JP2004110287A - Agv route searching method and its program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an AGV route searching method or its program capable of shortening the time required for searching the optimal route of an AGV, 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 retrieved from among the traveling routes 41 in this AGV route searching method. The traveling route 41 is applied as one link, and a stop point 45 of the AGV in the traveling route 41 is applied as a station so that the route retrieval 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 above-mentioned conventional AGV route search method, since only one optimal route is obtained by the search, when the optimal route is instructed to the AGV based on the search result, the same route is assigned to a plurality of AGVs. There was a problem that it would be instructed. In particular, in a yard that handles cargo such as containers, the traveling route is arranged in a grid pattern, so even though there are multiple routes that should be equally evaluated as the optimal route, only one optimal route is available. There was a problem that it did not exist.
Further, if an obstacle such as an AGV accident or traffic congestion occurs on the optimal route, another optimal route is searched again at that time, so that it takes time to search for the optimal route, and operation efficiency is poor. There was a problem of becoming.
[0007]
The present invention has been made in view of such circumstances, and even if a failure occurs in the optimal route on which the AGV travels, the other optimal route of the AGV is promptly designated to improve operational efficiency. It is an object of the present invention to provide an AGV route search method and a program for causing an AGV to search.
[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 an AGV route search method in which a plurality of travel routes of the AGV traveling in the yard are arranged in the yard, and the optimal route on which the AGV travels is searched for in the travel route. It is characterized in that a plurality of routes are set.
[0009]
According to the present invention, by setting a plurality of optimal routes on which the AGV travels, the optimal route on which the AGV travels is selected from the plurality of optimal routes.
[0010]
According to a second aspect of the present invention, in the AGV route searching method according to the first aspect, another AGV is set to travel on an optimal route different from the optimal route traveled by the AGV.
[0011]
According to the present invention, when a failure occurs in the optimal route on which the AGV travels, another optimal route is quickly selected, and the subsequent AGV travels on the optimal route.
[0012]
The invention according to claim 3 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, which enables the AGV route search method according to claim 1 or 2 to be implemented.
[0013]
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.
[0014]
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.
[0015]
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 provided in the AGV route search system 1.
The CPU 31 includes a route calculation unit 36, a route determination unit 37, and a drive control unit 38.
[0016]
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.
[0017]
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.
[0018]
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. At this time, the selected routes are also 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.
[0019]
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.
[0020]
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.
[0021]
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.
[0022]
In this AGV route search system 1, as a method of searching for an optimum route, nodes are provided at intersections 42, departure points 43, and arrival points 44, links are provided to the traveling route 41, and stations are provided at stop points 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.
[0023]
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.
[0024]
Here, since the traveling routes 41 arranged on the yard 40 are arranged in a grid pattern, the distances of the traveling routes 41 are equal in any of the routes, so that there are a plurality of routes equivalent to the optimal route. Will be done. Therefore, all of the equivalent routes are set as optimal routes, and different numbers are set for the optimal routes to distinguish them from other optimal routes.
[0025]
After that, for example, five equivalent optimal routes are set by the route search, and when each of the optimal routes is set as the first optimal route to the fifth optimal route, the fifth optimal route is set for the AGV 30 traveling first. The central control panel 20 instructs the vehicle to travel on the first optimal route. Next, the central control panel 20 instructs the AGV 30 traveling second to travel on the second optimal route. In addition, by appropriately instructing the third and subsequent AGVs 30 to travel on another optimal route, the central control panel 20 prevents multiple AGVs 30 from traveling on only one optimal route. .
[0026]
In this case, since the plurality of AGVs 30 travel on different optimal routes, when the AGVs 30 perform cargo handling work, an instruction is received from the central control panel 20 so that the subsequent AGVs 30 do not enter the travel route 41. Further, even if the AGV 30 causes a collision accident on the optimal route, or a plurality of AGVs 30 are congested, and the like, the subsequent AGV 30 receives an instruction from the central control panel 20 even if some trouble occurs on the optimal route. , The AGV 30 travels another optimal route.
[0027]
According to the above configuration, a plurality of optimal routes of the AGV 30 are set in advance by the route search, and the plurality of AGVs 30 can travel on different optimal routes, respectively, so that the operational efficiency of the AGV 30 can be improved. .
In particular, when a failure occurs in the optimal route on which the AGVs 30 travel, when promptly instructing another optimal route to the subsequent AGV 30, the route is not searched again at that time, so that the AGV 30 is instructed. Can be shortened, and the operational efficiency of the AGV 30 can be improved.
[0028]
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 in 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]
In the AGV route search system 1, as a method of searching for an optimum route, a node is provided at the intersection 42, the departure point 43 and the arrival point 44, a link is provided to the travel route 41, and a station is provided at the stop point 45 to search for the optimum route. However, as with the intersection 42 and the departure point 43, a node may be given to the stop point 45 to search for the optimum route.
[0030]
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.
[0031]
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.
[0032]
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.
[0033]
【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, by setting a plurality of optimal routes on which the AGV travels, the optimum route on which the AGV travels is selected from among a plurality of optimal routes. Instead, another optimum route can be promptly instructed to the subsequent AGV, and the operational efficiency of the AGV can be improved.
[0034]
According to the second aspect of the present invention, when a failure occurs in the optimal route on which the AGV travels, another optimal route is quickly selected, and the succeeding AGV travels on the optimal route. Operational efficiency can be improved.
[0035]
According to the third aspect of the present invention, since the program for controlling the AGV is executed by using the AGV route search method, an effect is obtained that the optimum travel route for the AGV can be promptly and accurately specified.
[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 (3)

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 a plurality of the optimal routes are set. The AGV route search method according to claim 1,
An AGV route search method, wherein an optimal route different from the optimal route traveled by the AGV is set so that another AGV travels. 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 claim 1 or 2.

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