JP2004110286A - Agv route searching method and its program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an AGV route searching method and its program capable of shortening the time required for searching for the optimal route of an AGV by an arithmetic operation, and easily preparing, adding, erasing, or changing the traveling route data. <P>SOLUTION: A plurality of traveling routes 41 of an AGV traveling in a yard 40 are arranged in the yard 40, and the traveling route 41 optimal for the AGV to travel is searched from among the traveling routes 41 in this AGV route searching method. In this case, the traveling routes 41 are respectively applied as a link connecting intersection points in the yard 40, and a stop point 45 of the AGV in the traveling route 41 is applied as a station so that the route search can be executed. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an AGV route searching method and a program for searching for an optimal running route for an automatic guided vehicle (AGV) to travel in an yard within the yard.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a route search method of an AGV, a method of automatically searching for an optimal route on which the AGV travels by a route search program has been adopted, and the route search method and various traveling program creating devices used in the method have been proposed. Proposed.
[0003]
For example, a running program creation device for an AGV is disclosed in JP-A-11-143534. According to this, the AGV traveling program creation device determines a plurality of address marks for displaying a position, a path between the address marks, and a moving direction of the AGV on each path in accordance with an input operation. A course creation means for creating a map of a running course on a course display screen and storing the map, and a division chart showing each address mark with the address mark and an address mark at a position from which the next address mark can be moved. , A division chart creating means for storing the same, a route calculating means for obtaining one or more routes, and extracting an optimum route having the shortest traveling distance or required time when there are a plurality of routes obtained by the route calculating means. (See Patent Document 1).
[0004]
In the AGV route search method in such an apparatus, two address marks are defined by a starting point and an ending point (FROM-TO), the starting point of the FROM-TO is given by a FROM node, and the ending point is given by a node having a TO node. The route between the address marks and the moving direction in each route are given by a link, and the node and the link are searched by calculation to extract the optimal route of the AGV.
[0005]
[Patent Document 1]
JP-A-11-143534 (page 1-14, FIG. 1)
[0006]
[Problems to be solved by the invention]
By the way, in the conventional AGV route search method described above, in the case of a yard handling cargo such as containers, an enormous number of stop points are present, and nodes are set at all the stop points to perform calculations. There is a problem that it takes an enormous amount of time to search for an optimal route. In addition, when creating, adding, deleting, or changing the connection information of the travel route data, a huge number of stop points and the setting of the route connected to the stop points are changed, so the work requires enormous labor and time. There was a problem that it took time.
[0007]
The present invention has been made in view of such circumstances, and reduces the time required to search for an optimal route of an AGV by calculation, and facilitates creation, addition, deletion, or change of connection information of travel route data. It is an object of the present invention to provide an AGV route search method and a program capable of performing the following.
[0008]
[Means for Solving the Problems]
The present invention employs the following means in order to solve the above problems.
The invention according to claim 1 is the AGV route search method in which a plurality of AGV travel routes traveling in the yard are arranged in the yard, and an optimal route on which the AGV travels is searched for in the travel route. A route is provided as a single link connecting the intersection in the yard and the intersection, and a stop point of the AGV in the travel route is provided as a station to search for a route.
[0009]
According to the present invention, since the traveling route is provided as one link connecting the intersection in the yard and the intersection, the number of traveling routes to be set is greatly reduced, so that the time required for the route search is greatly increased. To be shortened.
[0010]
The invention according to claim 2 is the AGV route searching method according to claim 1, wherein an end point of another travel route is set upstream from the station in a direction in which the AGV travels, and the end point is given as a node to provide a route. It is characterized by searching.
[0011]
According to the present invention, by setting an end point of another traveling route upstream of the station in the direction in which the AGV travels, it is possible to compare the traveling route immediately before stopping at the station with the other traveling route. Therefore, the optimum traveling route can be accurately obtained by the route search.
[0012]
According to a third aspect of the present invention, in the AGV route searching method according to the first or second aspect, a route is searched by setting the station based on coordinates set in the yard.
[0013]
According to the present invention, since the station is set by the coordinates set in the yard, the station is set separately from the information on the optimal travel route search, so that the information on the stop point can be easily added, deleted, or changed.
[0014]
The invention according to claim 4 is an AGV route search in which a plurality of travel routes of the AGV traveling in the yard are arranged in the yard, and the optimal travel route for the AGV to travel in the travel route is searched. A program, wherein the AGV route search method according to any one of claims 1 to 3 can be implemented.
[0015]
According to the present invention, the effect of implementing the AGV route searching method can be obtained by executing the program for controlling the AGV using the AGV route searching method.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an embodiment of the present invention, and is a block diagram illustrating an AGV route search system that searches for an automated guided vehicle (AGV) route.
The AGV route search system 1 includes a route search program editing device 10, a central control panel 20, and an AGV 30.
[0017]
The route search program editing apparatus 10 includes a CPU 11, an input unit 12 including a keyboard and a mouse, a display unit 13 including a CRT, and a memory 14.
The CPU 11 includes a course creating unit 15, a route calculating unit 16, and a route determining unit 17.
The central control panel 20 includes a CPU 21, a memory 22, and a communication unit 29.
The CPU 21 includes a moving route setting unit 23, a monitoring unit 24, an overlap determination unit 25, and an operation control unit 26.
The AGV 30 includes a CPU 31, a memory 32, a sensor 33, a motor 34, and a communication unit 39, and a plurality of the AGVs 30 are arranged.
The CPU 31 includes a route calculation unit 36, a route determination unit 37, and a drive control unit 38.
[0018]
As shown in FIG. 2, on the yard 40, a plurality of traveling routes 41 on which the AGV 30 travels are arranged in a straight line or a curved line. As shown in FIG. 3, the traveling route 41 includes a traveling lane 41a and a cargo handling lane 41b. At each intersection of the travel route 41, an intersection 42 is provided.
A starting point 43 is provided at a point where the AGV 30 first departs, and an arrival point 44 is provided at a point where the AGV 30 arrives last.
In the traveling route 41, a plurality of stop points 45 are provided at positions where the AGV 30 stops. The stop point 45 includes a traveling lane stop point 45a provided on the traveling lane 41a and a cargo handling lane stop point 45b provided on the cargo handling lane 41b.
[0019]
Next, an AGV route search method having the above configuration will be described.
When searching for the optimum route of the AGV 30 using the AGV route search system 1, the optimum route is searched for and determined by the calculation of the program in the route search program editing device 10, and the optimum route is sent from the central control panel 20 to the AGV 30. , The AGV 30 travels on the optimal route.
[0020]
That is, in order to search for the optimal route on which the AGV 30 travels, the route search program is operated, and when the stop point 45 of the AGV 30 is set by the input unit 12, a plurality of routes are selected by the course creating unit 15. The calculation is performed by the route calculation means 16, the optimum route is determined by the route determination means 17, displayed on the display means 13, and stored in the memory 14. The information is input to the memory 22 provided in the central control panel and the memory 32 provided in the AGV 30.
[0021]
Thereafter, in the central control panel 20, based on the information input to the memory 22, the optimal route on which the AGV 30 runs is set on the yard 40 by the moving route setting means 23 provided in the central control panel 20, and the monitoring means The operation of the AGV 30 is controlled by the operation control means 26 while monitoring by the overlap determination means 25 and the other AGVs 30 so as not to collide.
[0022]
The AGV 30 receives an instruction to travel on the optimum route from the central control panel 20 via the communication means 29 and 39, and drives the motor 34 while traveling by recognizing the traveling position by the sensor 33 that reads magnetically or optically. . Here, since the AGV 30 has the route calculation means 36 and the route determination means 37, it is also possible to search for the optimum route by itself and control the driving by the drive control means 38.
[0023]
The AGV 30 normally travels on the traveling lane 41a on the traveling route 41. When approaching a stop point 45 to be stopped, the AGV 30 enters the cargo handling lane 41b from the traveling lane 41a and stops at the cargo handling lane stop point 45b. Thereafter, when the vehicle departs from the stop point 45, it reenters the traveling lane 41a from the cargo handling lane 41b and travels on the traveling lane 41a.
[0024]
In the AGV route search system 1, as a method of searching for the optimum route, nodes are provided at the intersection 42, the departure point 43 and the arrival point 44, the link is provided to the travel route 41, and the station is provided to the stop point 45 to search for the optimum route.
That is, the intersection 42 is defined as a starting point and an ending point (FROM-TO), a starting node of the FROM-TO is given as a FROM node, and an ending point is given as a TO node, and a link is given to the traveling lane 41a. Here, this link has a direction in the direction in which the AGV 30 travels. In addition, a station is given to a traveling lane stop point 45a provided in the traveling lane 41a, and another station is given to a cargo handling lane stop point 45b adjacent to the traveling lane stop point 45a. Based on these settings, the optimum route on which the AGV 30 travels is searched.
[0025]
Therefore, when the stop point 45 of the AGV 30 is designated by coordinates at the station, the node of the intersection 42 on the upstream side closest to the stop point 45 is selected, and a plurality of routes including the node are selected by the course creating means 15. The nodes and links are searched for and selected, the route calculation means 16 searches for the optimum routes from the nodes and links, and the route determination means 17 determines the optimum routes.
[0026]
In this case, since the stop point 45 is given by the station instead of the node, the number of set nodes is only the total number of the intersection 42, the departure point 43, and the arrival point 44, and does not include the number of the stop points 45. The number of routes selected by the creation unit 15 is greatly reduced.
In addition, since the node of the intersection 42 on the upstream side closest to the stop point 45 is selected and the optimum route is searched, the optimum route up to the stop at the stop point 45 is accurately searched.
Further, for example, when the position of the stop point 45 is changed, only the station is changed without changing the setting of the node and the link, so that the work of the change does not require labor and time.
[0027]
According to the above configuration, since the stop point 45 is given by the station instead of the node, the number of routes selected by the course creating means 15 is greatly reduced, so that the optimal travel route for the AGV can be quickly determined. Can be instructed.
In addition, since the node of the intersection 42 on the upstream side closest to the stop point 45 is selected and the optimal route is searched, the optimal traveling route can be accurately specified for the AGV.
Further, when the position of the stop point 45 is changed, only the station is changed, so that the changing operation does not require labor and time, and the setting of the station can be easily changed.
[0028]
Although the stop point 45 is provided at the position where the AGV 30 stops, the stop point 45 may be provided at a position ahead or behind the position at which the AGV 30 stops in consideration of the length of the vehicle of the AGV 30.
Although not shown, a plurality of so-called RTGs as yard cranes are arranged on the yard 40, but nodes, links, and stations to be set on the traveling route 41 of the RTG are set in the AGV route search system 1. Since the settings can be made in the same manner as the nodes, links, and stations, the RTG may be operated as a system including the system in the AGV route search system 1.
[0029]
Further, in the above-described embodiment, it is preferable to use the container yard for loading and unloading containers.
In the container yard, a plurality of RTG routes on which RTGs for loading and unloading containers travel are arranged.
In parallel with the RTG route, a long AGV cargo handling route on which the AGV 30 travels is formed by connecting a plurality of traveling routes 41 in series. The AGV cargo handling route is arranged so that the AGV 30 stops and carries out the work of handling the stored containers.
The AGV cargo handling route is set so as to travel only in one direction in order to prevent a collision accident between the AGV 30 and the container, the RTG, or another AGV 30.
A storage area for storing containers is provided along the AGV cargo handling route.
[0030]
In this container yard, an AGV relay route connecting an intersection 42 that is a start point or an end point is formed in a direction intersecting the AGV cargo handling route. This AGV relay route includes a central route installed at the center of the container yard and an end route installed at the end of the container yard, and is arranged exclusively for the AGV 30 to travel. ing. Therefore, it may be set so that it can run in only one direction, or it may be set so that it can run in both directions by providing one direction and the opposite direction. However, the end route is set so that it can run in one direction due to its positional relationship.
[0031]
That is, in this container yard, a link capable of providing a station and having the same direction is arranged in parallel in the direction in which the RTG runs, and the starting point of this link is set in a direction crossing the direction in which the RTG runs. Alternatively, a link connecting the end points and providing one direction or one direction and the opposite direction is provided. Further, by setting a station at the stop point 45 where the AGV 30 stops, the AGV route search system 1 operates as in the above-described embodiment.
[0032]
【The invention's effect】
The above-described AGV route searching method of the present invention has the following effects.
According to the first aspect of the present invention, since the traveling route between the intersections is provided as one link, the number of traveling routes to be set is greatly reduced, so that the time required for the route search is greatly reduced. Therefore, the optimum travel route for the AGV can be promptly instructed.
[0033]
According to the invention according to claim 2, by setting the end point of the route from the start point to the stop position on the upstream side in the direction in which the AGV travels from the station, the optimum traveling route can be accurately obtained by the route search. Therefore, the optimum travel route for the AGV can be accurately instructed.
[0034]
According to the invention according to claim 3, since the station is set by the coordinates, the information is set separately from the information on the optimal travel route search, so that it is easy to add, delete or change the information on the stop point. Station settings can be easily changed.
[0035]
According to the fourth aspect of the present invention, since the program for controlling the AGV is executed by using the AGV route searching method, an effect that the optimum traveling route for the AGV can be promptly and accurately specified can be obtained.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an AGV route search system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a search route related to an AGV route search method according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a traveling route related to an AGV route searching method according to an embodiment of the present invention.
[Explanation of symbols]
1 AGV route search system 10 route search program editing device 20 central control panel 30 AGV
41 Running route 42 Intersection 43 Departure point 44 Arrival point 45 Stop point

Claims (4)

An AGV route search method in which a plurality of travel routes of an AGV traveling in a yard are arranged in the yard, and an optimal route on which the AGV travels is searched for in the travel route,
An AGV route search method, wherein the travel route is provided as a single link connecting the intersection in the yard and the intersection, and the stop point of the AGV in the travel route is provided as a station to search for a route. . The AGV route search method according to claim 1,
An AGV route search method, wherein an end point of another travel route is set upstream of the station in the direction in which the AGV travels, and the end point is given as a node to perform a route search. The AGV route search method according to claim 1 or 2,
An AGV route search method, wherein the route is searched by setting the station based on coordinates set in the yard. An AGV route search program in which a plurality of traveling routes of an AGV traveling in a yard are arranged in the yard, and the optimal traveling route for the AGV to travel in the traveling route is searched.
An AGV route search program capable of implementing the AGV route search method according to any one of claims 1 to 3.

Images