JP4171189B2 - Conveyance plan creation method and apparatus in conveyance process, conveyance control method and apparatus, computer program, and computer-readable storage medium - Google Patents

Description

【００３７】
ここで、行列の各要素ｇｈｉ(p,j,k)は、ペトリネットモデルｈｉにおいて搬送装置が動作時刻ステップｊにおいてプレースｐに配置されるべき優先度を表し、１に近づくほど優先度が高く、０に近づくほど優先度が低いことを表す。ｍはプレース数、ｎは動作時刻ステップ数を表す。
【００３８】
モデルｈ１では、図６に示すプレースｐ２は実際には図７に示したように４つのプレースで構成される。一方、プレースｐ１、プレースｐ３は、ここで検討する搬送作業ではなく、それぞれ場所１、場所２に留まり、処理工程での処理を行うことに対応するプレースであるから、適用度行列には含まない。従って、前記プレース数ｍは４となる。
【００３９】
一方、動作時刻ステップ数ｎについては、予定されている搬送作業が十分終了可能な値を適当に設定すればよい。ここではｎは６とする。同様に他のペトリネットモデルｈ２からｈ７についても、ｍは４となり、ｎは６とする。
【００４０】
下記の式（２）に、前記適用度行列の各要素の値を収束計算で計算するときの計算式を示す。
ｇｈｉ(p,j,k)＝ｇｈｉ(p,j,k-1)＋ｄｇｈｉ(p,j,k) ・・・…（２）
ここでｋは収束計算実行のステップ番号を表す。
【００４１】
下記の式（３）に、上記式（２）における各要素の変化分ｄｇｈｉ(p,j,k)を計算する時の計算式を示す。
ｄｇｈｉ(p,j,k)＝Σｄｇｌ(hi,p,j,k) ・・・…（３）
ここで右辺の加算Σは、添字ｌに対して行い、本具体例では、ｄｇ１からｄｇ９までの９つの式の値の加算を行う。
【００４２】
ここで、各収束計算ステップにおけるｇｈｉ(p,j,k)の値には、下記の式（４）で与えられる制約を設けて計算を行う。
０＜ｇｈｉ(p,j,k)＜ＭａｘＧ＝１．５ ・・・…（４）
【００４３】
〔制約関係算出〕
搬送装置、製品の競合、干渉、順序制約、位置制約から、５種類の制約関係を算出する。まず、同じ製品に対する搬送要素作業に属する異なったペトリネットモデル（すなわち、異なった搬送装置で搬送を行う場合）同士で、両方のペトリネットモデルのプレースに同時にトークンが存在することに対する制約を算出する。下記の式（５）に示すのは、搬送要素作業２（ペトリネットモデルｈ２、及びｈ５）について上記制約を表現する行列Ｃｎｉ(p,q)である。ここで(p,q)は上記行列のｐ行、ｑ列の要素を表す。
【００４４】
【数２】

【００４５】
ここで、例えば１行目の、“２−１“の記載は、１行目がペトリネットモデルｈ２の場所１を表すプレースに対応していることを示す。他の行の記載、及び列についての記載も同様である。いま、例えばＣｎｉ(2-1,5-1)の値が１であるのは、プレース"２−１"とプレース"５−１"に同時にトークンが存在することが許されないことを示す。他の要素についても同様である。
【００４６】
次に、同じ製品に対する異なった搬送要素作業を表すペトリネットモデル同士の順序関係を算出する。下記の式（６）に示すのは、搬送要素作業１及び２（ペトリネットモデルｈ１、及びｈ２）について上記制約を表現する行列Ｓｑｉ(p,q)である。ここで(p,q)は上記行列のｐ行、ｑ列の要素を表す。
【００４７】
【数３】

【００４８】
各行、各列の記載の意味は式（５）の場合と同様である。いま、例えばＳｑｉ(1-1,2-1)の値が１であるのは、プレース"１−１"からプレース"２−１"に移動するルートが存在する（プレース"１−１"がプレース"２−１"の上流に存在する）ことを示す。他の要素についても同様である。
【００４９】
更に、異なった製品に対する搬送要素作業を表すペトリネットモデル同士の共通プレースの関係を算出する。下記の式（７）に示すのは、搬送要素作業２及び４（ペトリネットモデルｈ２、及びｈ４）について共通プレースを表現する行列Ｃｎｅ(p,q)である。ここで(p,q)は上記行列のｐ行、ｑ列の要素を表す。
【００５０】
【数４】

【００５１】
各行、各列の記載の意味は式（５）の場合と同様である。いま、例えばＣｎｅ(2-1,4-1)の値が１であるのは、プレース"２−１"とプレース"４−１"が共通のプレース、即ち実体として同じクレーン位置を表すプレースであることを示す。他の要素についても同様である。
【００５２】
更に、異なった搬送装置同士の順序関係を算出する。下記の式（８）に示すのは、搬送要素作業１及び２（ペトリネットモデルｈ１、及びｈ５）について順序関係を表現する行列Ｓ(p,q)である。ここで(p,q)は上記行列のｐ行、ｑ列の要素を表す。
【００５３】
【数５】

【００５４】
各行、各列の記載の意味は式（５）の場合と同様である。いま、例えばＳ(1-1,5-1)の値が１であるのは、プレース"１−１"にクレーンＡが存在し、プレース"５−１"にクレーンＢが存在することが、順序関係を破っていることを示す。同様に、例えばＳ(1-1,5-2)の値が０であるのは、プレース"１−１"にクレーンＡが存在し、プレース"５−２"にクレーンＢが存在することが、順序関係を満たしていることを示す。他の要素についても同様である。
【００５５】
最後に、異なった搬送要素作業に対する同じ搬送装置利用の関係を算出する。下記の式（９）に示すのは、搬送要素作業１及び２（ペトリネットモデルｈ１、及びｈ２）について同じ搬送装置利用の関係を表現する行列Ｃｐ(p,q)である。ここで(p,q)は上記行列のｐ行、ｑ列の要素を表す。
【００５６】
【数６】

【００５７】
各行、各列の記載の意味は式（５）の場合と同様である。いま、例えばＣｐ(1-1,2-1)の値が１であるのは、プレース"１−１"とプレース"２−１"が同じ搬送装置による搬送に対応するプレースであることを示す。他の要素についても同様である。
【００５８】
〔刺激・抑制関係式算出〕
９種類の刺激・抑制関係式、ｄｇ１からｄｇ９を算出する。ｄｇ１からｄｇ９の関係式は、ペトリネットモデルｈ１からｈ７全てに対して共通であり、ここではそれを一般形ｈｉで表す。下記の式（１０）に、ｄｇ１を表す式を示す。
【００５９】
【数７】

【００６０】
ここで、ω(hi,k)は、適用度行列Ｇｈｉ上の、集束計算ステップｋにおける、搬送装置動作の起点から終点までのルートを表す。例えば、４つのプレース、ｐ１、ｐ２、ｐ３、ｐ４を順に移動する場合の、ω(hi,k)は下記の式（１１）で表される。
ω(hi,k)＝（ｐ１、ｐ２、ｐ３、ｐ４） ……（１１）
【００６１】
ａ１は変化分の大きさを決める可変パラメータであり、正の適当な値を設定する。以降のｄｇ２からｄｇ９式のパラメータａ２からａ９についても同様である。上記ｄｇ１の作用としては、現在の搬送ルート上にある要素の適用度は１に近づける方向に、それ以外は０に近づける方向に変化させることで、搬送ルート上とそれ以外の要素の適用度の差を大きく拡大し、搬送ルート選択をより明確にする。
【００６２】
下記の式（１２）に、ｄｇ２を表す式を示す。
【００６３】
【数８】

【００６４】
Ｃｎｉ(p,q)は、同じ製品に対する異なったペトリネットモデルに属するプレースｐとプレースｑに、同時にトークンが存在することが許されない場合に１を取る行列であるので、同じ搬送要素作業に対して、考慮対象のプレースｐとは同時に複数クレーンを用いることが許されないプレースｑに、大きな適用度ｇｈｉ'(q,j,k-1)がある場合には、これまでの適用度ｇｈｉ(p,j,k-1)を小さくする方向に変化させる。これによって、同じ搬送要素作業に対して、同時に複数クレーンを用いることを抑制する方向に作用する。
【００６５】
下記の式（１３）に、ｄｇ３を表す式を示す。
【００６６】
【数９】

【００６７】
Ｃｎｅ(p,q)は、異なった製品に対する搬送要素作業を表すペトリネットモデル同士の共通プレースの関係を表し、ｐ、ｑが共通のプレースであるときに１を取る行列であるので、考慮対象のプレースｐに対して、異なった製品が同時に同じプレースを占めることに対応するプレースｑが、大きな適用度ｇｈｉ'(q,j,k-1)を持つ場合には、これまでの適用度ｇｈｉ(p,j,k-1)を小さくする方向に変化させる。これによって、異なった製品が同時に同じプレースを占めることを抑制する方向に作用する。
【００６８】
下記の式（１４）に、ｄｇ４を表す式を示す。
【００６９】
【数１０】

【００７０】
Ｃｐ(p,q)は、異なった搬送要素作業に対する同じ搬送装置利用の関係を表し、ｐ、ｑが同じ搬送装置による搬送に対応するプレースであるときに１を取る行列であるので、考慮対象のプレースｐに対して、異なった搬送要素作業が同時に同じ搬送装置を利用することに対応するプレースｑが、大きな適用度ｇｈｉ'(q,j,k-1)を持つ場合には、これまでの適用度ｇｈｉ(p,j,k-1)を小さくする方向に変化させる。これによって、異なった搬送要素作業が同時に同じ搬送装置を利用することを抑制する方向に作用する。
【００７１】
ｄｇ５については、２つの場合に分けて２種類の異なった計算式を用いている。ここでは、それぞれｄｇ５１、ｄｇ５２として、それぞれ下記の式（１５）、式（１６）に示す。
【００７２】
【数１１】

【００７３】
ｄｇ５１において、Ｃｐ(p,q)は、異なった搬送要素作業に対する同じ搬送装置利用の関係を表し、ｐ、ｑが同じ搬送装置による搬送に対応するプレースであるときに１を取る行列であるから、異なった搬送要素作業が同時に同じ搬送装置を利用することに対応する要素ｇｈｉ'(q,m,k-1)が考慮の対象になる。ここで、ｍはｊ１からｊ１＋（ｐ１−ｐ２）の絶対値−１までの値を取る整数である。（ｐ１−ｐ２）の絶対値は、プレースｐとプレースｑの距離を表し、従って動作時刻上では、上記２プレース間をクレーンが移動する所用時間を表す。いま、動作時刻ステップｊ１でプレースｐに存在するクレーンは、プレースｑへの移動に（ｐ１−ｐ２）の絶対値だけの時間を必要とするから、ｊ１からｊ１＋（ｐ１−ｐ２）の絶対値−１までの動作時刻ステップには、クレーンはプレースｑには存在出来ないことになる。従って、上記ｇｈｉ'(q,m,k-1)が大きな適用度を持つ場合には、制約に反する状態であるので、条件１が成立する場合に、即ちｈｉのルートω(hi,k)の最終プレースの最後から２番目の動作時刻ステップに対応する要素を最大値に近づける作用を与え、これにより、ルートω(hi,k)を時間軸の前方にずらす方向に作用する。
【００７４】
一方、ｄｇ５２においては、ｊ１−（ｐ１−ｐ２）の絶対値＋１からｊ１までの値を取る整数である。ｄｇ５１の場合と同様の考え方で、動作時刻ステップｊ１でプレースｐに存在するクレーンは、プレースｑからの移動に（ｐ１−ｐ２）の絶対値だけの時間を必要とするから、ｊ１−（ｐ１−ｐ２）の絶対値＋１からｊ１までの動作時刻ステップには、クレーンはプレースｑには存在出来ない。従って、ｇｈｉ'(q,m,k-1)が大きな適用度を持つ場合には、制約に反する状態であるので、条件２が成立する場合に、即ちｈｉのルートω(hi,k)の先頭プレースの２番目の動作時刻ステップに対応する要素を最大値に近づける作用を与え、これにより、ルートω(hi,k)を時間軸の後方にずらすように働く。
【００７５】
上記２種類の作用によって、同じ搬送装置を利用する搬送ルート同士が重ならないように離す作用を与える。
【００７６】
下記の式（１７）に、ｄｇ６を表す式を示す。
【００７７】
【数１２】

【００７８】
Ｓ(u,q)は、異なった搬送装置同士の順序関係を表し、ｕ、ｑにそれぞれ搬送装置が存在することが制約を破っている場合に１を取る行列であるので、異なった搬送装置同士の順序関係が破られる位置に対応する要素ｇｈｉ'(q,m,k-1)が大きな適用度を持つ場合には、これまでの適用度ｇｈｉ(p,j,k-1)を最大値MaxGに近づける方向に変化させる。但し、ｍがω(hi,k)の最初の動作時刻ステップから最後の動作時刻ステップまでの値を取る整数であるから、この作用が働くのは、上記要素ｇｈｉ(q,m,k-1)がω(hi,k)の最初の動作時刻ステップから最後の動作時刻ステップまでの間で大きな適用度を持つ場合であり、更に、上記条件１、２の何れかが成立する場合のみである。条件１が成立する場合は、ｈｉのルートω(hi,k)の先頭プレースの２番目の動作時刻ステップに対応する要素を最大値に近づける作用を与え、これにより、ルートω(hi,k)を時間軸の後方にずらすように働く。逆に、条件２が成立する場合は、ｈｉのルートω(hi,k)の最終プレースの最後から２番目の動作時刻ステップに対応する要素を最大値に近づける作用を与え、これにより、ルートω(hi,k)を時間軸の前方にずらすように働く。実際に前方にずらす計算結果となるか後方にずらす計算結果となるかは、ｄｇ６以外の８つの式の値によって決まるが、これによって、異なった搬送装置同士の順序関係が破られないように調整する作用を与える。
【００７９】
ｄｇ７についてもｄｇ５と同様に、２つの場合に分けて２種類の異なった計算式を用いている。ここでは、それぞれｄｇ７１、ｄｇ７２として、下記の（１８）、（１９）に示す。
【００８０】
【数１３】

【００８１】
ｄｇ７１において、Ｓｑｉ(u,q)は、同じ製品に対する異なった搬送要素作業を表すペトリネットモデル同士の順序関係を表し、ｕからｑに移動するルートが存在する（ｕがｑの上流に存在する）ときに１を取る行列である。ここで、ｍは１からω(hi,k)の最終動作時刻ステップまでの値を取る整数であるから、Ｓｑｉ(u,q)が１を取る、即ちｕがｑの上流に存在することに対応する要素ｇｈｉ'(q,m,k-1)が、１からω(hi,k)の最終動作時刻ステップまでの間で大きな適用度を持つのは、順序関係に反した状態である。従って、この場合にψ１｛j,ω(hi,k)｝が１となる要素、即ち条件１を満たす要素の適用度を最大値に近づけるように変化させることで、ルートω(hi,k)を時間軸の前方にずらす方向に作用する。
【００８２】
一方、ｄｇ７２においては、Ｓｑｉ(q,u)は、ｑからｕに移動するルートが存在する（ｑがｕの上流に存在する）ときに１を取る行列である。ここで、ｍはω(hi,k)の最初の動作時刻ステップからｎ（最終ステップ）までの値を取る整数であるから、Ｓｑｉ(q,u)が１を取る、即ちｑがｕの上流に存在することに対応する要素ｇｈｉ'(q,m,k-1)が、ω(hi,k)の最初の動作時刻ステップからｎ（最終ステップ）までの間で大きな適用度を持つのは、順序関係に反した状態である。従って、この場合にψ２｛j,ω(hi,k)｝が１となる要素、即ち条件２を満たす要素の適用度を最大値に近づけるように変化させることで、ルートω(hi,k)を時間軸の後方にずらす方向に作用する。
【００８３】
上記２種類の作用によって、製品に対する異なった搬送要素作業の順序関係を保つ作用を与える。
【００８４】
下記の式（２０）に、ｄｇ８を表す式を示す。
【００８５】
【数１４】

【００８６】
ｄｇ８は、同じ時刻ステップに複数の異なったプレースｐ、ｑに同時に搬送装置が存在しないように作用するもので、ｇｈｉ(q,j,k-1)が大きな適用度を持つ時に、ｇｈｉ(p,j,k-1)の値を小さくすることを表す。
【００８７】
下記の式（２１）に、ｄｇ９を表す式を示す。
【００８８】
【数１５】

【００８９】
ｄｇ９は、上記ｄｇ１からｄｇ８までの作用によって値が増加される要素以外は、その適用度の値を徐々に減少させることを表し、選択されるべきでない要素の値を０に近づけることで、搬送ルート選択をより明確にさせる作用を与える。
【００９０】
〔搬送計画作成例〕
計算に用いたパラメータの値は以下の通りである。
ａ１＝０．０１
ａ２＝０．６
ａ３＝０
ａ４＝０．５
ａ５＝０．２１
ａ６＝０．７
ａ７＝０．０８
ａ８＝０
ａ９＝０．１５
【００９１】
また、計算に用いた初期値の値は以下の通りである。
ｇｈ１（p,j,0）＝０．５１（全てのｐ、ｊについて。ｇｈ２からｇｈ７についても同様）
ｇｈ２（p,j,0）＝０．５２
ｇｈ３（p,j,0）＝０．５３
ｇｈ４（p,j,0）＝０．５４
ｇｈ５（p,j,0）＝０．５５
ｇｈ６（p,j,0）＝０．５６
ｇｈ７（p,j,0）＝０．５７
【００９２】
計算に用いた収束条件としては、全てのｇｈｉ（p,j,k）の値がｇｈｉ（p,j,k-1）の値に対して、０．９７倍から１．０３倍の値の範囲に入ること（プラスマイナス３％以内の変動）とした。
【００９３】
下記の式（２２）から式（２８）に収束計算確定後のＧｈ１からＧｈ７の値を示す。
【００９４】
【数１６】

【００９５】
【数１７】

【００９６】
【数１８】

【００９７】
【数１９】

【００９８】
【数２０】

【００９９】
【数２１】

【０１００】
【数２２】

【０１０１】
ここで、各行は上から順に、場所１、場所２、場所３、場所４に対応する。また、各列は左から順に、動作時刻ステップ１から６に対応する。
【０１０２】
Ｇｈ１の各要素を見ると、ｇｈ１(1,1)、及びｇｈ１(2,2)がほぼ１の適用度を示し、他はほぼ０である。これは、搬送要素作業１に対して、クレーンＡによって、動作時刻ステップ１で場所１に存在した製品１を、動作時刻ステップ２で場所２に移動することを表す。
【０１０３】
同様に、他の全てのＧｈｉの確定値の要素の値から、全搬送命令を決定したものを図１０に示す。ここで、数字１、２はそれぞれ搬送される製品の番号を表す。また、上記数字が丸で囲まれているのはクレーンＡによる搬送を、四角で囲まれているのはクレーンＢによる搬送を表す。ここで、図中に明記されていないが、動作時刻ステップ２、３においては、クレーンＡはクレーンＢとの干渉を避けるため場所１に待避している。図１０の例は、搬送装置同士の競合、干渉を考慮した、効率的な搬送計画作成を実現していることを示す。
【０１０４】
上記実施の形態で説明した搬送計画作成装置、搬送制御装置は、コンピュータのＣＰＵ或いはＭＰＵ、ＲＡＭ、ＲＯＭ等で構成されるものであり、その機能はＲＡＭやＲＯＭ等に記憶されたコンピュータプログラムが動作することによって実現される。
【０１０５】
したがって、上記コンピュータプログラム自体は本発明の範疇に含まれる。上記コンピュータプログラムの伝送媒体としては、プログラム情報を搬送波として伝播させて供給するためのコンピュータネットワークシステムを用いることができる。
【０１０６】
また、上記コンピュータプログラムをコンピュータに供給するための手段、例えばかかるコンピュータプログラムを格納した記憶媒体は本発明の範疇に含まれる。記憶媒体としては、ＣＤ−ＲＯＭ、フレキシブルディスク、ハードディスク、磁気テープ、光磁気ディスク、不揮発性メモリカード等を用いることができる。
【０１０７】
【発明の効果】
以上詳しく説明したように、本発明によれば、搬送装置同士の競合、干渉等を考慮した搬送計画作成、搬送制御を実現し、特に同一搬送路上を複数の搬送装置が移動するクレーン、搬送台車等では、他の搬送装置の移動によって搬送作業を待たされたり、待避させられたりすることによる時間のロスが少ない、効率的な搬送計画作成、搬送制御を実現することができる。
【図面の簡単な説明】
【図１】本発明による搬送工程における搬送計画作成装置の実施の形態の要部構成を示すブロック図である。
【図２】本発明によるペトリネットモデル、刺激・抑制関係式を算出するための処理手順の例を示すフローチャートである。
【図３】本発明による搬送工程における搬送計画作成方法の搬送命令を作成する処理手順の例を示すフローチャートである。
【図４】本発明による搬送工程における搬送制御装置の実施の形態の要部構成を示すブロック図である。
【図５】具体例で取り扱う搬送作業を示す図である。
【図６】具体例に対して作成したペトリネットモデルを表す図である。
【図７】図６のプレースｐ２をより詳細な形で表現したペトリネットモデルを表す図である。
【図８】図６のプレースｐ４、ｐ１０、ｐ６、ｐ１３をより詳細な形で表現したペトリネットモデルを表す図である。
【図９】図６のプレースｐ８、ｐ１２をより詳細な形で表現したペトリネットモデルを表す図である。
【図１０】具体例における搬送計画作成結果を表す図である。
【符号の説明】
１ 入力手段
２ ペトリネットモデル構築手段
３ 適用度行列作成手段
４ 刺激・抑制関係式算出手段
５ 記憶手段
６ 搬送命令作成手段
７ 搬送計画出力手段
７′制御手段
８ 搬送装置[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transfer plan creation method and apparatus, a transfer control method and apparatus, a computer program, and a computer-readable storage medium in a transfer process for transferring a plurality of products through different paths.
[0002]
[Prior art]
In manufacturing processes in many industries such as steel, a plurality of products are processed by a plurality of different processes, and a plurality of products are conveyed through a plurality of different paths between the manufacturing processes. As the transport device, various types of devices such as cranes, transport carts, trailers, and the like are used depending on applications and purposes.
[0003]
Conventionally, the conveyance plan creation and control of these conveyance apparatuses are performed manually. In this case, when a new transport command is generated, it is common to select the nearest one of the transport apparatuses that are not currently performing the transport work and assign a new transport work.
[0004]
[Problems to be solved by the invention]
However, in the method as described in the above conventional example, when there are a large number of processes to be transported and a large number of products, it is difficult to consider competition, interference, etc. between the transport devices, and in particular, a plurality of processes on the same transport path. In a crane, a transport carriage, and the like on which the transport apparatus moves, the work is often inefficient and time-consuming because the transport work is awaited or saved by the movement of another transport apparatus.
[0005]
Therefore, an object of the present invention is to realize efficient transport plan creation and transport control in consideration of competition and interference between transport devices.
[0006]
[Means for Solving the Problems]
  The transportation plan creation method of the present invention is a transportation plan creation method in a transportation process for transporting a plurality of products through different paths,The input means inputs the schedule of the transport element work for the product scheduled to be transported, and the Petri net model construction means based on the information input by the input means,A Petri net model representing each element process of the transfer process in at least one place is constructed for each combination of each transfer element work for the product to be transferred and each transfer device capable of executing the transfer element work.Step to doWhen,Applicability matrix creation means is based on the above Petri net model construction meansBuildWasCreates an applicability matrix for the Petri net model that indicates the priority at which each transport device is placed for each operation time step and each place.Step to doWhen,Stimulus / suppression relational expression calculation meansFrom the transport device, product competition, interference, order constraints, position constraintsCreated by means of applicability matrix creationIncrease or decrease the value of each element of the applicability matrixStimulation / suppressionRelational expressionStep to calculateWhen,The storage means stores and stores the schedule of the transport element work, the Petri net model, the applicability matrix and the stimulus / suppression relational expression, and the transport command creation means stores each of the elements of the applicability matrix to be newly obtained. Value starting from an initial value where the value of each element of the matrix is appropriate,the aboveStimulus / suppression created by the stimulus / suppression relational expression calculation meansCalculate the change in the value of each element of the applicability matrix using the relational expressionTo add to each element, Obtained by convergence calculation that repeats the above calculation multiple timesNewFrom the applicability matrix, determine the transfer device assignment, transfer order, and transfer time for each transfer element operation.Creating a transport instruction and,The transportation plan output meansFor all products scheduled for transportA step of outputting a determination result of the transfer device assignment, transfer order, and transfer time for each transfer element work generated by the transfer command generating means.Characterized by points.
[0007]
  In addition, the transportation plan creation device of the present invention is a transportation plan creation device in a transportation process for transporting a plurality of products through a plurality of different routes, the input means for inputting the schedule of the transport element work for the product to be transported, and the input Based on the information input by the means, a Petri net model representing each element process of the transfer process in at least one place, each transfer element work for the product to be transferred and each transfer element work that can be executed Petri net model construction means constructed for each combination of transport devices, andBy Petri net model construction meansBuildWasApplicability matrix creation means for creating an applicability matrix that represents the priority at which the transport apparatus should be placed for each operation time step and for each place, and competition between the transport apparatus and the product for the Petri net model , Interference, order constraints, position constraints aboveCreated by means of applicability matrix creationA stimulation / suppression relational expression calculating means for calculating a stimulation / suppression relational expression for increasing or decreasing the value of each element of the applicability matrix;A storage means for storing and storing the schedule of the transport element work, the Petri net model, the applicability matrix and the stimulus / suppression relational expression, and the value of each element of the applicability matrix to be newly obtained, for each element of the matrix The value starts from a suitable initial value,the aboveStimulus / suppression created by the stimulus / suppression relational expression calculation meansCalculate the change in the value of each element of the applicability matrix using the relational expressionTo add to each element, Obtained by convergence calculation that repeats the above calculation multiple timesNewFrom the applicability matrix, a transport command creation means for determining the transport device assignment, transport order, and transport time for each transport element work;CarryingFor all products scheduled to be sentAssignment of transfer device, transfer order, and determination of transfer time for each transfer element work created by the transfer command creation meansTransportation plan output means for outputting the results,It has the feature in having.
[0008]
  The transport control method of the present invention is a transport control method in a transport process for transporting a plurality of products through different plural paths,The input means inputs the schedule of the transport element work for the product scheduled to be transported, and the Petri net model construction means based on the information input by the input means,A Petri net model representing each element process of the transfer process in at least one place is constructed for each combination of each transfer element work for the product to be transferred and each transfer device capable of executing the transfer element work.Step to doWhen,Applicability matrix creation means is based on the above Petri net model construction meansBuildWasCreates an applicability matrix for the Petri net model that indicates the priority at which each transport device is placed for each operation time step and each place.Step to doWhen,Stimulus / suppression relational expression calculation meansFrom the transport device, product competition, interference, order constraints, position constraintsCreated by means of applicability matrix creationIncrease or decrease the value of each element of the applicability matrixStimulation / suppressionRelational expressionStep to calculateWhen,The storage means stores and stores the schedule of the transport element work, the Petri net model, the applicability matrix and the stimulus / suppression relational expression, and the transport command creation means stores each of the elements of the applicability matrix to be newly obtained. Value starting from an initial value where the value of each element of the matrix is appropriate,the aboveStimulus / suppression created by the stimulus / suppression relational expression calculation meansCalculate the change in the value of each element of the applicability matrix using the relational expressionTo add to each element, Obtained by convergence calculation that repeats the above calculation multiple timesNewFrom the applicability matrix, determine the transfer device assignment, transfer order, and transfer time for each transfer element operation.Creating a transport instruction and,The control meansTherefore, control the transfer deviceSteps,
includingCharacterized by points.
[0009]
  The transport control device of the present invention is a transport control device in a transport process for transporting a plurality of products through a plurality of different paths, and includes an input means for inputting a schedule of transport element work for a product to be transported, and the input means. Based on the input information, each transport element capable of executing each transport element work and the transport element work on the product to be transported based on the Petri net model representing each element process of the transport process in at least one place. Petri net model construction means constructed for each combination of the above,By Petri net model construction meansBuildWasApplicability matrix creation means for creating an applicability matrix that represents the priority at which the transport apparatus should be placed for each operation time step and for each place, and competition between the transport apparatus and the product for the Petri net model , Interference, order constraints, position constraints aboveCreated by means of applicability matrix creationA stimulation / suppression relational expression calculating means for calculating a stimulation / suppression relational expression for increasing or decreasing the value of each element of the applicability matrix;A storage means for storing and storing the schedule of the transport element work, the Petri net model, the applicability matrix and the stimulus / suppression relational expression, and the value of each element of the applicability matrix to be newly obtained, for each element of the matrix The value starts from a suitable initial value,the aboveStimulus / suppression created by the stimulus / suppression relational expression calculation meansCalculate the change in the value of each element of the applicability matrix using the relational expressionTo add to each element, Obtained by convergence calculation that repeats the above calculation multiple timesNewA transport command creating means for determining a transport device assignment, a transport order, and a transport time for each transport element work from the applicability matrix; and a control means for controlling the transport device according to the transport command.,It has the feature in having.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the transport plan creation device in the transport process of the present embodiment includes an input means 1, a Petri net model construction means 2, an applicability matrix creation means 3, and a stimulus / suppression relational expression calculation means 4. And a storage means 5, a transport command creating means 6, and a transport plan output means 7. As described below, the transport plan creating method in the manufacturing process according to the present embodiment is carried out.
[0011]
The input means 1 is for inputting a schedule of the transport element work for the product scheduled to be transported, and is configured by a keyboard or the like, for example.
[0012]
The Petri net model construction means 2 generates a Petri net model hi representing each element process of the transport process in at least one place from the schedule of the transport element work of the product input by the input means 1 for the product to be transported. It is constructed for each combination of each transport operation and each transport device capable of executing the above transport operation.
[0013]
The applicability matrix creation means 3 creates an applicability matrix Ghi representing the priority at which the transport apparatus is to be arranged for each operation time step and for each place from the Petri net model hi.
[0014]
The stimulus / suppression relational expression calculating means 4 calculates the competition of the transport device, the product, the interference, the order constraint, and the position constraint relationship, and increases or decreases the value of each element of the applicability matrix from each constraint relationship. The stimulation / suppression relational expression dgl is calculated.
[0015]
The schedule of the transport element work inputted by the input means 1, the Petri net model hi obtained by the Petri net model construction means 2, the applicability matrix Ghi obtained by the applicability matrix creation means 3, and stimulation / suppression The stimulus / suppression relational expression dgl obtained by the relational expression calculating means 4 is stored and stored in the storage means 5 for use in actually creating a transport command in the transport command creating means 6.
[0016]
The transfer command creating means 6 changes the value of each element of the applicability matrix from the schedule of the transfer element work stored in the storage means 5, the Petri net model hi, the applicability matrix Ghi, and the stimulus / suppression relational expression dgl. Minutes are calculated, a transfer device assignment, a transfer order, and a transfer time for each transfer element work are determined from an applicability matrix obtained by a convergence calculation that repeats the above calculation a plurality of times, and a transfer command is created.
[0017]
The above-mentioned transport command creation is performed for all the products scheduled to be transported, and the result is output by the transport plan output means 7 to an output device such as a display or printer (not shown).
[0018]
The above-described Petri net model construction means 2, applicability matrix creation means 3, stimulus / suppression relational expression calculation means 4, storage means 5, transport command creation means 6, and transport plan output means 7 are, for example, a CPU (Central Processing Unit). Device), RAM (Random Access Memory), ROM (Read Only Memory) and the like.
[0019]
In the transport plan creation method in the transport process of the present embodiment realized by the above configuration, first, a Petri net model hi that represents each element process of the transport process in at least one place is represented as a product to be transported. For each combination of the transport element work for each and each transport device capable of executing the transport element work. Then, from the Petri net model hi, an applicability matrix Ghi representing the priority at which the transport apparatus is to be arranged is created for each operation time step and for each place. The applicability matrix Ghi is, for example, a matrix with each place as a row and each operation time step as a column. Further, the competition, interference, order constraint, and position constraint relationship of the transport device and the product are calculated, and a stimulus / suppression relational expression dgl that increases or decreases the value of each element of the applicability matrix is calculated from the constraint relationship. To do.
[0020]
Second, a change in the value of each element of the applicability matrix is calculated from the Petri net model hi, the applicability matrix Ghi, and the stimulus / suppression relational expression dgl, and is used as the value of each element of the applicability matrix. In addition, a new applicability matrix is obtained. Then, a convergence calculation is performed by repeating the above calculation a plurality of times, and when the values converge, a definite value of the applicability matrix Ghi is obtained. By selecting a place corresponding to the element having the largest value, for example, for each operation time step among the elements of the definite values of the applicability matrix Ghi, and connecting the selected places for each operation time step, A transport work time chart is determined for each transport element work and for each transport device. Then, the transfer device assignment, transfer order, and transfer time for each transfer element work are determined from the time chart, and a transfer command is created.
[0021]
FIG. 2 is a flowchart showing an example of a processing procedure for calculating the Petri net model hi and the stimulus / suppression relational expression dgl. That is, first, a transport element work schedule for a product to be transported is input (step S1). Next, for each combination of each transport element work and each transport device capable of executing the transport element work, a Petri net model hi. Is constructed (step S2). Further, from the Petri net model hi, an applicability matrix Ghi representing the priority at which the transfer device is to be arranged for each operation time step and for each place is created (step S3). Appropriate values are input as initial values of the elements of the applicability matrix Ghi. Further, the competition, interference, order constraint, and position constraint relationship between the transport device and the product are calculated (step S4), and the stimulus / suppression relationship that increases or decreases the value of each element of the applicability matrix from the constraint relationship. The expression dgl is calculated (step S5).
[0022]
Further, FIG. 3 calculates the change in the value of each element of the applicability matrix from the Petri net model hi, the applicability matrix Ghi, and the stimulus / suppression relational expression dgl calculated as described above. In addition to the value of each element of the applicability matrix, a new applicability matrix is obtained, the convergence calculation is repeated a plurality of times, and when the value converges, a definite value of the applicability matrix Ghi is obtained, and the applicability matrix is obtained. It is a flowchart which shows the example of the process sequence which determines the conveyance apparatus allocation, conveyance order, and conveyance time with respect to each conveyance element operation | work from the fixed value of Ghi, and produces a conveyance command.
[0023]
That is, first, step k of the convergence calculation is set to zero, and an appropriate value is input as the initial value ghi (p, j, 0) of each element ghi (p, j, k) of the applicability matrix Ghi (step S1). Here, p is a place, j is an operation time step of the transport device, and k is a step of focusing calculation. Next, the calculation step is advanced by one (k = k + 1), and the change amount dghi (p, j, k) of each element ghi (p, j, k-1) of the applicability matrix Ghi from the stimulus / suppression relational expression dgl. Calculate Further, ghi (p, j, k-1) and dghi (p, j, k) are added together to calculate a new value of ghi (p, j, k) (step S2). The above calculation is repeated a plurality of times to determine whether or not the change dghi (p, j, k) of ghi (p, j, k) is smaller than a predetermined convergence condition value (step S3). The convergence calculation is completed, and a definite value of the applicability matrix Ghi is obtained (step S4). Then, from the determined values of the applicability matrix Ghi, the transfer device assignment, transfer order, and transfer time for each transfer work are determined, and a transfer command is created (step S5).
[0024]
The transfer control device to which the transfer plan creation method in the transfer process of the present embodiment described above is applied is configured as shown in FIG. That is, as shown in FIG. 4, the transport control apparatus of the present embodiment includes an input unit 1, a Petri net model construction unit 2, an applicability matrix creation unit 3, a stimulus / suppression relational expression calculation unit 4, The storage means 5, the conveyance command preparation means 6, and the control means 7 'are provided, and the conveyance control method in the conveyance process according to the present embodiment is performed as described below. In FIG. 4, the same blocks as those shown in FIG.
[0025]
The control unit 7 ′ controls the transfer device 8 based on the transfer device assignment, transfer order, and transfer time for each transfer element work calculated by the transfer command creation unit 6.
[0026]
In the transport plan creation apparatus shown in FIG. 1, the transport command creation is performed for all the products scheduled to be transported, and the result is output as a transport plan by the transport plan output means 7. The transport plan shown in FIG. The control device sequentially controls the target transfer device in real time every time a transfer command for the transfer work schedule of one product is calculated.
[0027]
The above-described Petri net model construction means 2, applicability matrix creation means 3, stimulus / suppression relational expression calculation means 4, storage means 5, transfer command creation means 6, and control means 7 ′ are, for example, a CPU (Central Processing Unit). ), RAM (Random Access Memory), ROM (Read Only Memory) and the like.
[0028]
Next, the basic operation of the transport plan creation device in the transport process according to the present embodiment configured as shown in FIG. 1 will be described according to a specific example shown below.
[0029]
FIG. 5 is a diagram illustrating a transfer operation between four manufacturing steps by two cranes handled in this specific example. Two cranes A and B are equipped on the same track, and the crane A is installed on the left side. The processes are, in order from the left, process 1 (corresponding to place 1 at the crane position), process 2 (place 2), process 3 (place 3), and process 4 (place 4). Now, for the sake of simplicity, it is assumed that the intermediate position between the locations is not considered, and the crane is located at any one of locations 1 to 4. Here, the crane A can move between the place 1 and the place 3, and the crane B can move between the place 2 and the place 4.
[0030]
Consider a case in which a transfer schedule for two products described below is given to such a transfer process.
Product 1: Transfer from place 1 to place 2 (transfer element work 1), and further transfer from place 2 to place 3 (transfer element work 2)
Product 2: Transfer from place 3 to place 2 (transfer element work 3), and further transfer from place 2 to place 3 (transfer element work 4)
[0031]
[Construction of Petri net model]
FIG. 6 is a diagram illustrating a Petri net model created for the transfer process and the transfer schedule of two products. Here, the Petri net model h <b> 1 is created for the transport element work 1. The presence of a token in a place indicates that there is a crane A that transports a product to that place. The movement from the place 1 to the place 2 is possible only by the crane A, and only the Petri net model h1 is created for the element work 1.
[0032]
Here, the movement from the place 1 to the place 2 is represented by one place p2. However, the way to move from the place 1 to the place 2 is once to the place 3 or the place 4 except when moving directly. Since it is possible to return to the place 2 after moving (saving etc.), it is necessary to create a model in such a manner that such movement is possible. FIG. 7 represents the place p2 in FIG. 6 in a more detailed form, and the place p2 is a simplified representation of what is actually configured as shown in FIG. Further, place p1 and place p3 are places corresponding to performing the processing in the processing step, not the transfer work considered here, but staying at place 1 and place 2, respectively.
[0033]
In FIG. 6, similarly, Petri net model h2 corresponding to the transport element work 2 (corresponding to transport with the crane A), Petri net model h5 (crane B), Petri net model h3 corresponding to the transport element work 3 (Crane A), Petri net model h6 (crane B), Petri net model h4 (crane A) and Petri net model h7 (crane B) corresponding to the transport element work 4 are shown.
[0034]
FIG. 8 shows a detailed configuration of places (p4, p10, p6, and p13, respectively) representing movement from the place 2 to the place 3 in the Petri net models h2, h4, h5, and h7. Similarly, FIG. 9 shows a detailed configuration of places (p8 and p12, respectively) representing movement from the place 3 to the place 2 in the Petri net models h3 and h6.
[0035]
[Applicability matrix creation]
The general form of the applicability matrix Ghi used in this specific example is shown in the following formula (1).
[0036]
[Expression 1]

[0037]
Here, each element ghi (p, j, k) of the matrix represents the priority at which the transport apparatus should be placed at the place p at the operation time step j in the Petri net model hi, and the priority becomes higher as the value approaches 1. , The closer to 0, the lower the priority. m represents the number of places, and n represents the number of operation time steps.
[0038]
In the model h1, the place p2 shown in FIG. 6 is actually composed of four places as shown in FIG. On the other hand, the place p1 and the place p3 are not included in the applicability matrix because they are places corresponding to performing processing in the processing steps, not the transfer work considered here, but staying at the place 1 and the place 2, respectively. . Therefore, the place number m is 4.
[0039]
On the other hand, for the operation time step number n, a value that can sufficiently complete the scheduled transfer work may be set appropriately. Here, n is 6. Similarly, for the other Petri net models h2 to h7, m is 4 and n is 6.
[0040]
Formula (2) below shows a calculation formula for calculating the value of each element of the applicability matrix by convergence calculation.
ghi (p, j, k) = ghi (p, j, k-1) + dghi (p, j, k) (2)
Here, k represents the step number for executing the convergence calculation.
[0041]
The following formula (3) shows a calculation formula for calculating the change dghi (p, j, k) of each element in the above formula (2).
dghi (p, j, k) = Σdgl (hi, p, j, k) (3)
Here, the addition Σ on the right side is performed on the subscript l, and in this specific example, the values of nine equations from dg1 to dg9 are added.
[0042]
Here, the value of ghi (p, j, k) in each convergence calculation step is calculated with a constraint given by the following equation (4).
0 <ghi (p, j, k) <MaxG = 1.5 (4)
[0043]
[Restriction calculation]
Five types of constraint relationships are calculated from the conveyance device, product competition, interference, order constraint, and position constraint. First, calculate the constraint on the presence of tokens simultaneously in places of both Petri net models between different Petri net models belonging to the transport element work for the same product (that is, when transporting with different transport devices). . The following equation (5) shows a matrix Cni (p, q) that expresses the above-described constraint for the transport element operation 2 (Petrinet models h2 and h5). Here, (p, q) represents p rows and q columns of the matrix.
[0044]
[Expression 2]

[0045]
Here, for example, the description of “2-1” on the first line indicates that the first line corresponds to a place representing the place 1 of the Petri net model h2. The same applies to descriptions of other rows and columns. Now, for example, the value of Cni (2-1, 5-1) being 1 indicates that tokens are not allowed to exist at the same time in place “2-1” and place “5-1”. The same applies to other elements.
[0046]
Next, an order relationship between Petri net models representing different transport element operations for the same product is calculated. The following equation (6) shows a matrix Sqi (p, q) that expresses the above-described constraints for the transport element operations 1 and 2 (Petrinet models h1 and h2). Here, (p, q) represents p rows and q columns of the matrix.
[0047]
[Equation 3]

[0048]
The meaning of the description of each row and each column is the same as in the case of Expression (5). For example, the value of Sqi (1-1, 2-1) is 1, for example, because there is a route moving from place “1-1” to place “2-1” (place “1-1” is It is present upstream of the place “2-1”). The same applies to other elements.
[0049]
Further, a common place relationship between Petri net models representing the transport element work for different products is calculated. The following equation (7) shows a matrix Cne (p, q) representing a common place for the transport element operations 2 and 4 (Petrinet models h2 and h4). Here, (p, q) represents p rows and q columns of the matrix.
[0050]
[Expression 4]

[0051]
The meaning of the description of each row and each column is the same as in the case of Expression (5). For example, the value of Cne (2-1, 4-1) is 1, for example, where the place “2-1” and the place “4-1” are common places, that is, places that represent the same crane position as an entity. Indicates that there is. The same applies to other elements.
[0052]
Furthermore, the order relationship between different transport apparatuses is calculated. The following equation (8) shows a matrix S (p, q) that expresses an order relationship for the transport element operations 1 and 2 (Petrinet models h1 and h5). Here, (p, q) represents p rows and q columns of the matrix.
[0053]
[Equation 5]

[0054]
The meaning of the description of each row and each column is the same as in the case of Expression (5). For example, the value of S (1-1, 5-1) is 1, for example, that crane A exists in place “1-1” and crane B exists in place “5-1”. Indicates that the order relationship is broken. Similarly, for example, the value of S (1-1,5-2) is 0 because the crane A exists in the place “1-1” and the crane B exists in the place “5-2”. , Indicates that the order relationship is satisfied. The same applies to other elements.
[0055]
Finally, the relationship of using the same transport device for different transport element operations is calculated. The following equation (9) shows a matrix Cp (p, q) that expresses the same transfer device utilization relationship for transfer element operations 1 and 2 (Petrinet models h1 and h2). Here, (p, q) represents p rows and q columns of the matrix.
[0056]
[Formula 6]

[0057]
The meaning of the description of each row and each column is the same as in the case of Expression (5). Now, for example, the value of Cp (1-1, 2-1) being 1 indicates that the place “1-1” and the place “2-1” are places corresponding to transport by the same transport device. . The same applies to other elements.
[0058]
[Stimulation and suppression relational expression calculation]
Nine types of stimulus / suppression relational expressions, dg1 to dg9 are calculated. The relational expression from dg1 to dg9 is common to all the Petri net models h1 to h7, and is represented by the general form hi here. The following formula (10) shows a formula representing dg1.
[0059]
[Expression 7]

[0060]
Here, ω (hi, k) represents a route from the starting point to the ending point of the transport device operation in the convergence calculation step k on the applicability matrix Ghi. For example, ω (hi, k) in the case of sequentially moving four places, p1, p2, p3, and p4 is expressed by the following equation (11).
ω (hi, k) = (p1, p2, p3, p4) (11)
[0061]
a1 is a variable parameter that determines the magnitude of the change, and an appropriate positive value is set. The same applies to the parameters a2 to a9 in the following equations dg2 to dg9. As an effect of the above dg1, the applicability of elements on the current transport route is changed in a direction approaching 1 and in other directions close to 0, so that the applicability of elements on the transport route and other elements is changed. Widen the difference and make the route selection more clear.
[0062]
The following formula (12) shows a formula representing dg2.
[0063]
[Equation 8]

[0064]
Cni (p, q) is a matrix that takes 1 when there is no token allowed at the same time in place p and place q belonging to different Petri net models for the same product. If there is a large applicability ghi ′ (q, j, k−1) in a place q where it is not allowed to use a plurality of cranes simultaneously with the place p to be considered, the applicability so far ghi (p , j, k-1) is changed in the direction of decreasing. This acts in the direction which suppresses simultaneously using a several crane with respect to the same conveyance element operation | work.
[0065]
The following formula (13) shows a formula representing dg3.
[0066]
[Equation 9]

[0067]
Cne (p, q) represents a common place relationship between Petri net models representing transport element work for different products, and is a matrix that takes 1 when p and q are common places. If the place q corresponding to different products occupying the same place at the same time with respect to the place p of the present case has a large applicability ghi ′ (q, j, k−1), the applicability so far ghi Change (p, j, k-1) in the direction of decreasing. This acts to suppress different products from occupying the same place at the same time.
[0068]
The following formula (14) shows a formula representing dg4.
[0069]
[Expression 10]

[0070]
Cp (p, q) represents the relationship of use of the same transport device for different transport element operations, and is a matrix that takes 1 when p and q are places corresponding to transport by the same transport device. In the case where a place q corresponding to different transport element work using the same transport device at the same time has a large applicability ghi ′ (q, j, k−1) The applicability ghi (p, j, k-1) is changed in the direction of decreasing. This acts in a direction that prevents different transport element operations from using the same transport device at the same time.
[0071]
For dg5, two different calculation formulas are used in two cases. Here, as dg51 and dg52, respectively, the following equations (15) and (16) are shown.
[0072]
[Expression 11]

[0073]
In dg51, Cp (p, q) represents the relationship of use of the same transport device for different transport element operations, and is a matrix that takes 1 when p and q are places corresponding to transport by the same transport device. The element ghi ′ (q, m, k−1) corresponding to the simultaneous use of the same conveying device at the same time by different conveying element operations is taken into consideration. Here, m is an integer taking a value from j1 to the absolute value −1 of j1 + (p1−p2). The absolute value of (p1-p2) represents the distance between place p and place q, and thus represents the time required for the crane to move between the two places on the operation time. Now, since the crane existing in the place p at the operation time step j1 needs time of only the absolute value of (p1-p2) to move to the place q, the absolute value of j1 to j1 + (p1-p2) − In the operation time step up to 1, the crane cannot exist in the place q. Accordingly, when the above ghi ′ (q, m, k−1) has a large applicability, it is in a state contrary to the constraint. Therefore, when the condition 1 is satisfied, that is, the root ω (hi, k) of hi. The element corresponding to the second operation time step from the end of the last place is given an action close to the maximum value, thereby causing the route ω (hi, k) to move forward in the time axis.
[0074]
On the other hand, dg52 is an integer that takes a value from the absolute value +1 to j1 of j1- (p1-p2). In the same way as in the case of dg51, the crane existing at the place p at the operation time step j1 requires time of only the absolute value of (p1-p2) to move from the place q, so j1- (p1- The crane cannot exist in the place q in the operation time step from the absolute value +1 to j1 of p2). Therefore, when ghi ′ (q, m, k−1) has a large degree of applicability, it is in a state contrary to the constraint. Therefore, when the condition 2 is satisfied, that is, the root ω (hi, k) of hi An effect of bringing the element corresponding to the second operation time step of the first place closer to the maximum value is provided so that the route ω (hi, k) is shifted backward in the time axis.
[0075]
By the above-mentioned two kinds of actions, an action of separating the conveyance routes using the same conveyance device so as not to overlap each other is given.
[0076]
The following formula (17) shows a formula representing dg6.
[0077]
[Expression 12]

[0078]
S (u, q) represents an order relationship between different transport devices, and is a matrix that takes 1 when the existence of a transport device in u and q violates the constraint. If the element ghi ′ (q, m, k-1) corresponding to the position where the order relation between them has been broken has a large applicability, the past applicability ghi (p, j, k-1) is maximized. Change in a direction to approach the value MaxG. However, since m is an integer that takes a value from the first operation time step to the last operation time step of ω (hi, k), this action works because the element ghi (q, m, k-1 ) Has a large applicability between the first operation time step and the last operation time step of ω (hi, k), and only when either of the above conditions 1 and 2 is satisfied . When the condition 1 is satisfied, the element corresponding to the second operation time step of the first place of the route ω (hi, k) of the hi is given an action of bringing the element close to the maximum value, and thereby the route ω (hi, k) It works to shift to the back of the time axis. On the contrary, when the condition 2 is satisfied, the element corresponding to the second operation time step from the end of the last place of the root ω (hi, k) of hi is given an action close to the maximum value. It works to shift (hi, k) forward in the time axis. Whether the calculation result is actually shifted forward or backward is determined by the values of the eight equations other than dg6, and is adjusted so that the order relationship between different transport devices is not broken. Give the action to
[0079]
Similarly to dg5, dg7 uses two different calculation formulas in two cases. Here, dg71 and dg72 are shown in the following (18) and (19), respectively.
[0080]
[Formula 13]

[0081]
In dg71, Sqi (u, q) represents an order relationship between Petri net models representing different transport element operations for the same product, and there is a route moving from u to q (u is upstream of q). ) A matrix that sometimes takes 1. Here, since m is an integer that takes a value from 1 to the last operation time step of ω (hi, k), Sqi (u, q) takes 1, that is, u exists upstream of q. The corresponding element ghi ′ (q, m, k−1) has a large degree of applicability between 1 and the final operation time step of ω (hi, k) in a state contrary to the order relation. Accordingly, in this case, the root ω (hi, k) can be obtained by changing the applicability of the element for which ψ1 {j, ω (hi, k)} is 1, that is, the element satisfying the condition 1 so as to approach the maximum value. Acts in the direction of shifting the forward of the time axis.
[0082]
On the other hand, in dg72, Sqi (q, u) is a matrix that takes 1 when there is a route moving from q to u (q exists upstream of u). Here, since m is an integer that takes values from the first operation time step of ω (hi, k) to n (final step), Sqi (q, u) takes 1, that is, q is upstream of u. The element ghi ′ (q, m, k−1) corresponding to the existence of ω (hi, k) has a large applicability from the first operation time step to n (final step). This is a state contrary to the order relation. Accordingly, in this case, the root ω (hi, k) can be obtained by changing the applicability of the element for which ψ2 {j, ω (hi, k)} is 1, that is, the element satisfying the condition 2 so as to approach the maximum value. Acts in the direction of shifting the time axis backward.
[0083]
By the above-mentioned two kinds of actions, the action of maintaining the order relationship of different conveying element operations on the product is given.
[0084]
The following formula (20) shows a formula representing dg8.
[0085]
[Expression 14]

[0086]
dg8 acts so that a transfer device does not exist simultaneously at a plurality of different places p and q at the same time step. When ghi (q, j, k-1) has a large applicability, ghi (p , j, k-1) means to decrease the value.
[0087]
The following formula (21) shows a formula representing dg9.
[0088]
[Expression 15]

[0089]
dg9 represents that the value of the applicability is gradually decreased except for the elements whose values are increased by the above-described actions from dg1 to dg8. Gives the route selection more clear.
[0090]
[Example of transport plan creation]
The parameter values used in the calculation are as follows.
a1 = 0.01
a2 = 0.6
a3 = 0
a4 = 0.5
a5 = 0.21
a6 = 0.7
a7 = 0.08
a8 = 0
a9 = 0.15
[0091]
The initial values used in the calculation are as follows.
gh1 (p, j, 0) = 0.51 (for all p and j. The same applies to gh2 to gh7)
gh2 (p, j, 0) = 0.52
gh3 (p, j, 0) = 0.53
gh4 (p, j, 0) = 0.54
gh5 (p, j, 0) = 0.55
gh6 (p, j, 0) = 0.56
gh7 (p, j, 0) = 0.57
[0092]
As the convergence condition used for the calculation, all the values of ghi (p, j, k) are 0.97 times to 1.03 times the value of ghi (p, j, k-1). Entering the range (variation within plus or minus 3%).
[0093]
Equations (22) to (28) below show the values of Gh1 to Gh7 after the convergence calculation is confirmed.
[0094]
[Expression 16]

[0095]
[Expression 17]

[0096]
[Expression 18]

[0097]
[Equation 19]

[0098]
[Expression 20]

[0099]
[Expression 21]

[0100]
[Expression 22]

[0101]
  Here, each row corresponds to place 1, place 2, place 3, and place 4 in order from the top. In addition, each column starts from the operation time step 1 in order from the left.6Corresponding to
[0102]
Looking at each element of Gh1, gh1 (1,1) and gh1 (2,2) show an applicability of approximately 1, and the others are approximately 0. This represents that the product 1 existing at the place 1 at the operation time step 1 is moved to the place 2 at the operation time step 2 by the crane A for the transport element work 1.
[0103]
Similarly, FIG. 10 shows a case where all the transport instructions are determined from the values of the elements of all other Ghi definite values. Here, numerals 1 and 2 represent the numbers of the products to be conveyed. In addition, the numbers surrounded by circles indicate conveyance by the crane A, and the rectangles indicate conveyance by the crane B. Here, although not clearly shown in the figure, in the operation time steps 2 and 3, the crane A is retracted to the place 1 in order to avoid interference with the crane B. The example of FIG. 10 shows that efficient transport plan creation is realized in consideration of competition and interference between transport apparatuses.
[0104]
The transportation plan creation device and the transportation control device described in the above embodiment are configured by a CPU or MPU, RAM, ROM, etc. of a computer, and the function is operated by a computer program stored in the RAM, ROM, etc. It is realized by doing.
[0105]
Therefore, the computer program itself is included in the category of the present invention. As the computer program transmission medium, a computer network system for transmitting program information as a carrier wave and supplying it can be used.
[0106]
Means for supplying the computer program to the computer, for example, a storage medium storing the computer program is included in the scope of the present invention. As the storage medium, a CD-ROM, a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk, a nonvolatile memory card, or the like can be used.
[0107]
【The invention's effect】
As described above in detail, according to the present invention, a transportation plan creation and transportation control considering the competition and interference between transportation devices are realized, and in particular, a crane and a transportation carriage in which a plurality of transportation devices move on the same transportation path. Thus, it is possible to realize efficient transport plan creation and transport control with little time loss due to waiting or being transported due to the movement of another transport device.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a main part of an embodiment of a transport plan creation device in a transport process according to the present invention.
FIG. 2 is a flowchart showing an example of a processing procedure for calculating a Petri net model and a stimulus / suppression relational expression according to the present invention.
FIG. 3 is a flowchart showing an example of a processing procedure for creating a transport command of a transport plan creation method in a transport process according to the present invention.
FIG. 4 is a block diagram showing a main configuration of an embodiment of a transport control device in a transport process according to the present invention.
FIG. 5 is a diagram illustrating a transport operation handled in a specific example.
FIG. 6 is a diagram illustrating a Petri net model created for a specific example.
7 is a diagram illustrating a Petri net model in which the place p2 in FIG. 6 is expressed in a more detailed form.
FIG. 8 is a diagram illustrating a Petri net model in which the places p4, p10, p6, and p13 of FIG. 6 are expressed in a more detailed form.
FIG. 9 is a diagram illustrating a Petri net model in which the places p8 and p12 of FIG. 6 are expressed in more detail.
FIG. 10 is a diagram illustrating a conveyance plan creation result in a specific example.
[Explanation of symbols]
1 Input means
2 Petri net model building means
3 Applicability matrix creation means
4 Stimulus / suppression relational expression calculation means
5 Memory means
6 Transport command creation means
7 Transportation plan output means
7 'control means
8 Transport device

Claims (7)

A transport plan creation method in a transport process for transporting multiple products through different multiple routes,
A step in which the input means inputs the schedule of the transport element work for the product to be transported;
Based on the information inputted by the input means by the Petri net model construction means , the Petri net model representing each element process of the transport process in at least one place, each transport element work for the product to be transported and the transport Building for each combination of transport devices capable of performing elemental work;
Created for applicability matrix creating means Petri net model constructed by the Petri net model construction unit, each operation time steps, for each place, the applicability matrix representing the priority should be placed above the conveying device And steps to
Stimulation and inhibition equation calculating means the conveying apparatus, contention of the above product, interference, sequence constraints, stimulation, increasing or decreasing the value of each element of the applicability of the matrix created by the application of matrix creating means from the position constraint Calculating a suppression relational expression;
A storage means stores and stores the schedule of the transport element work, the Petri net model, the applicability matrix, and the stimulus / suppression relational expression;
The conveyance command creation means newly calculates the value of each element of the applicability matrix, the value of each element of the matrix starts from an appropriate initial value, and the stimulus / suppression relation created by the above stimulus / suppression relational expression calculation means Calculate the amount of change in the value of each element of the applicability matrix using the formula and add it to each element . From the new applicability matrix obtained by the convergence calculation that repeats the above calculation multiple times, transfer for each transfer element work Determining device assignment, transport order, transport time, and creating a transport command ;
A transport plan output means for outputting all the products scheduled to be transported, the assignment of the transport device for each transport element work created by the transport command creating means, the transport order, and the determination result of the transport time;
The conveyance plan creation method in the conveyance process characterized by including . A transport plan creation device in a transport process for transporting multiple products through different multiple routes,
An input means for inputting a schedule of transport element work for a product to be transported;
Based on the information input by the input means, a Petri net model representing each element process of the transfer process in at least one place can be executed for each transfer element work and the transfer element work for the product to be transferred. Petri net model construction means constructed for each combination of each transport device,
An applicability matrix creating means for creating an applicability matrix representing the priority at which the transport apparatus should be arranged for each operation time step and for each place with respect to the Petri net model constructed by the Petri net model construction means. When,
Stimulus that calculates a stimulus / suppression relational expression that increases or decreases the value of each element of the applicability matrix created by the applicability matrix creation means from the transport device, the competition of the product, interference, order constraints, position constraints A suppression relational expression calculating means;
Storage means for storing and storing the schedule of the transport element work, the Petri net model, the applicability matrix and the stimulus / suppression relational expression;
The value of each element of the applicability matrix to be newly obtained is determined based on the stimulus / suppression relational expression created by the above stimulus / suppression relational expression calculation means, starting from the initial value where the value of each element of the matrix is appropriate . Calculate the amount of change in the value of each element and add it to each element.From the new applicability matrix obtained by the convergence calculation that repeats the above calculation a plurality of times, the transfer device assignment for each transfer element work, the transfer order, A transport command creating means for determining a transport time;
Allocation of the transport apparatus with respect to all products of conveyance scheduled for each conveying element work created by the transportation command creation unit, and a transport schedule output means for outputting a determination result of the transfer order, and the transport time,
A conveyance plan creation device in a conveyance process characterized by comprising. A computer program for causing a computer to execute a transfer plan creation process in a transfer process of transferring a plurality of products through different paths,
A process in which the input means inputs the schedule of the transport element work for the product to be transported;
Based on the information inputted by the input means by the Petri net model construction means , the Petri net model representing each element process of the transport process in at least one place, each transport element work for the product to be transported and the transport A process of constructing each combination of transfer devices capable of performing element work;
Created for applicability matrix creating means Petri net model constructed by the Petri net model construction unit, each operation time steps, for each place, the applicability matrix representing the priority should be placed above the conveying device Processing to
Stimulation and inhibition equation calculating means the conveying apparatus, contention of the above product, interference, sequence constraints, stimulation, increasing or decreasing the value of each element of the applicability of the matrix created by the application of matrix creating means from the position constraint A process of calculating a suppression relational expression;
The storage means stores and stores the schedule of the transport element work, the Petri net model, the applicability matrix, and the stimulus / suppression relational expression,
The conveyance command creation means newly calculates the value of each element of the applicability matrix, the value of each element of the matrix starts from an appropriate initial value, and the stimulus / suppression relation created by the above stimulus / suppression relational expression calculation means Calculate the amount of change in the value of each element of the applicability matrix using the formula and add it to each element . From the new applicability matrix obtained by the convergence calculation that repeats the above calculation multiple times, transfer for each transfer element work Processing to determine device assignment, transfer order, transfer time, and create transfer command ;
A process in which the transfer plan output means outputs the result of determination of the transfer device allocation, transfer order, and transfer time for each transfer element work created by the transfer command creation means for all products scheduled for transfer ,
A computer program for causing a computer to execute. A transport control method in a transport process for transporting multiple products through different multiple paths,
A step in which the input means inputs the schedule of the transport element work for the product to be transported;
Based on the information inputted by the input means by the Petri net model construction means , the Petri net model representing each element process of the transport process in at least one place, each transport element work for the product to be transported and the transport Building for each combination of transport devices capable of performing elemental work;
Created for applicability matrix creating means Petri net model constructed by the Petri net model construction unit, each operation time steps, for each place, the applicability matrix representing the priority should be placed above the conveying device And steps to
Stimulation and inhibition equation calculating means the conveying apparatus, contention of the above product, interference, sequence constraints, stimulation, increasing or decreasing the value of each element of the applicability of the matrix created by the application of matrix creating means from the position constraint Calculating a suppression relational expression;
A storage means stores and stores the schedule of the transport element work, the Petri net model, the applicability matrix, and the stimulus / suppression relational expression;
The conveyance command creation means newly calculates the value of each element of the applicability matrix, the value of each element of the matrix starts from an appropriate initial value, and the stimulus / suppression relation created by the above stimulus / suppression relational expression calculation means Calculate the amount of change in the value of each element of the applicability matrix using the formula and add it to each element . From the new applicability matrix obtained by the convergence calculation that repeats the above calculation multiple times, transfer for each transfer element work Determining device assignment, transport order, transport time, and creating a transport command ;
Control means, and controlling the conveying device follow the transfer instruction,
The conveyance control method in the conveyance process characterized by including . A transport control device in a transport process for transporting multiple products through different multiple paths,
An input means for inputting a schedule of transport element work for a product to be transported;
Based on the information input by the input means, a Petri net model representing each element process of the transfer process in at least one place can be executed for each transfer element work and the transfer element work for the product to be transferred. Petri net model construction means constructed for each combination of each transport device,
An applicability matrix creating means for creating an applicability matrix representing the priority at which the transport apparatus should be arranged for each operation time step and for each place with respect to the Petri net model constructed by the Petri net model construction means. When,
Stimulus that calculates a stimulus / suppression relational expression that increases or decreases the value of each element of the applicability matrix created by the applicability matrix creation means from the transport device, the competition of the product, interference, order constraints, position constraints A suppression relational expression calculating means;
Storage means for storing and storing the schedule of the transport element work, the Petri net model, the applicability matrix and the stimulus / suppression relational expression;
The value of each element of the applicability matrix to be newly obtained is determined based on the stimulus / suppression relational expression created by the above stimulus / suppression relational expression calculation means, starting from the initial value where the value of each element of the matrix is appropriate . Calculate the amount of change in the value of each element and add it to each element.From the new applicability matrix obtained by the convergence calculation that repeats the above calculation a plurality of times, the transfer device assignment for each transfer element work, the transfer order, A transport command creating means for determining a transport time;
Control means for controlling the transport device in accordance with the transport command ;
The conveyance control apparatus in the conveyance process characterized by comprising. A computer program for causing a computer to execute a transfer control process in a transfer process of transferring a plurality of products through different paths,
A process in which the input means inputs the schedule of the transport element work for the product to be transported;
Based on the information inputted by the input means by the Petri net model construction means , the Petri net model representing each element process of the transport process in at least one place, each transport element work for the product to be transported and the transport A process of constructing each combination of transfer devices capable of performing element work;
Created for applicability matrix creating means Petri net model constructed by the Petri net model construction unit, each operation time steps, for each place, the applicability matrix representing the priority should be placed above the conveying device Processing to
Stimulation and inhibition equation calculating means the conveying apparatus, contention of the above product, interference, sequence constraints, stimulation, increasing or decreasing the value of each element of the applicability of the matrix created by the application of matrix creating means from the position constraint A process of calculating a suppression relational expression;
The storage means stores and stores the schedule of the transport element work, the Petri net model, the applicability matrix, and the stimulus / suppression relational expression,
The conveyance command creation means newly calculates the value of each element of the applicability matrix, the value of each element of the matrix starts from an appropriate initial value, and the stimulus / suppression relation created by the above stimulus / suppression relational expression calculation means Calculate the amount of change in the value of each element of the applicability matrix using the formula and add it to each element . From the new applicability matrix obtained by the convergence calculation that repeats the above calculation multiple times, transfer for each transfer element work Processing to determine device assignment, transfer order, transfer time, and create transfer command ;
A process in which the control means controls the transport device in accordance with the transport command ;
A computer program for causing a computer to execute.   A computer-readable storage medium storing the computer program according to claim 3 or 6.

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