JP4445272B2 - Crane simulator, computer program and computer-readable recording medium - Google Patents

Description

The present invention relates to a crane simulator , a computer program, and a computer-readable recording medium, and particularly suitable for automatically controlling an overhead crane.

  Conventionally, Patent Document 1 discloses an example of an automatic control method for a plurality of overhead cranes existing on the same lane. The method disclosed in the above-mentioned Patent Document 1 creates a plurality of time schedules by changing the operation sequence of the crane or the combination of the conveyance command data, and determines the combination with the least waiting time when the crane is not conveying, Based on the determined order and the results from each crane, the cranes are made non-interfering by issuing a transport command to each crane, and the crane is efficiently controlled.

  For this reason, when time is required for positioning of the crane, or when a deviation between scheduling and actual operation time occurs due to manual intervention at the time of the gripping operation, there is a possibility that interference with the adjacent overhead crane occurs. As a workaround, interlock control at the start of each overhead crane has been proposed, but in order to limit the start with the interlock, if the crane speed is different, it is necessary to use a sequence that considers the positional relationship and When there are two or more cranes, it is necessary to make a sequence considering the relationship with two or more cranes, and it is necessary to create complicated sequence logic.

  Further, when an unexpected stop occurs while the crane is moving after the activation interlock is established, it is necessary to take other measures to prevent the adjacent crane from approaching and colliding.

  In order to prevent such problems, Patent Document 2 proposes a real-time scheduling method for an automatically controlled overhead crane that realizes an improvement in operating rate while considering mutual interference.

JP-A-8-282968 JP 2002-68669 A

  However, in the conventional case, when building a simulator, the crane capacity, equipment layout, work amount, operation method, etc. of the process to be automated are heard in detail, and the specifications of the simulation model are determined each time.

For this reason, conventionally, there has been a problem that the labor and time required to construct a crane simulator become enormous.
The present invention has been made in view of the above-described problems, and an object thereof is to reduce the labor and time required to construct a detailed crane simulator.

Crane simulator of the present invention, a plurality of overhead crane to be in the same lane on a procedure for automatically controlling a predetermined area, in crane simulator for simulating using the screen display means,
And simulation condition input means for inputting the simulation conditions for causing the plurality of tasks to said plurality of overhead crane, in accordance with the entered said simulated condition, before performing the predetermined processing for each control item of the plurality of cranes Symbol A simulation unit that performs a simulation for automatically controlling a plurality of overhead cranes, and a simulation result output unit that outputs a result simulated by the simulation unit to the screen display unit ,
The simulation condition input means has an origination / arrival coordinate constant for inputting a cargo receiving source, an unloading source and a hoisting height in the area for each overhead crane on the display screen of the screen display means, Setting of departure / arrival work for inputting each work with time, crane performance constant for inputting crane traveling performance, transport rule including work priority, and area constant as input for dividing the area Any one of an input item including a detour point constant that is the number of detour points to be passed, and a crane work unavailable time that is a waiting time from the occurrence of work to the start of conveyance, and an operation rate total and work history, or An input item including both is displayed, and a simulation is input by the user in a preset table format for each of the input items. Define the information of conditions,
The simulation unit is configured to input the plurality of input / output coordinate constants, departure / arrival coordinate settings, crane performance constants, conveyance rules, area constants, detour point constants, and crane work unavailable time. Process the crane's work instructions and run a simulation,
The simulation result output means displays the simulation result by the simulation unit on the screen based on input information including any one or both of an operation rate total and a work history input by the user by the simulation condition input means. It is characterized by displaying in a format preset on the means .
It is another feature of the present invention, the simulation unit, the simulation conditions the calling / Chakuzahyo constant defined the input means on the basis of the crane performance constant, the area constant and the input information of the detour point constants , Executing the simulation process by executing each work instruction in the input information of the departure / arrival work setting for each overhead crane in the area,
Based on the input information of the transport rule, the work priority processing means for performing the process of reflecting the definition of the assignable crane and the priority for each work type of the plurality of overhead cranes, and the overhead crane Interference check at the time of work order assignment and interference check at the time of execution of instruction are performed, and the priority preceding crane continues to travel to the destination, and the non-priority crane is retracted at a position where it does not interfere or retreats. Crane interference processing means for performing the control processing , transfer time processing means for performing the transfer time processing in consideration of the receiving time and unloading time in consideration of the winding height of the transfer location, and the required travel correction time , , fundamental transverse travel time, are characterized by having a travel time processor means in consideration of the steady rest time and bypass loss time performing operation time processing .

The computer program of the present invention is characterized by causing a computer to realize the functions of each means and simulation unit of the crane simulator described above.

  The computer-readable recording medium of the present invention is characterized by recording the computer program described above.

  According to the present invention, when configuring a crane simulator for simulating a procedure for automatically controlling a plurality of overhead cranes existing on the same lane, the information for causing the plurality of overhead cranes to perform a predetermined operation. A plurality of overhead cranes by performing predetermined processing on each of the plurality of crane control items according to the simulation conditions input via the simulation condition input means and the simulation condition input means for inputting the simulation conditions for inputting And a simulation result output means for outputting a result simulated by the simulation section, and the simulation is performed based on information input via the simulation condition input means. Since to carry out the fine simulation in tio emission unit, the user can perform only in the detailed crane simulation inputs information corresponding to the specifications and operating conditions of the crane.

Next, embodiments of a crane simulator , a computer program, and a computer-readable recording medium of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a functional configuration diagram showing an embodiment of a crane simulator according to the present invention.
As shown in FIG. 1, the crane simulator 10 of the present embodiment is used for simulating a procedure for automatically controlling a plurality of overhead cranes existing on the same lane, and includes screen display means 11, A simulation condition input unit 12, a simulation unit 13, a crane interference processing unit 14, a work priority processing unit 15, a transfer time processing unit 16, an operation time processing unit 17, and the like are included.

  The screen display means 11 is for displaying information input items and operation items for inputting information for causing a plurality of overhead cranes to perform a predetermined operation on the display screen.

  FIG. 2 shows a display example of items input via the simulation condition input unit 12. In this display example, From / To coordinate item 201, From / To work setting item 202, crane performance constant item 203, transport rule item 204, area constant item 205, detour point constant item 206, crane work unavailable time item 207, simulation A start button 208, an operation rate totaling item 209, a work history item 210, a return button 211, and the like are displayed on the display screen 20.

As shown in FIG. 3, the From / To coordinate item 201 defines the center coordinates and the hoisting height of the simulation target equipment. In the present embodiment, the From / To (arrival) is used as input information. ) Name information, From / To work setting information, traveling information, traversing information, empty cargo height information, actual cargo height information, etc. are set to be input.

The “From / To name” is information such as the name of the facility / place serving as the receiving party and the unloading source, and is set to input unique information.
The travel information is input as travel coordinates in the X-axis direction, and the traverse information is input as traverse coordinates in the Y-axis direction.
Unloaded hoist height information by entering the winding distance in unloaded state, the height information on the actual load winding inputs the winding distance of the real load conditions.

  As shown in FIG. 4, the From / To work setting item 202 defines a work to be simulated from equipment to equipment with time. As input information, information such as “From information”, “To information”, “occurrence time information”, “idle run instruction information”, “two-stage instruction information”, “insertion / deletion information”, and the like is input. Is set.

  The “From information” is used to input information on the position of the equipment that grips the coil. In the example of FIG. 4, the position on the line exit side is input as No. 1 as “From information”.

“To information” is used to input information about the position of the equipment where the coil is to be lowered, and the destination is input during idle driving. In the example of FIG. 4, the position named “Bb” is input to No1.
The “occurrence time information” is an item for inputting the work occurrence time, and the work occurrence times are defined in ascending order. In the example of FIG. 4, “172” seconds are input as “occurrence time information” in No1.

“Free running instruction information” is designated in the case of crane movement instructions such as home position movement and retreat movement.
In the case of a conveyor, the “two-stage instruction information” may shift during the movement of the crane. Therefore, in general, a split instruction is given for idle running and actual running, and actual running at this time is defined.
“Insertion / deletion information” is for editing definition data and is specified when an instruction is added / deleted, and is registered in a file when an update button is pressed.

As shown in FIG. 5, the crane performance constant item 203 defines the basic performance of the target crane after automated remodeling, and FIG. 5 shows an example in which a pop-up menu is displayed as “What to hear from the crane manufacturer”. ing.
As shown in FIG. 5, input information includes “crane performance” information, “crane No. (left side as origin crane)” information, “operation condition” information, and the like.

  “Crane performance” information defines the performance of the crane after remodeling, and is input for each of the cases where there is a difference between idle running and actual running. As the type of “crane performance” information to be input, information such as the initial position of the crane (m), traveling speed (m / min), traverse speed (m / min), hoisting speed (m / min), etc. Input as crane performance information for each actual load.

  As the initial position (m) of the crane, the position in the traveling direction and the transverse direction are input. Hereinafter, although it is the same, each information shall be input about Unit 1 and Unit 2, respectively.

  The above “operation condition” information sets various conditions for simulation. FIG. 5 shows an interference distance (m), an approachable driving length (m), an approaching operation speed coefficient, and an anti-sway time (sec.). ), Detour loss time (sec / piece) and the like are input.

FIG. 6 shows an information input screen for the transport rule 204. In this screen, work priority is defined, and is added when the work order is changed depending on the number of conveyors in stock.
That is, as shown in FIG. 6, input items include “basic work order”, “From equipment name”, “To equipment name”, “priority according to the number of conveyors in the crane 1”, “crane Enter information such as “Priority by number of conveyors in No. 2”.

In the crane simulator of this embodiment, as shown in FIG. 14A, an allocatable crane table is provided, and an allocatable crane is defined according to the work content. In the example shown in FIG. 14A, in the case of “work contents 1” (“From X 1” to “To Y 1”), the assignable crane is “2”. Further, in the case of “work contents 2” (“FromX2” to “ToY2”), two allocatable cranes are possible, but “1” indicates pre-assignment.

  Further, as shown in FIG. 14B, when “the number of stocks is 0” with respect to the basic priority, “work contents 4” becomes “priority order 1”, and “work contents 1” becomes “priority order”. It is retreating to 3 ”. Similarly, in the case of “the number of stocks 1”, “work contents 2” becomes “priority order 1”, and “work contents 1” is changed to “priority order 4”.

  FIG. 7 shows an input screen for the area constant item 205. This screen is used to explicitly divide the automation area and is used to define a detour point. The information input here is automatically reflected in the equipment name and area rectangle on the simulation screen. In this example, it is set to input information such as “area number at the time of division”, “area name”, “number of divisions”, “travel Min”, “running Min”, “running Max”, “running Max”, etc. Has been.

  FIG. 8 shows a screen for inputting information related to the detour point constant item 206. This screen is a screen for inputting the number of detour points to be passed by moving between areas from separately defined areas, and moving from a certain “From area” to a certain “To area”. The example of a display of the screen which inputs the number of detour points at the time is shown.

  FIG. 9 shows an example of an information input screen for the crane work unavailable time item 207. As shown in FIG. 9, this information input screen is a screen for setting a waiting time from the occurrence of work to the start of conveyance. It is to set. This takes into account the loss time until the driver retreats from the automatic area, particularly in vehicles. For example, the time of “Eastern vehicle” set in FIG. 5 is set to be subject to automatic driving after a time set in “impossible time” with respect to 2147 occurrence time.

  As described above, when the necessary information is input to the From / To coordinate item 201 to the crane work unavailable time item 207 via the simulation condition input unit 12 and the simulation start button 208 is clicked, the simulation unit 13 operates. The simulation process is started.

First, crane interference processing is performed by the crane interference processing means 14. The crane interference processing can be performed by an arbitrary method, but “interference check at the time of command assignment” and “interference check during command execution” are performed. An example of “interference check at the time of instruction assignment” is shown in the flowchart of FIG.
As shown in FIG. 13, when the process is started, it is determined in the first step S1301 whether or not the opponent crane is an empty vehicle. If the result of this determination is that the counterpart crane is not an empty vehicle, the flow advances to step S1302 to determine whether or not the counterpart crane is unloading.

  If the result of the determination in step S1302 is that the counterpart crane is not unloading, the flow proceeds to step S1303, and it is determined whether or not the counterpart crane is traveling on a load. As a result of the determination, if the counterpart crane is not in the traveling state, the process proceeds to step S1304. If “yes” in the determinations in steps S1301 to S1303, the process proceeds to step S1308 to assign an instruction to itself.

  In step S1304, it is determined whether the counterpart crane is receiving the cargo. If the result of this determination is that the product is not being received, the process advances to step S1305 to determine whether or not the requested travel is being performed. If the result of this determination is that the vehicle is not traveling as requested, the process proceeds to step S1308, where a command is assigned to itself.

  If “yes” in the determinations in step S1304 and step S1305, the process proceeds to step S1306, and it is determined whether or not the counterpart crane From and the own crane From interfere. If there is no interference as a result of this determination, the process proceeds to step S1308 and an instruction is assigned. If the two cranes interfere with each other, the process proceeds to step S1307 and waits until there is a command assignment (until the interference state is canceled).

  If interference occurs during command execution, the priority preceding crane is determined according to the status of the two cranes. The priority preceding crane continues to travel to the destination, and the non-priority crane retracts to the position where it does not interfere and retracts. In this embodiment, the status is as follows: unloading or unloading> loading travel or requested travel (first start)> loading travel or requested travel (after start)> evacuation travel> empty vehicle. The first start means that the traveling is started before the counterpart crane, and the opposite is defined as the subsequent start. The priority preceding crane continues traveling to the destination, and the non-priority leading crane stops or retreats at a position where it does not interfere and retracts.

  As described with reference to FIG. 14, the work priority processing performed by the work priority processing means 15 is based on the work priorities such as the definition of the assignable crane based on the work contents and the rules according to the number of conveyor loads. Determined.

The transfer time processing performed by the transfer time processing means 16 is roughly divided into “shipping time” and “unloading time”.
“Receiving time” includes “required travel correction time”, “resting time”, “winding acceleration time”, “winding vertical speed × winding distance”, “winding deceleration time”, “hole detection retry time”, The calculation is performed by adding “grip time”, “winding acceleration time”, “winding vertical speed × winding distance”, and the like.

  “Unloading time” includes “loading travel correction time”, “resting time”, “winding acceleration time”, “winding vertical speed × winding distance”, “winding deceleration time”, “opening time”, “ Calculation is performed by adding up the “winding acceleration time”, “winding vertical speed × winding distance”, and the like. The request (loading) travel correction time is a time for correcting the difference between the traverse direction travel time and the travel direction travel time as a waiting time.

The operation time processing performed by the operation time processing means 17 is roughly divided into “request travel” and “loading travel”.
In “required travel”, first, the required travel time is obtained by “travel required time” + “detour loss time (defined by travel route)”. Then, the average speed is obtained from the required travel distance (local point-from point) / travel required time.

  In “loading travel”, first, the load travel time is obtained by “travel required time” + “detour loss time (defined by travel route)”. And the process which calculates | requires an average speed by the loading travel distance (from point-to point) / travel required time is performed.

By performing the processing as described above in the simulation unit 13, simulation results as shown in FIGS. 10 to 12 are displayed on the screen display unit 11.
Although omitted in the above description, the crane simulator 10 of the present embodiment has a drawing function, and as shown in the upper part of the screen in FIG. Is created based on the information entered.

  When the operating rate totaling item 209 is clicked after returning to the initial screen, the operating rate totaling can be displayed as shown in FIG. In the case of this example, as shown in the pop-up menu in FIG. 11, when the simulation is not completed, the result that was completed last time is displayed.

  As the display content, arbitrary information can be displayed. In the example of FIG. 11, “crane state”, “occupation time for each crane state”, “occupancy rate for each crane state”, etc. for each crane. is there.

  For details on “crane status”, “empty vehicle”, “empty vehicle from simulation start to first work”, “empty vehicle (waiting for execution of assignment)”, “running requested travel”, “load receiving”, “loading travel” `` Medium '', `` Unloading '', `` Evacuating evacuation '', `` Requiring evacuation travel '', `` Pausing travel cessation '', `` Loading travel evacuation '', `` Loading travel cessation '', For example, "Crane operation time / rate", "Crane work time", "Crane interference time". In the present embodiment, as shown in FIG. 11, “crane operating time / rate” is tabulated in two types.

  As described above, it becomes easy to specify factors that improve the operating rate by finely counting the operating rates. For example, consider not to enter the vehicle at a busy time, change the area division to increase the operating efficiency, increase the capacity of the two cranes, as much as possible detour factor It is possible to easily carry out an attempt to improve the operating rate by eliminating them.

  When the user returns to the initial screen and clicks the work history item 210, the details of the work history can be displayed as shown in FIG. In the case of this example, as shown in the pop-up menu in FIG. 12, the work history for each crane can be displayed.

  In the example shown in FIG. 12, “instruction number”, “name of receiving party (FROM)”, “name of unloading destination (To)”, “work occurrence time”, unloading from the start of work for each crane. An example in which details such as “required time for completion” indicating the time until the completion of the subsequent winding is displayed is shown.

  As described above, the crane simulator of the present embodiment includes the “simulation condition input unit 12”, “screen display unit 11”, “simulation condition input unit 12”, “simulation unit 13”, and “simulation result output unit”. 18 ". The “simulation condition input means 12” displays a typical menu as shown in FIG. 2, and the “simulation unit 13” displays “crane interference processing means 14” and “work priority processing means 15”. , “Transfer time processing means 16” and “operation time processing means 17”, and a detailed simulation is performed based on the information input via the “simulation condition input means 12”.

  As a result, users can perform detailed crane simulations simply by inputting information according to the crane specifications and operating conditions, and can perform detailed simulations and provide a crane simulator with excellent versatility. can do.

  Further, as shown in FIG. 15, work schedules instructed in real time from the production management system 21 are rearranged in time series by the work organizing means 22, thereby “setting the work to be simulated with time” in FIG. 4 during simulation. The FROM / TO operation instruction of the priority crane selected by the simulation unit 13 is stored in the simulation result output means 18 at the time of the simulation in real time with respect to the actual crane 25 through the crane control management device 24. The case where it is used for real-time crane control by outputting is also included in the present invention.

  In the case of real-time crane control, a ground interlock 23 is added as a countermeasure against interference from the viewpoint of ensuring safety with the FRO point (gripping) and TO point (wholesale) ground transportation facilities (for example, conveyors and carts).

  In addition, the crane's current position, stop position, and state (running, traversing, winding, lifting, wholesale, gripping, etc.) are managed by the crane control management device 24 and reflected in the processing of the simulation unit 13.

(Another embodiment of the present invention)
The present invention may be applied to a system composed of a plurality of devices or an apparatus composed of a single device.

  Further, in order to operate various devices so as to realize the functions of the above-described embodiments, a transmission medium such as the Internet is transmitted from a storage medium to an apparatus connected to the various devices or a computer in the system. The program implemented by operating the various devices according to the program stored in the computer (CPU or MPU) of the system or apparatus is supplied via the program code of software for realizing the functions of the embodiment And included in the scope of the present invention.

  In this case, the program code of the software itself realizes the functions of the above-described embodiments, and the program code itself and means for supplying the program code to the computer, for example, the program code are stored. This storage medium constitutes the present invention. As a storage medium for storing the program code, for example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a magnetic tape, a nonvolatile memory card, a ROM, or the like can be used.

  Further, by executing the program code supplied by the computer, not only the functions described in the above embodiments are realized, but also the OS (operating system) or other operating system in which the program code is running on the computer. It goes without saying that such program code is also included in the embodiment of the present invention even when the functions shown in the above-described embodiment are realized in cooperation with application software or the like.

  Further, after the supplied program code is stored in the memory provided in the function expansion board of the computer or the function expansion unit connected to the computer, the CPU provided in the function expansion board or function expansion unit based on the instruction of the program code The present invention also includes the case where the functions of the above-described embodiment are realized by performing part or all of the actual processing.

It is a block diagram which shows embodiment of this invention and shows schematic structure of a crane simulator. It is a figure which shows the example of a display of the item input via a simulation condition input means. It is a figure which shows an example of the screen which inputs a From / To coordinate. It is a figure which shows an example of the screen which inputs a From / To work setting item. It is a figure which shows an example of the information input screen of a crane performance constant item. It is a figure which shows an example of the information input screen of a conveyance rule item. It is a figure which shows an example of the input screen of an area constant item. It is a figure which shows an example of the screen which inputs the information regarding a detour point constant item. It is a figure which shows an example of the information input screen of a crane work impossible time item. It is a figure which shows an example of a simulation result. It is a figure which shows an example of a simulation result and shows an operation rate total result. It is a figure showing an example of a simulation result and showing work history details. It is a flowchart which shows an example of a crane interference process sequence. (A) shows an example of a table of assignable cranes, (b) is a diagram showing an example of a priority table. It is a block diagram which shows an example of an apparatus structure in the case of performing real-time control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Crane simulator 11 Screen display means 12 Simulation condition input means 13 Simulation part 14 Crane interference processing means 15 Work priority processing means 16 Transfer time processing means 17 Operation time processing means 18 Simulation result output means 20 Display screen 21 Production management system 22 Work organizing means 23 Ground interlock 24 Crane controller 25 Crane 201 From / To coordinate item 202 From / To work setting item 203 Crane performance constant item 204 Transport rule item 205 Area constant item 206 Detour point constant item 207 Crane work non-operation time item 208 Simulation start button 209 Operation rate totaling item 210 Work history item 211 Back button

Claims (4)

A plurality of overhead crane to be in the same lane on a procedure for automatically controlling a predetermined area, in crane simulator for simulating using the screen display means,
And simulation condition input means for inputting the simulation conditions for causing the plurality of tasks to said plurality of overhead crane, in accordance with the entered said simulated condition, before performing the predetermined processing for each control item of the plurality of cranes Symbol A simulation unit that performs a simulation for automatically controlling a plurality of overhead cranes, and a simulation result output unit that outputs a result simulated by the simulation unit to the screen display unit ,
The simulation condition input means has an origination / arrival coordinate constant for inputting a cargo receiving source, an unloading source and a hoisting height in the area for each overhead crane on the display screen of the screen display means, Setting of departure / arrival work for inputting each work with time, crane performance constant for inputting crane traveling performance, transport rule including work priority, and area constant as input for dividing the area Any one of an input item including a detour point constant that is the number of detour points to be passed, and a crane work unavailable time that is a waiting time from the occurrence of work to the start of conveyance, and an operation rate total and work history, or An input item including both is displayed, and a simulation is input by the user in a preset table format for each of the input items. Define the information of conditions,
The simulation unit is configured to input the plurality of input / output coordinate constants, departure / arrival coordinate settings, crane performance constants, conveyance rules, area constants, detour point constants, and crane work unavailable time. Process the crane's work instructions and run a simulation,
The simulation result output means displays the simulation result by the simulation unit on the screen based on input information including any one or both of an operation rate total and a work history input by the user by the simulation condition input means. A crane simulator characterized by displaying in a preset format on the means . The simulation unit , based on the input information of the departure / arrival coordinate constant, crane performance constant, area constant, and detour point constant defined by the simulation condition input means, A simulation process is performed by executing an instruction for each overhead crane in the area,
Based on the input information of the transport rule, work priority order processing means for performing a process of reflecting the definition of assignable cranes and the priority order for each work type of the plurality of overhead cranes;
Interference check at the time of assigning the operation command to each overhead crane and interference check at the time of execution of the command are performed, the priority preceding crane continues to travel to the destination, and the non-priority crane does not interfere with or moves backward A crane interference processing means for performing a control process so as to be retracted ,
Transfer time processing means for performing transfer time processing in consideration of the receiving time and unloading time taking into account the winding height of the transfer location, and the required travel correction time ,
2. The crane simulator according to claim 1, further comprising operation time processing means for performing operation time processing in consideration of basic lateral travel time, steady rest time and detour loss time . Computer program, characterized in that to realize the claim 1 or the computer the functions of each unit and simulation unit crane simulator of claim 2. A computer-readable recording medium, wherein the computer program according to claim 3 is recorded.

Images