JP2888695B2 - Operation simulation system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation simulation system for simulating the amount of work and / or the work time when one or a plurality of traveling bodies run on one or a plurality of roads.

[0002]

2. Description of the Related Art Conventionally, as a method of simulating the most suitable model of a traveling body at a site, in the field of construction machinery, a simulation is performed using a single traveling body on a single operation course. Methods are known. However, at the site of the quarrying industry or heavy construction industry, it is the present situation that a plurality of transporters of different models are operating on a plurality of courses. It has become necessary to perform simulations.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its main object the amount of work and / or work when one or more traveling bodies run on one or more lanes. An operation simulation system for simulating time is provided.

[0004]

In order to achieve the above object, according to the present invention, an operation simulation for simulating a work amount and / or a work time when one or a plurality of traveling bodies run on one or a plurality of lanes. In the system, a plurality of behavior change points at which the movement or work of the traveling body changes on a previously assumed runway are set as nodes, and the nodes are stored. Storing a waiting (pause) determination at a node on a runway that may collide as an attribute,
An arc connecting the set nodes is set, and for each arc, a travel distance, a gradient, element data for changing a behavior of the traveling body having a rotation resistance or a speed limit are stored as attributes, and the traveling body is stored. The model, the number, and the performance of the vehicle are input, and the travel time between the nodes or the entire road is calculated from the input performance of the traveling body. Based on the travel time, it is determined that the passing time of each node and the occurrence of the wait are generated. Technical measures are taken to calculate the amount of work and / or operation time by performing a simulation by calculating the waiting time in that case. According to a second aspect of the present invention, in the configuration of the first aspect, a facility for performing a predetermined work on the traveling body during the lane is provided, and data of work processing capacity and work time of the facility is input. Technical means of calculating the amount of work and the transit time of the node set at the location where the equipment is provided. According to a third aspect of the present invention, in the configuration of the second aspect, the runway includes a loading site where a loading machine is arranged;
It consists of a transportation course connecting the unloading place with a hopper, and the traveling body is a transportation machine such as a dump truck, and the loading time by the combination of the transportation machine and the loading machine, depending on the combination of the transportation machine and the hopper Each of the dumping times is input, and the transit times of the nodes set at the loading and unloading areas are calculated, and a plurality of nodes are set on the runway between the loading and unloading areas. Therefore, the technical means of calculating each passing time is taken. According to a fourth aspect of the present invention, in the configuration of the first aspect,
A technical means is employed in which a cycle time is calculated based on the data of the traction force curve of the model of the transporter, and a transit time of each node is calculated based on the cycle time. According to the fifth aspect of the present invention, in the configuration of the first aspect, a node which may collide with a preceding traveling body or a traveling body traveling from an opposite direction while traveling in the same direction from among the nodes. Is determined, and a determination of necessity of waiting (pause) is recorded as an attribute of the node, and it is determined whether or not a waiting occurs in the traveling body passing through the node.
It has taken the technical measures. Further, in the invention according to claim 6, in the configuration according to claim 1, a branch position or a merging position of a lane that forms a single lane is selected from the nodes, and the necessity of waiting (temporary stop) is determined as an attribute of the node. Technical measures are taken to record and determine whether or not a waiting occurs in the traveling body passing through the node.

[0005]

The running course is composed of nodes and arcs. Each arc stores, as attributes, a traveling distance, and element data that changes the behavior of the traveling body at the gradient, the rotational resistance, and the speed limit. Therefore, the travel time between the nodes or the entire travel road is calculated from the input performance of the traveling body, and based on the traveling time, the passage time and the change of the movement of each node are recorded for each traveling body. At this time, a waiting (pause) determination at the node is performed so as to simulate the passing time and / or the workload of each node so that the traveling bodies operating in parallel do not collide with each other.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment in which the present invention is applied to a transport operation simulation system (apparatus) in a quarry or a large civil engineering site will be described below with reference to the drawings.
First, at a quarry or a large civil engineering site as shown in FIG. 1, a traveling path and equipment status are checked in advance, and a transporter 4 such as a dump truck (off-highway truck) is checked on the traveling path.
Assume a behavior change point at which the movement of the robot changes. In the case of the present embodiment, one or more (two in the illustrated example) loading places 12 where the loading machine 11 is on standby, and a hopper 22
A description will be given by taking as an example a case in which the transport course 1 is set between one or a plurality of (two in the illustrated example) extraction sites 21 provided with the trajectory.

[0007] In this transport course 1, the lanes respectively connected to the loading area 12 and the unloading area 21 are connected to a one-lane lane at an intermediate point.
It is a route where a transportation course can be set so as to be able to go to 2 or the unloading place 21. Then, first, the position of the loading machine 11 is set as the starting point P1, the position of the hopper 22 is set as the turning point P2, and the equipment node 2 'is set in the loading site 12 and the unloading site 21, respectively. In addition, a plurality of nodes 2 for the runway are set on the runway between the loading site 12 and the unloading site 21 at each behavior change point at which the movement of the transporter 4 changes. These are input to a computer having a simulation operation means (not shown) by a keyboard or other input means, and are displayed on a display as shown in FIG. 2 (see FIG. 2).

The nodes 2, 2 'are displayed in a plane at an interval appropriately separated from the starting point P1 and the turning point P2. Then, the type and number of the loading machines 11 for each loading place 12 are input. In addition, the number of hoppers 22 and crushers, the capacity of the hopper 22 and the crusher capacity for each extraction site 21 are input. Next, the displayed nodes 2 are connected in accordance with the running path and the equipment status, and the arc 3 is set as shown in FIG. Thus, the transport course can be configured using the nodes and the arcs. In each of the arcs 3 set in this way, the traveling distance of the runway,
Enter the slope, rotational resistance, and speed limit as attributes.

Next, when a plurality of transporters 4 travel,
The node 2 having the possibility of occurrence of the waiting of the transporter 4 (in other words, the possibility of collision if proceeding as it is) is determined, and waiting necessary determination data is input as an attribute of the node 2. Similarly, for the one-lane road section (the face-to-face impossibility section), the necessity determination data is input for the node at the junction and the branch point. Thereby, the input of the runway / equipment condition is completed. The data relating to these road and equipment conditions is stored as a data file.

Next, the model of the transporter 4 to be used is set,
The set number of each model and the specifications of the set model (empty weight, loaded weight, engine output coefficient) are input. Then, the set transporter 4 is assigned to each transport course, and this is input. The transport condition data relating to these transporters 4 is stored as a data file. Next, in each transport course, the transporter 4 and the loader 11
And the loading time and the dumping time by the combination of the transporter 4 and the hopper 22 are input. Data relating to the loading time and the transporter 4 are also stored as data files.

When data input is completed in this way and each input data is stored as a data file, an operation is performed next. First, the data of the data file is loaded, and the cycle time is calculated by vehicle simulation. Here, the vehicle simulation has the following configuration. The traction force F2 is obtained from the traction force curve of the model of the transporter 4. Further, a conversion value F1 of the total resistance of the rotation resistance and the gradient resistance is obtained. And F2-F1
Then, the acceleration A is obtained from the vehicle weight M. A = (F2-F1) / M

At this time, in order to accurately evaluate the force and energy applied to the vehicle, it is necessary to consider not only the force proportional to the mass but also the force giving the rotational acceleration. Using the (mass correction factor), the mass equivalent to the rotation was obtained and the vehicle weight was corrected. The speed is obtained from the acceleration A. Then, the acceleration is recalculated based on the new speed.

The above process is repeated until the speed is stabilized at a constant maximum speed (for example, the speed limit set for each arc) or a predetermined section (or a transportation course) is completed. In this way, the cycle time in that section (or transportation course) is calculated. The obtained cycle time is stored as a cycle time data file.

Next, cycle time is corrected by inputting standard deviation data based on experimental values, empirical values, and the like. Then, a fleet simulation is performed, and the clock time at that time is stored as a data file each time the transporter 4 passes through each node. In addition, the departure position of the transporter 4 (all initially set in one of the loading stations 12) is stored as history data.

Next, an example of a fleet simulation will be described with reference to the flowcharts of FIGS.
Here, the following procedures are respectively performed for all the set transporters 4. First, all transporters 4
The cycle time data (step 3
1). Then, a search is made for the transporter 4 in which the behavior (EVENT) occurs first (comes to the node) (step 32).

Then, the clock time at which the behavior occurs is advanced (step 33). The executed behavior is stored as history data (step 34). The schedule time of the next action (up to the next node) and the final check position of the action that occurred are updated (step 35). The next behavior (node) is searched (step 36). The attribute of the arc is called from the next behavior to determine the behavior pattern of each transporter 4 (step 37).

This behavior pattern is classified into three. If the behavior occurs at the loading site 12, the process proceeds to case 1 (step 38). And the loading machine 11 that is vacant in the loading area 12
It is determined whether or not there is (step 39). If there is an empty loading machine 11, the loading time is read from the data file (step 44). Empty loader 1
If there is no one, the transporter 4 is added to the queue (step 40).

Then, after adding one element to the queue (step 41), the waiting time is calculated (step 4).
2). The next schedule time is calculated from the obtained waiting time (step 43), and the process proceeds to step 44 to load the loading time. Then, the next schedule time is obtained (step 45). Next, the time at which the transporter 4 leaves the loading site 12 is set as a schedule time (step 46).

Next, it is determined whether or not to end the simulation (step 47). If not, the process returns to step 31. From step 37, if the next behavior occurs at the extraction site 21, the process proceeds to case 2 (step 48). Then, it is determined whether or not there is an empty hopper 22 (step 49). If there is an empty hopper 22, the dumping time is retrieved from the data file (step 54).

If there is no empty hopper 22, the transporter 4 is added to the queue (step 50). And
After adding one element to the queue (step 51),
The waiting time is calculated (step 52). The next schedule time is calculated from the obtained waiting time (step 5).
3), proceed to step 54, and call the damping time. Then, the next schedule time is obtained (step 55).

Next, the time when the transporter 4 leaves the unloading place 21 is set as the schedule time (step 5).
6). Next, it is determined whether or not to end the simulation (step 57). If not, the process returns to step 31. From step 37, if the next behavior occurs on the runway, proceed to case 3 (step 5).
8). Then, it is determined whether another transporter 4 is stopped at the next node 2 (step 59).

If it is not stopped, it is determined whether or not there is a next transporting machine 4 traveling oppositely (step 6).
0). If there is no oncoming vehicle, it is determined whether the preceding transporting machine 4 is traveling in front of the transporting machine 4 (step 61). If there is no preceding transporting machine 4, it is determined whether the next node to proceed is the loading site 12 (step 62), and if it is the loading site 12, the process jumps to the case 1 routine (step 38). In addition, it is determined whether the next node to be advanced is the start place 21 (step 63).
(Step 48). If none of these cases, the process returns to the case 3 routine (step 58).

Next, at step 61, if there is a preceding transporter 4, it is determined whether or not the transporter 4 can catch up with the preceding transporter 4 (step 64). Proceed to. When catching up, the vehicle arrives at the next node with a delay of a predetermined time (for example, one second) from the previous transporter 4, and waits (temporarily stops) at the node (step 65). Then, the waiting time is calculated (step 66). The next schedule time is obtained from the obtained waiting time (step 67).

Next, it is determined whether or not to end the simulation (step 68).
Return to 1. Next, if there is an opposing transporter 4 in step 60, it is determined whether or not to travel on the same arc (step 69). When traveling on the same arc, it is determined whether or not a face-to-face traffic is possible (whether the vehicle is on one lane) (step 70). In the case of one lane, it is determined whether the opposing transporter 4 is in a loaded state (step 71).

If NO in each step 69, YES in step 70, and NO in step 71, it is determined whether the next node to proceed is the loading dock 12 (step 72).
It is determined whether or not it is the starting place 21 (step 73). In the case of the loading site 12, the process jumps to the case 1 routine (step 38), and in the case of the unloading site 21, the process jumps to the case 2 routine (step 48). If neither (on the runway), return to the case 3 routine (step 58).

If it is determined in step 71 that the opposing transporter 4 is in a loaded state, the process waits at the preceding node (step 7).
4). Then, the transporter 4 is added to the queue (step 75). Further, after adding one element to the queue (step 76), the waiting time is calculated (step 77).
The next schedule time is calculated from the obtained waiting time (step 78). Next, it is determined whether or not to end the simulation (step 79). If not, the process returns to step 31.

Next, if another transporter 4 is stopped at the node 2 proceeding to the next step in step 59, it stops at the node proceeding to the next (step 80). Then, the transporter 4 is added to the queue (step 81). Further, after adding one element to the queue (step 82), the waiting time is calculated (step 83). The next schedule time is calculated from the obtained waiting time (step 84). Next, it is determined whether or not to end the simulation (step 85).
Return to 1.

Here, the operation order of the transporter 4 in the above procedure is summarized as follows: if the opposing transporter 4 exists first, it waits (pauses), and if the preceding transporter 4 exists, Does not overtake. In addition, the transporter 4 is connected to the loading
, The next transporter 4 waits. If the branched lanes merge, the merging side has priority. In the case of facing each other under the same condition, the loaded transporter 4 has priority over the empty transporter 4. In the case of the same conditions, the transporter 4
Vehicle numbers.

Next, in each of the above cases,
When ending the simulation, the respective results are dropped into a data file (step 86), and the operation results are externally displayed (step 87). As a display example of this result, as shown in FIG. 11, the model number of the transporter 4, the behavior (EVENT), and the respective numerical values of time are displayed in chronological order. Alternatively, it may be expressed using a diagram of an appropriate system. Furthermore, using these data,
Operation analysis results can also be output. In this case, the amount of work (each transporter, each transport course, the whole) Waiting frequency (each transporter, each transport course, the whole) Waiting occurrence rate (1). Percentage of waiting time for each occurrence of waiting time to total operating time (2). Percentage of total waiting time for each transport course relative to total operating time Transport efficiency (1). Percentage of time during which each transporter is actually operating relative to the total operating time (2). Ratio of work amount to operation time (each transport machine, each transport course, whole) The above data can be calculated and displayed as numerical values or as a diagram as appropriate.

Based on the obtained results, it is possible to determine the amount of work and the setting of the optimal machine knitting in the quarry or the large civil engineering work site, and it is also useful for the site improvement proposal. In the above embodiment, the case where the loader and the hopper are provided as the equipment conditions is exemplified. However, when other equipment is used, the simulation can be performed by inputting the processing capacity data in the same manner. Further, according to the present invention, a simulation can be performed in a similar manner even in a case where no equipment is provided and the traveling body merely travels on the runway to carry.

[0031]

As described above, according to the present invention, even when a plurality of running bodies run on a plurality of lanes, the work amount and / or the running of the running body are simulated. It is possible to assist in selecting the most suitable machine. Further, since a waiting time of the traveling body can be added, a more accurate simulation can be performed.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a track on a site and equipment conditions.

FIG. 2 is an explanatory diagram showing nodes and arcs.

3 to 10 are flowcharts showing an operation procedure of a transportation course.

FIG. 11 is an output example showing an operation result.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Transport course 2 ... Node 3 ... Arc 4 ... Transporter 10 ... Computer 11 ... Loader 12 ... Loading station 21 ... Unloading station 22 ... ..Hoppers

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Takeharu Hayashi 1-3-2 Kitaaoyama, Minato-ku, Tokyo New Caterpillar Mitsubishi Co., Ltd. (56) References JP-A-1-180610 (JP, A) JP Hei 4-81905 (JP, A) JP-A-57-94806 (JP, A) Nakazawa, Yoshihisa, "Operation simulation of construction vehicles", Operations Research vo130, no. 10, pp. 620-626 (October 1987), The Operations Research Society of Japan Takashi Nagata, Jiro Yamazaki, "On Mining Simulation Using Personal Computers I", Aggregate Resources vol. 17, no. 65, pp. 22-29 (Showa 60) Aggregate Resource Engineering Society Shigehito Hirata, Jiro Yamazaki, Masahiro Hiroike, "Transportation Route Design System Using Personal Computer", National Subsurface Resources Association, Joint Autumn Meeting Reference vol. 1987, no. N, pp. 28-32 (September 19, 1987) Takashi Nagata, Jiro Yamazaki, "Simulation of Mining Using Personal Computers" F], F3, pp. 12-15 (October 3, 1986), Japan Mining Association L. WILKE, K .; HECK, "SIMULATION STUD IES ON TRUCK DISPA TCHING", 17th Application of Computers and Operations Research in the Mineral Industry, Japan, Science and Technology, Japan, September 58, pp 620-626. Surveyed field (Int.Cl. ⁶ , DB name) G06F 19/00 E02F 9/20

Claims (6)

(57) [Claims] 1. An operation simulation system for simulating a work amount and / or a work time when one or a plurality of traveling bodies travel on one or a plurality of traveling paths, wherein the movement of the traveling body on a previously assumed traveling path Alternatively, a plurality of behavior change points at which work is changed are set as nodes, and the nodes are stored. In the nodes, waiting (temporary stop) determination is made at a node on a road on which there is a possibility of collision between running vehicles. Is performed as an attribute, and arcs connecting all the set nodes are set, and for each arc, a traveling distance and a gradient, rotation resistance, or an element that changes the behavior of the traveling body with a speed limit. The data is stored as attributes, and the model, number, and performance of the vehicle are input, and the travel time between nodes or the entire road is calculated from the input performance of the vehicle. An operation simulation system characterized by calculating a work time and / or an operation time by performing a simulation by calculating a passage time of each node and a wait time when it is determined that a wait has occurred based on the travel time. 2. A facility for performing a predetermined work on a traveling body during a runway is provided, and data of work processing capacity and work time of the facility is inputted, and a work amount and a place where the facility is provided are provided. The operation simulation system according to claim 1, wherein a passage time of the set node is calculated. 3. A runway comprising: a loading place where a loading machine is arranged;
It consists of a transportation course connecting the unloading place with a hopper, and the traveling body is a transportation machine such as a dump truck, and the loading time by the combination of the transportation machine and the loading machine, the combination of the transportation machine and the hopper Each of the dumping times is input, and the passage times of the nodes set at the loading and unloading areas are calculated, and a plurality of nodes are set on the runway between the loading and unloading areas. The operation simulation system according to claim 2, wherein each of the transit times is calculated. 4. The method according to claim 1, wherein a cycle time is calculated based on data of a traction force curve of the model of the transporter, and a transit time of each node is calculated based on the cycle time. Operation simulation system. 5. A node which may collide with a preceding traveling body traveling in the same direction or a traveling body traveling from an opposite direction from among the nodes, and waits (temporarily) as an attribute of the node. The operation simulation system according to claim 1, wherein the determination of “stop” is recorded, and it is determined whether or not a waiting occurs in the traveling body passing through the node. 6. A branching position or a merging position of a lane having a single lane is selected from among the nodes, a determination of necessity of waiting (temporary stop) is recorded as an attribute of the node, and the traveling body passing through the node waits. The operation simulation system according to claim 1, wherein it is determined whether or not the traffic occurs.