absence of the carriage is occupied, the presence or absence of the closed section as shown in FIG. 12, and the data of the transport work data memory described above with reference to FIG.

The transfer schedule process of the present embodiment is performed by paying attention to the margin time which is the difference between the deadline of the transfer work which is the transfer schedule object and the scheduled completion time obtained at the transfer schedule.

In other words, this margin time is obtained for each transfer work that is a schedule target, and the deadline that must be completed for each transfer work and the schedule for the transfer schedule. It is the difference from the completion time.

That is, when the scheduled completion time is earlier than the deadline, the margin time of the corresponding transfer work becomes a positive value. On the other hand, if the scheduled completion time is later than the deadline, the margin time becomes a negative value.

Further, the transfer schedule process of this embodiment decomposes a plurality of transfer works to be transferred schedules into individual element operations constituting these transfer operations, and can be executed among these element operations. The optimum schedule is finally selected by executing the selection of the element operation to be executed next according to a predetermined selection criterion from the set of various element operations until all the decomposed element operations are selected. To get it.

Further, in the transfer schedule process of this embodiment, at each selection point in the transfer schedule, it is not yet scheduled according to a predetermined condition (such as which element operation is to be executed next). Nevertheless, the approximate value of the margin time of each transfer work, that is, the maximum margin time is obtained.

Further, in the transfer schedule process of this embodiment, the minimum of the maximum allowance times of the respective transfer operations of the respective element operations determined in this way and to be executed next at the time of the selection. Is set as the lower bound of the corresponding element operation at the time of the selection.

The lower bound for each of these corresponding element operations is
At the time when the element operation to be executed next is selected, there is a large correlation in the size of the allowance time for each transfer operation.

Therefore, by selecting the element operation to be executed next in accordance with the lower bounds for each corresponding element operation, it is possible to obtain a more appropriate transfer schedule in consideration of the deadline of the transfer operation.

FIG. 14 is a flow chart showing the transfer schedule process of the transfer vehicle of this embodiment.

In FIG. 14, first, step 20
In 2, the set of executable element operations is obtained from the individual element operations that make up the transfer task that is the transfer schedule target.

The determination as to whether or not this element operation is feasible includes, for example, determination as to whether or not the transport facility occupied by the element operation currently being executed is used. An element operation that uses a transportation facility that is already in use is an element operation that cannot be executed at this point.

[0243] Next, in step 204, in each of the executable element operations obtained in step 202 described above, when the element operation to be executed next in the schedule is set, a margin for each deadline of each of the plurality of transport works Find the predicted value of time.

That is, the maximum margin time for the deadline is obtained.

In the transfer schedule process of this embodiment, at the time when the element operation to be executed next is selected, the time for executing all the remaining element operations of the transfer work to be transferred is the shortest. At that time, that is, when all the element operations that constitute the transfer work and are not incorporated in the schedule are continuously executed without waiting time, it is noted that the scheduled completion time of the transfer work becomes the earliest. Further, the margin time when the scheduled completion time becomes the earliest is set as the maximum margin time of the corresponding transfer work in the element operation selected to be executed next.

In step 206, the element operation having the smallest value among the maximum allowance times of the respective transfer operations of the element operations selected to be executed next obtained in step 204 is selected. Calculate as the lower bound. That is, for each feasible element operation, the maximum margin time of the transfer work that is the most difficult to meet the deadline of the transfer schedules when the transfer operation is selected to be executed next is the lower limit. It becomes a value.

Therefore, in step 208, step 2
The element operation to be executed next is selected from the lower bounds of the executable element operations obtained in 06.

The selection criteria for selecting the element operation to be executed next according to such a lower bound value are, for example, as follows.

Among the element operations that can be executed, the element operation having the largest lower bound value is the element operation to be executed next.

According to other selection criteria not particularly limited, among the executable element operations, the element operation having the larger lower bound value is selected as the element operation to be executed next.

According to other selection criteria not particularly limited, at least the element operation having the positive lower bound value is selected as the element operation to be executed next.

The transfer schedule process of the transfer schedule control method for the transfer vehicle of the present embodiment described above will be described below by taking the transfer work A shown in FIG. 15 and the transfer work B shown in FIG. 16 as examples.

FIG. 15 is a diagram showing a transfer work A which is an example of the transfer work of this embodiment.

In the transfer operation A shown in FIG. 15, the coil of the line payout skid LS1 is moved to the transfer carriage CAR.
After being conveyed to the band cutter BC2 by 1 and 2, the loosening hand of the coil is removed by the band cutter BC2, the annealing pickling skin pass line CA is conveyed by the carrier CAR2.
The P is carried to the pay-in reel loading place C2. Further, the element sequence numbers A1, A2, and A3 are sequentially assigned to the respective element operations.

On the other hand, FIG. 16 is a diagram showing a transfer work B which is an example of the transfer work of this embodiment.

In the transfer work B of FIG. 16, the coils of the line payout skid LS2 are moved to the transfer carriages CAR1 and CAR2.
Is used to convey the band to the band cutter BC1 and the band cutter BC1 is used to remove the loosening prevention band of the coil.
The transport carriage CAR2 transports the coil to the loading place M1 for the payoff reel of the small diameter mill line SCM. The element operation numbers of B1, B2, and B3 are attached to the respective element operations of the carrying work B.

The transfer schedule process of this embodiment will be described below by using the transfer work A of FIG. 15 and the transfer work B of FIG. 16 as specific examples.

First, the set St of executable element operations among the individual element operations constituting the transfer operations A and B that are not incorporated in the schedule is obtained according to the following constraint conditions.

Strict adherence to line loading order: In a plurality of carrying operations related to the same line such as the annealing pickling skin pass line CAP, the small diameter mill line SCM, the quality inspection line RC, etc., the order in which each carrying operation occurs is strictly followed.

Avoiding deadlock caused by duplicate designation of waypoints: When there are a plurality of element operations for the same waypoint such as various skids, band cutters, banding machines, band labelers, and weighing machines. Only one element operation can be executed.

Avoiding deadlock due to duplicate designation of occupied block: By applying the third invention of the present application, a traveling section in which two or more transport vehicles may interfere is divided into a plurality of closed sections. Further, in a plurality of element operations, when the same closed section overlaps as the occupied closed section in the transport path, only one element operation is set as an executable element operation.

The above-mentioned constraint conditions (1) to (4) are set and determined by setting the preceding conditions for each carrying work subject to the carrying schedule or the preceding conditions for each element operation constituting the carrying work.

Note that t in the set St of executable element operations represents the number of transfer operations already incorporated in the schedule for all target transfer operations.

Here, the element sequence number of the element operation to be executed next is j, the earliest start time is ej, and the actual record of the element operation of the transport work to which the element operation of this element sequence number j belongs is not scheduled. Let Rj be the total completion time, bj be the scheduled completion time of the transfer work to which the element operation of element sequence number j belongs, and Yj be the margin time to the completion deadline of the transfer work to which the element operation of element sequence number j belongs. Let Tj be the deadline for completion of the transfer work to which the element operation belongs.

Under the above constraints (1) to (3), t = 0, that is, the set S0 of executable element operations at the start of the transfer schedule is as follows.

S0 = {A1, B1} (1)

First, a set S of executable element operations
Of 0, when the element operation A1 is the element operation to be executed next, t is 1 and j is A2 or B.
1 and thus:

S1 = {A2, B1} (2) eA2 = 3 (3) eB1 = 3 (4) RA2 = 5 (5) RB1 = 8 (6) TA2 = 10 (7) TB1 = 15 (8) bA2 = eA2 + RA2 = 8 (9) bB1 = eB1 + RB1 = 11 (10) YA2 = TA2-bA2 = 2 (11) YB1 = TB1-bB1 = 4 (12) BA1 = min (YA2, YB1) = 2 (13)

On the other hand, a set S of executable element operations
From 0, when the element operation to be executed next is the element operation B1, t is 1 and j is A1 or B2.
And therefore:

S1 = {A1, B2} (14) eA1 = 3 (15) eB2 = 3 (16) RA1 = 8 (17) RB2 = 5 (18) TA1 = 10 (19) TB2 = 15 (20) bA1 = eA1 + RA1 = 11 (21) bB2 = eB2 + RB2 = 8 (22) YA1 = TA1-bA1 = -1 (23) YB2 = TB2-bB2 = 7 (24) BB1 = Min (YA1, TB2) =-1 (25)

In this way, when the element operation to be executed next is the element operation A1, the lower bound value BA1 is 2, and the element operation to be executed next is the element operation B.
It is possible to obtain the lower bound value BB1 of -1 and -1.

Therefore, among these lower bound values BA1 and BB1, the element movement A1 corresponding to the lower bound value BA1 having a larger value.
Is selected as the element operation to be executed next.

The above description is an example of obtaining the first element operation of the transfer schedule, but by repeating the same procedure, the transfer work A in FIG. 14 and the transfer work B in FIG. 15 are repeated. A transport schedule for and can be created.

The transfer schedule process described above is performed by the process computer CPU1 shown in FIG. The process computer CPU also manages the operation of the transfer facility according to the created transfer schedule.
Done in 1. In addition, during this operation, the transport schedule creation process of adding, modifying, or deleting the transport schedule is performed in real time, and the transport vehicle occupancy table shown in FIG. 11 or the closed section occupancy shown in FIG. The table data is being updated.

As described above, according to this embodiment,
Finding a precondition for an element operation that is a processing waiting element operation among the element operations that configure each of a plurality of transfer operations that are executed in parallel, while sharing a plurality of transfer carriages that perform independent transfer. Even if it is necessary to carry out a job shop type transfer schedule, it is possible to efficiently schedule the element operations constituting the plurality of transfer operations to obtain an optimum transfer schedule. . or,
Even with a relatively complex transport facility, it is possible to create a transport schedule with good global transport efficiency without causing an abnormal situation such as facility interference or blocking, and to continue effective transport facility operation. It can be carried out.

In the transfer facility of this embodiment, as a disturbance factor of the transfer schedule, there is a work roll truck that suddenly travels on a track L10 intersecting the track L3 as shown in FIG. However, when a disturbance occurs in the transfer schedule due to the traveling of the work roll carriage (state change 5), the transfer schedule is reviewed in real time, that is, the transfer schedule is added, corrected, or deleted, so that an abnormal situation due to the external disturbance occurs. It is possible to avoid it.

Also in the present embodiment, when operating the carrier vehicles in accordance with the created carrier schedule, when the occupied block sections are found to overlap with each other due to the disturbance factors as described above, etc. Is trying to add a transportation schedule for evacuating a transportation vehicle with a low priority in real time.

The order of priority for determining such a carrier vehicle to be evacuated is determined by the following criteria.

[0279] The priority of the transport carriage on which the transported object is placed is higher than that of the empty transport carriage.

In the case where both of the carrying objects are loaded, the priority of the carrying vehicle having the carrying object of the carrying work having the higher priority is higher.

In the case where neither of the conveyed items is placed, the priority of the conveyed vehicle that has already moved to the command stop point for placing the conveyed item is higher.

If neither of the items to be conveyed is traveling and both are traveling to the command stop point to place the item to be conveyed, the conveyance of the item having the higher priority in the operation of conveying the item to be placed. The priority of the truck is high.

FIG. 17 is a block diagram relating to the detection of the closed section in which each transport vehicle is currently traveling in this embodiment.

In FIG. 17, the feeding and driving of the carriages CAR2 to CAR4 traveling on the track L2 or L3 is performed by feeding the feeding trolleys TR0 to TR4 and feeding the carriages CAR2 to CAR4 sliding on the feeding trolleys TR0 to TR4. The brushes BR1 and BR2 are mainly used.

The power supply trolleys TR1 to TR4 are divided into closed sections K3 to K7 of the track L2 and closed sections K22 of the track L3.
It is divided corresponding to the division into .about.33. Therefore, as the carriages CAR2 to CAR4 travel, the trolleys TR1 to TR4 used for power supply are changed by the brush BR2.

Therefore, it is possible to detect the closed section in which the transport vehicle is currently traveling by detecting whether or not the power is supplied to the transport vehicles CAR2 to 4 of the power feeding trolleys TR1 to TR4 by the power feeding current detectors CT1 to CT4. It is possible.

The feeding current detectors CT1 to CT4 are
It is a current detector using a current measuring transformer,
It is input to the programmable sequencer SEQ2 or SEQ3.

[0288] Further, the electromagnetic switch SW which is opened / closed by the output of the programmable sequencer SEQ2 or SEQ3.
1 to 4 are used, for example, to perform an emergency stop of the carriages CAR 2 to 4.

Incidentally, the power feeding trolleys TR1 to TR4 which are divided corresponding to the closed sections, and the power feeding trolleys TR1 to TR4.
By using the electromagnetic switches SW1 to SW4 provided for each of the carriages CAR2 to CAR2 traveling in a predetermined closed section.
It is also possible to obtain the secondary effect that only 4 can be brought to an emergency stop.

In FIG. 17, the voltage of the power source supplied to power supply trolleys TR0-4 via power lines AC1-4 is 400V.

[0291]

As described above, according to the present invention, when a plurality of transport carriages that carry out independent transports are shared and a plurality of transport jobs are executed in parallel, the plurality of transport jobs are performed. In the transfer schedule method of the transfer carriage for creating the transfer schedule of the element operations constituting each of them, even if it is necessary to perform the job shop transfer schedule, It is possible to obtain an excellent effect that an optimal transportation schedule can be obtained by efficiently scheduling.

[Brief description of drawings]

FIG. 1 is a flowchart showing a method of transport schedule of a transport vehicle according to an embodiment of the present invention, in particular, a part to which the present invention is applied.

FIG. 2 is a flowchart showing a transport schedule control of the transport vehicle used in the above embodiment.

FIG. 3 is a model diagram of a method of dividing into blocked sections and an occupied blocked section of each carrier according to the embodiment.

FIG. 4 is a layout diagram of a cold rolling mill in which the above embodiment is used.

FIG. 5 is a perspective view of a carrier truck used in the embodiment.

FIG. 6 is an overall block diagram mainly relating to a process computer and the like of the embodiment.

FIG. 7 is an overall block diagram mainly relating to a programmable sequencer and the like in the above embodiment.

FIG. 8 is a block diagram relating to data communication between the ground plane of the carrier vehicle and the upper panel of the carrier vehicle of the above embodiment.

FIG. 9 is a block diagram of a track of the carrier truck of the embodiment.

FIG. 10 is a diagram showing a list of transit devices for each carrying operation according to the embodiment.

FIG. 11 is a diagram showing a carrier occupancy table used in the embodiment.

FIG. 12 is a diagram showing a closed section occupation presence / absence table used in the embodiment.

FIG. 13 is a diagram showing a transfer work data memory used in the embodiment.

FIG. 14 is a flowchart showing a transportation schedule method of the transportation vehicle according to the embodiment.

FIG. 15 is a diagram showing a transfer work A which is an example of the transfer work in the embodiment.

FIG. 16 is a diagram showing a transfer work B which is an example of the transfer work in the embodiment.

FIG. 17 is a block diagram relating to detection of a traveling position of a carrier vehicle in the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Transported material (coil etc.), 10, 10a, 10b ... Transport vehicle upper panel, 20 ... Transport vehicle ground panel, 10SEQ ... On-board programmable sequencer, 10M, 20M, M1A-M3A, M1B-M3B ... Modem, 10T , 20T ... Transceiver for spatial light transmission, CAR1 ... Carrier carriage (parent carriage), CAR2-4 ... Carrier carriage (child carriage), L1 ... Parent carriage track, L2-5 ... Child carriage track, LCn ... Grandchild carriage Tracks (each command stop point, etc.), L10 ... work roll carriage track, K1-7, K22-33 ... blocking section (blocking section number), CAP ... annealing pickling skin pass line, SCM ... small diameter mill line, RC ... quality inspection Line, POR ... Payoff reel, TR ... Tension reel, TN1-3 ... Turner, BC1-2 ... Band cutter, BM1-2 ... Banding Shin, BL1-2 ... Band labeler, W2, 3 ... Weighing machine, LS1-4 ... Line payout skid, P1, P2 ... Packing place delivery skid, SL1 ... Sleeve skid, C5-7 ... CAP place, M4-7 ... Small-diameter mill storage area, R1-19 ... RC storage area, T1-6 ... Relay skid, C1-2, M1, RC1 ... Payoff reel loading storage area, C3-4, M2-3, RC2 ... From tension reel Place for dispensing, NET1, 2 ... Data communication network, CPU0-6 ... Process computer, CPU7A, 7B ... General DDC computer, SEQ1-3 ... Programmable sequencer, TR0-4 ... Power feeding trolley, BR1, 2 ... Power feeding brush, CT1. 4 ... Feed current detector, SW1-4 ... Electromagnetic switch, A1-3, B1-3 ... Element serial number

Continuation of front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical display location G06F 15/21 C 7218-5L // B65G 1/04 H 7456-3F 43/00 Z 9245-3F 47/52 101 Z 8010-3F (72) Inventor Junichi Yamamoto 1 Kawasaki-cho, Chiba-shi, Chiba Inside Kawasaki Steel Co., Ltd. (72) Inventor Katsunori Shiraishi 1 Kawasaki-cho, Chiba-shi Chiba Steel Co., Ltd.

Claims (1)

[Claims] 1. When carrying out a plurality of carrying operations in parallel while sharing a plurality of carrying vehicles for carrying respectively independent carrying, a carrying schedule of element operation constituting each of the plurality of carrying works is created. In the transportation schedule method for a transportation vehicle, the element operation selection rule is used, and among the element operations, a processing waiting element operation that has not yet been executed and a processable condition has already been established, and A transport schedule method for a transport vehicle, characterized in that the transport condition process is performed after finding out the advance condition by using the advance condition determination rule for each processing waiting element operation.