JP2888696B2 - 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 a work or operation time when one or a plurality of running bodies run on one or a plurality of running paths, and a transit time obtained by actually running the running body on the above-mentioned running path. Operation simulation system that simulates based on

[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. Also, various methods have been proposed for recording actual operation data of the traveling body on the recording device. However, if these actual operation data are used, a more accurate simulation suited to the site can be performed. However, a system combining them has not been developed.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its main problem is to reduce the work or operating time when one or a plurality of traveling bodies run on one or a plurality of lanes. Another object of the present invention is to provide an operation simulation system for performing a simulation based on a transit time obtained by actually running a traveling body on the above-mentioned travel path.

[0004]

In order to achieve the above object, according to the first aspect of the present invention, a travel time obtained by actually running a traveling body on a runway is input and one or more runways are input. A work evaluation simulation system that simulates a work amount and / or an operation time when one or a plurality of traveling bodies travels, wherein a plurality of behavior changes in which the movement or the work of the traveling body changes on an assumed road. Set the points as nodes and memorize the nodes,
A communication device for transmitting the transit time data at the location is provided on an actual runway corresponding to all or a part of the set nodes, and a receiving device for receiving the transmitted data is provided on the traveling body. And a storage device for storing, as an attribute, performing a wait (temporary stop) determination on a node of a traveling route on which a traveling vehicle may collide with each other in the node. The arcs connecting the nodes are set, and for each arc, the traveling distance and the element data that changes the behavior of the traveling body with the gradient, the rotational resistance or the speed limit are stored as attributes, and the model, the number of the traveling body, Input the performance and the actual passage time of the node stored in the storage device of the traveling body, and calculate the traveling time between nodes corresponding to the attribute of the arc based on the input performance of the traveling body, There The actual travel time between the nodes is calculated based on the actual transit time of the input node to calculate the travel time of the entire lane, and the transit time and wait occurrence of each node are calculated based on the travel time. A technical measure is taken in which the waiting time when the judgment is made and the simulation are performed to calculate the amount of work and / or the operation time. Further, in the invention of claim 2, in the configuration of claim 1, equipment for performing predetermined work on the traveling body is provided on the track, and data of work processing capacity and work time of the equipment is input. Therefore, the technical means of calculating the amount of work and the transit time of the node set at the location where the equipment is provided is taken. According to a third aspect of the present invention, in the configuration of the second aspect, the traveling path includes a transportation course connecting a loading site where a loading machine is arranged and a unloading site where a hopper is provided, and the traveling body is a dump truck. The loading time by the combination of the transporter and the loading machine and the dumping time by the combination of the transporter and the hopper are respectively input and set in the loading and unloading areas. And calculating the transit time of each node, and setting a plurality of nodes on the runway between the loading area and the unloading area, and calculating the transit time of each node. . According to a fourth aspect of the present invention, in the configuration of the first aspect, a cycle time is calculated based on data of a traction force curve of the model of the transporter, and each node corresponding to an arc attribute is calculated based on the cycle time. Technical means of calculating the transit time. According to a fifth aspect of the present invention, in the configuration of the fourth aspect, the data of the traction force curve is input using input means such as a digitizer, and is stored so as to be indexable at the time of condition input.
It has taken the technical measures. According to a sixth aspect of the present invention, in the configuration of the first aspect, a microwave is used as a communication medium between the communication device and the receiving device, and the receiving device and the storage device provided on the traveling body are connected to the traveling body. Technical measures are taken such that the IC tag is detachably attached and includes an IC tag having a microwave receiving section and an IC memory.

[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. On the other hand, a communication device is provided on a lane corresponding to a part or all of the set nodes, the traveling body is actually driven, and the transit time of the nodes is stored, and the data is input. Then, the predicted travel time between the nodes is calculated based on the performance data of the vehicle, or the actual travel time between the nodes is calculated based on the actual transit time of the nodes. Is calculated. Then, based on the running time, the passing time of each node is recorded for each running 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, the transport course 1 is set between two loading places 12 where the loading machines 11 are on standby and two unloading places 21 where the hoppers 22 are provided. The case will be described as an example.

[0007] In this transport course 1, a runway that is connected to each of two loading places 12 and two unloading places 21 is connected to a one-lane runway at an intermediate location. It is a route where a transportation course can be set so as to be able to go to 12 or the dumping area 21. Therefore, first, the position of the loader 11 is set as a starting point P1, and the hopper 2
The position of No. 2 is set as a turning point P2, and a node 2 ′ for equipment is set in the loading area 12 and the unloading area 21, respectively. In addition, on the runway between the loading area 12 and the unloading area 21,
A plurality of runway nodes 2 are set for each behavior change point where the movement of the vehicle changes. These are input to the computer 10 having the simulation operation means by a keyboard or other input means and displayed on the display (FIG. 2).
And FIG. 3).

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 number of each set model, the specifications of the set model (empty weight, loaded weight, engine output coefficient), traction force curve data, and the like are input. Here, the traction force curve is represented by the total resistance (%) of the rotational resistance and the gradient resistance, the total weight of the transporter (including when the load is empty and when a predetermined weight is loaded), the traction force, the gear stage (torque converter drive or direct drive). ) And the vehicle speed. This traction force curve data is input to the computer 10 using a digitizer 7 as shown in FIG. Can be extracted.

Next, the transport machine 4 set above is allocated 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 transportation course, the loading time and the dumping time of the combination of the transporter 4 and the loader 11 and 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.

Here, in the present embodiment, data of actual measurement values when the transporter 4 is run are also input to the computer 10. FIG. 4 shows an operation data recording system for obtaining this data. In this system, a plurality of portable communication devices 5 are installed on a transportation course, and in this embodiment, they are arranged on one side of a runway on the transportation course 1 corresponding to each set node. The communication device 5 is connected to a memory and a clock function, and is configured to transmit the identification code or number of the communication device 5 and time data by microwave.

On the other hand, an IC tag 6 is attached to and detached from the transporter 4 on an appropriate outer surface of the transporter 4 (for example, outside a driver's cab door or a side surface of a vessel) and faces the communication device 5 during traveling. Mounted as possible. The IC tag 6 has a plate shape provided with a receiving unit 6A for receiving microwaves and an IC memory 6B for storing received data. Thus, by moving the transporter 4 along the transport course 1, the time at which each communication device 5 passes can be recorded together with the identification code or number of the communication device.

In this embodiment, since the communication devices 5 are arranged corresponding to the node setting positions, the travel time between the corresponding nodes is calculated by calculating the elapsed time between the adjacent communication devices 5. You can ask for time. Such data is input from the IC memory of the IC tag to the computer 10 via a reading device (not shown) (see FIG. 3). This makes it possible to input a specific numerical value when the terrain data between predetermined nodes is complicated or the terrain data cannot be sufficiently analyzed, such as when the terrain is rich in undulations. . In this case, the conditions (presence / absence of load, load weight, etc.) of the transporter 4 that has actually traveled are input, and correction is made so as to correspond to different conditions. Also, if you can analyze the travel time with the terrain data,
The travel time between nodes corresponding to the attribute of the arc can be calculated based on the performance of the traveling body.

When data input is completed in this way and each input data is stored as a data file, the next operation is performed. 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 described above. Further, a conversion value F1 of the total resistance of the rotation resistance and the gradient resistance is obtained. Then, the acceleration A is obtained from F2-F1 and 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 of the transporter is determined 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, a 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 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 the 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, in 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, in step 60, the transporting machine 4 facing
If there is, it is determined whether or not the vehicle runs 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 be loaded is the loading area 12 (step 72), or whether it is the unloading area 21. (Step 73) is determined. In the case of the loading area 12, the routine of case 1 (step 3
The process jumps to 8), and in the case of the starting place 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, the node 2 which proceeds to the next step 59
If another transporter 4 is stopped at the next node, it stops at the next node (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). If not, the process returns to step 31.

Here, the operation order of the transporter 4 in the above procedure is summarized as follows. When the opposing transporter 4 exists first, it waits (pauses). 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 the simulation is to be terminated, 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. 13, 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.

Further, an operation analysis result can be output using these data. 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 work amount calculation and the setting of the optimal machine knitting in the quarry or the large civil engineering work site, which can also be useful for a site improvement proposal and the like. 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.

The operation data recording system used for inputting the data of the simulation is a system for recording the actual operation results of the transporting machine at the time of actual work by, for example, moving the communication device to the node-corresponding position or shifting the position as appropriate. Of course, it can be used as. In this embodiment, there is an advantage that small-scale communication can be easily performed, and an IC that is easy to handle is provided.
Although an example using a tag and a communication device for transmitting microwaves has been described, in the present invention, the configuration of the operation data recording system is not limited to the above-described embodiment. Any system that records time and other operation data can be used in appropriate combination.

[0037]

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. In addition, since the actual traveling time of the traveling body is also input as a basis for calculation, the accuracy can be improved. 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.

FIG. 3 is a block diagram showing a system combined with an operation data recording system.

FIG. 4 is a schematic diagram showing an operation data recording system.

FIG. 5 to FIG. 12 are flowcharts showing an operation procedure of a transportation course.

FIG. 13 is an output example showing an operation result.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Transport course 2 ... Node 3 ... Arc 4 ... Transporter 6 ... IC tag 7 ... Digitizer 10 ... Computer 11 ... Loading machine 12 ... Product Drop-in area 21 ・ ・ ・ Make-out area 22 ・ ・ ・ Hopper

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takeharu Hayashi 1-3-2 Kitaaoyama, Minato-ku, Tokyo Inside New Caterpillar Mitsubishi Corporation (72) Inventor Shigeru Hirabayashi 1-2-3 Kitaaoyama, Minato-ku, Tokyo New Caterpillar Mitsubishi Corporation (56) References Yoshihisa Nakazawa, "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, “Simulation of mining using a personal computer (Part 1)”, Aggregate resources vo l. 17, no. 65, pp. 22-29 (Showa 60) Aggregate Resource Engineering Society 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. A running time obtained by actually running a traveling body on a runway is input, and a work amount and / or an operation time when one or a plurality of traveling bodies travel on one or a plurality of running paths are determined. An operation simulation system for simulating, comprising: setting a plurality of behavior change points at which movement or work of a traveling body changes on a presumed runway as nodes; storing the nodes; A communication device that transmits the transit time data of the location on an actual runway corresponding to all or a part is provided, and the traveling body has a receiving device that receives the transmitted data, and a storage device that stores the received data. Storing, as an attribute, performing a wait (temporary stop) determination at a node of a traveling road on which there is a possibility of collision between traveling vehicles in the node; An arc that connects all the nodes is set, and for each arc, the traveling distance and the element data that changes the behavior of the traveling body with the gradient, the rotational resistance, or the speed limit are stored as attributes. The number of vehicles, the performance, and the actual transit time of the node stored in the storage device of the traveling object are input, and the traveling time between nodes corresponding to the attribute of the arc is calculated based on the input performance of the traveling object. Alternatively, the actual travel time between the nodes is calculated based on the actual transit time of the input node to calculate the travel time of the entire lane, and the transit time of each node is calculated based on the travel time. An operation simulation system comprising: calculating a waiting time when it is determined that a waiting has occurred; and performing a simulation to calculate an amount of work and / or an operating 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 tractive force curve of the model of the transporter, and a transit time of each node corresponding to an attribute of the arc is calculated based on the cycle time. The operation simulation system according to claim 1. 5. The operation simulation system according to claim 4, wherein the data of the traction force curve is input using input means such as a digitizer, and is stored so as to be able to be referred to when conditions are input. 6. A microwave is used as a communication medium between the communication device and the receiving device, and the receiving device and the storage device provided on the traveling body are detachably attached to the traveling body and have a microwave receiving unit. 2. The operation simulation system according to claim 1, further comprising an IC tag having a built-in IC memory.