JPH0516047B2 - - Google Patents
Info
- Publication number
- JPH0516047B2 JPH0516047B2 JP61275932A JP27593286A JPH0516047B2 JP H0516047 B2 JPH0516047 B2 JP H0516047B2 JP 61275932 A JP61275932 A JP 61275932A JP 27593286 A JP27593286 A JP 27593286A JP H0516047 B2 JPH0516047 B2 JP H0516047B2
- Authority
- JP
- Japan
- Prior art keywords
- time
- automatic guided
- guided vehicle
- station
- request
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、無人搬送車運行制御装置、特に、中
央制御部において最適運行管理を行うための無人
搬送車運行制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic guided vehicle operation control device, and particularly to an automatic guided vehicle operation control device for performing optimal operation management in a central control section.
従来の無人搬送車運行制御装置はステーシヨン
から要求が出た時点で、待機状態にある無人搬送
車がある場合には、その中から最も長時間待機し
ているものか、要求ステーシヨンから最短距離に
位置しているものを選択し、また、待機状態の無
人搬送車が無い場合には、ステーシヨンを待機状
態にしておき、利用可能な無人搬送車が発生した
時点でどの要求ステーシヨンに割り当てるかを判
断するものであつた。
When a conventional automated guided vehicle operation control device receives a request from a station, if there are automated guided vehicles in standby mode, it selects the automated guided vehicle that has been waiting for the longest time or the one closest to the requesting station. Select the one that is located, and if there is no automatic guided vehicle on standby, leave the station on standby, and when an available automatic guided vehicle becomes available, determine which request station to assign it to. It was something to do.
上述した従来の無人搬送車運行制御装置は、各
無人搬送車に常に一つの仕事しか割り当てず、待
機状態の無人搬送車が存在する限り次々と仕事を
割り当てていくために、走行している無人搬送車
の台数が仕事の発生のばらつきによつて変動し、
仕事が集中すると、多数の無人搬送車が走行して
混雑し、無人搬送車の運行状態を下げるばかりで
なく、人と混在する場所では危険であるという欠
点があつた。
The conventional automated guided vehicle operation control device described above always assigns only one task to each automated guided vehicle, and assigns tasks one after another as long as there are waiting automated guided vehicles. The number of transport vehicles fluctuates depending on the variation in work generation,
When work is concentrated, a large number of automated guided vehicles are running, resulting in congestion, which not only reduces the operational status of automated guided vehicles, but also poses a danger in places where people are mixed.
本発明の無人搬送車運行制御装置は、搬送シス
テム内のあるステーシヨンから搬出要求または搬
入要求が出された時点で、走行中の全ての無人搬
送車について運行スケジユールをもとに各々の予
約済み作業完了時刻を算出する作業時刻算出手段
と、算出された時刻をもとに要求ステーシヨンへ
の到着予定時刻を予測し、それが要求時刻期限を
満足するか否かを最も遅い作業完了時刻のものか
ら順にチエツクする要求時刻判定手段と、前記要
求時刻判定手段において満足するものがあつた場
合に、該当する無人搬送車の運行スケジユールに
ロードステーシヨンまでの移動時間およびロード
ステーシヨンからアンロードステーシヨンまでの
予定移動時間を記録する予定作業記録手段と、前
記要求時刻判定手段において到着予定時刻全てが
要求ステーシヨンの時刻期限を満足しない場合
に、待機状態にある無人搬送車の運行スケジユー
ルに運行予定を記録する待機車選定手段と、選定
された無人搬送車に運行指示を与える運行指示手
段と、全ての無人搬送車が各ステーシヨンに到着
するごとに運行スケジユールを修正・更新してい
く運行管理手段とを含んで構成される。
The automatic guided vehicle operation control device of the present invention is configured to perform scheduled work for all automatic guided vehicles in operation based on the operation schedule at the time a carry-out request or carry-in request is issued from a certain station in the transport system. A work time calculation means that calculates the completion time, predicts the expected arrival time at the requesting station based on the calculated time, and determines whether the expected time of arrival at the requesting station satisfies the request time deadline starting from the latest work completion time. Request time determination means that sequentially checks the request time determination means, and if the request time determination means is satisfied, the travel time to the load station and the scheduled travel from the load station to the unload station are added to the operation schedule of the corresponding automatic guided vehicle. Scheduled work recording means for recording time; and a waiting vehicle for recording the operation schedule in the operation schedule of the automatic guided vehicle in a standby state when all the scheduled arrival times do not satisfy the time deadline of the requesting station in the requested time determination means. The system includes a selection means, an operation instruction means for giving operation instructions to the selected automatic guided vehicles, and an operation management means for correcting and updating the operation schedule every time all automatic guided vehicles arrive at each station. be done.
次に、本発明の実施例について、図面を参照し
て詳細に説明する。
Next, embodiments of the present invention will be described in detail with reference to the drawings.
第２図は本発明の基本動作を示すタイムチヤー
トで、横軸は時刻を表し、縦軸に沿つて各無人搬
送車ごとの運行スケジユールが記入されている。
横軸の原点（左端）は現在時刻であり、現時点を
支点として今後に予約されている各仕事の所要時
間を並べたものが運行スケジユールとなる。例え
ば、無人搬送車Ａでは、現在Job1を実行中で、
その予定終了時刻はt1である。さらに、Job1に引
き続き、Job2、Job3が予約されており、予約さ
れた仕事の予定終了時刻はt3である。また、無人
搬送車ＢではJob4、Job5が予定され、その予定
終了時刻はt5、無人搬送車ＣではJob6が予定さ
れ、予定終了時刻はt6である。ここで、あるステ
ーシヨンからJob7の要求があり、それをt7まで完
了させなければならないと仮定する。この時、本
発明によれば、まず、予定終了時刻の最も遅いも
の、すなち無人搬送車ＡについてJob7の完了予
定時刻を算出する−tA。しかしながら、tAはt7
は越えるために選択できず、次に予定終了時刻の
遅いもの、すなわち無人搬送車ＢについてJob7
の予定終了時刻を算出する。この場合、tBはt7
の範囲内であるので、Job7には無人搬送車Ｂが
選択され、Ｂの運行スケジユールにJob7の所要
時間が追加される。このようにして、仕事の要求
があるたびに現在の運行スケジユールをもとに、
予約済みの仕事の予定終了時刻の遅い順に新たな
仕事の予定終了時刻を算出し、それが要求時刻の
範囲内であれば、該当する無人搬送車が選択され
る。また、この要求受け付け作業と平行して、現
在時刻に変化に伴つての運行スケジユールの更新
も行われる。具体的には、スケジユール上の現在
時刻を変える（各運行スケジユールを左にソフト
する）だけでなく、各無人搬送車が各Jobを終え
るごとに予定時刻からのずれをチエツクし、誤差
がある場合には、運行スケジユールを実際の時刻
に一致させる。以上第１図で説明したように無人
搬送車の運行を制御することによつて、最も忙し
い無人搬送車が次々と仕事をこなしていき、その
無人搬送車が要求を満足できない時にのみ他の無
人搬送車の応援を求めるようになる。 FIG. 2 is a time chart showing the basic operation of the present invention, in which the horizontal axis represents time, and the operating schedule for each automatic guided vehicle is written along the vertical axis.
The origin (left end) of the horizontal axis is the current time, and the operation schedule is a list of the required times for each job booked in the future with the current time as the fulcrum. For example, automatic guided vehicle A is currently executing Job1.
Its scheduled end time is t1. Further, following Job1, Job2 and Job3 are reserved, and the scheduled end time of the reserved jobs is t3. Further, Job4 and Job5 are scheduled for automatic guided vehicle B, and their scheduled end time is t5, and Job6 is scheduled for automatic guided vehicle C, and the scheduled end time is t6. Assume here that there is a request for Job7 from a certain station, and that it must be completed by t7. At this time, according to the present invention, first, the scheduled completion time of Job7 is calculated for the one with the latest scheduled end time, that is, the automatic guided vehicle A -tA. However, tA is t7
cannot be selected to pass, and Job7 with the next later scheduled end time, that is, automated guided vehicle B.
Calculate the scheduled end time. In this case, tB is t7
Since it is within the range of , automatic guided vehicle B is selected for Job7, and the required time of Job7 is added to the operation schedule of B. In this way, each time there is a request for work, based on the current schedule,
The scheduled end times of new jobs are calculated in descending order of the scheduled end times of the reserved jobs, and if the scheduled end times are within the requested time range, the corresponding automatic guided vehicle is selected. In addition, in parallel with this request acceptance work, the operation schedule is updated in accordance with changes in the current time. Specifically, in addition to changing the current time on the schedule (move each operation schedule to the left), we also check the deviation from the scheduled time each time each automated guided vehicle finishes each job, and if there is an error. To match the schedule to the actual time. As explained above in Figure 1, by controlling the operation of automatic guided vehicles, the busiest automatic guided vehicle can complete tasks one after another, and only when the unmanned automatic guided vehicle cannot satisfy the requirements, other unmanned guided vehicles They begin to request support from transport vehicles.
第１図は、本発明による制御装置の基本プロツ
ク図で、まず、ステーシヨンからの搬出入要求１
があると、作業時刻算出手段３は運行スケジユー
ル２を用いて現在予約されている仕事の予定終了
時刻を各無人搬送車について算出する。次に、要
求時刻判定手段４では、作業時刻算出手段３で算
出された予定終了時刻の遅い無人搬送車から順
に、要求のあつた仕事についてその終了予定時刻
を算出し、要求期限を満足するかどうかチエツク
する。このチエツクで満足するものがあつた場合
には、予定作業記録手段５において、該当する無
人搬送車の運行スケジユール２に要求のあつた仕
事の終了時間を追加する。また、前記要求時刻判
定手段におけるチエツクを満足する無人搬送車が
ない場合には、待機車選択手段６において現在待
機状態にある無人搬送車を選択し、その運行スケ
ジユールに要求された仕事を追加する。次に、運
行指示手段７では、前記予定作業記録手段５また
は前記待機車選択手段６で選択された無人搬送車
に対して要求のあつた仕事の指示を与える。さら
に、運行管理手段９では、現在時刻の変化を運行
スケジユール２に刻々記録すると同時に無人搬送
車が各以後を終えるごとに運行スケジユール内の
予定終了時刻を修正して実際の無人搬送車の運行
にあわせていく。 FIG. 1 is a basic block diagram of the control device according to the present invention.
If so, the work time calculation means 3 uses the operation schedule 2 to calculate the scheduled end time of the currently reserved work for each automatic guided vehicle. Next, the requested time determination means 4 calculates the scheduled end times of the requested tasks in order of the automatic guided vehicle having the later scheduled end time calculated by the work time calculating means 3, and determines whether the requested deadline is satisfied. Please check it out. If this check is satisfactory, the scheduled work recording means 5 adds the requested work completion time to the operation schedule 2 of the corresponding automatic guided vehicle. Furthermore, if there is no automatic guided vehicle that satisfies the check in the requested time determination means, the automatic guided vehicle that is currently on standby is selected in the waiting vehicle selection means 6, and the requested work is added to its operation schedule. . Next, the operation instruction means 7 gives instructions for the requested work to the automatic guided vehicle selected by the scheduled work recording means 5 or the waiting vehicle selection means 6. Furthermore, the operation management means 9 records changes in the current time in the operation schedule 2 moment by moment, and at the same time adjusts the scheduled end time in the operation schedule each time the automatic guided vehicle completes each subsequent step, so as to adjust the actual operation of the automatic guided vehicle. I'll match it.
〔発明の効果〕
本発明の無人搬送車運行制御装置は、常に最少
の無人搬送車を動かすように制御するので、無人
搬送車の混雑が緩和することができるので、高能
率の運行管理、ならびに人に対する安全性の向上
が計られるという効果がある。[Effects of the Invention] The automatic guided vehicle operation control device of the present invention controls so that the minimum number of automatic guided vehicles are always moved, so congestion of automatic guided vehicles can be alleviated, and highly efficient operation management and This has the effect of improving safety for people.
第１図は本発明の一実施例を示すブロツク図、
第２図は第１図に示す無人搬送車運用制御装置の
基本動作を示すタイムチヤートである。
１……搬出入要求、２……運行スケジユール、
３……作業時刻算出手段、４……要求時刻判定手
段、５……予定作業記録手段、６……待機車選択
手段、７……運行指示手段、８……無人搬送車、
９……運行管理手段。
FIG. 1 is a block diagram showing one embodiment of the present invention;
FIG. 2 is a time chart showing the basic operation of the automatic guided vehicle operation control device shown in FIG. 1... Loading/unloading request, 2... Operation schedule,
3...Work time calculation means, 4...Required time determination means, 5...Scheduled work recording means, 6...Standby vehicle selection means, 7...Operation instruction means, 8...Automated guided vehicle,
9...Operation management means.
Claims (1)
要求または搬入要求が出された時点で、走行中の
全ての無人搬送車について運行スケジユールをも
とに各々の予約済み作業完了時刻を算出する作業
時刻算出手段と、算出された時刻をもとに要求ス
テーシヨンへの到着予定時刻を予測し、前記到着
予定時刻が要求時刻期限を満足するか否かを最も
遅い作業完了時刻のものから順にチエツクする要
求時刻判定手段と、前記要求時刻判定手段におい
て満足するものがあつた場合に、該当する無人搬
送車の運行スケジユールにロードステーシヨンま
での移動時間およびロードステーシヨンからアン
ロードステーシヨンまでの予定移動時間を記録す
る予定記録手段と、前記要求時刻判定手段におい
て到着予定時刻全でが要求ステーシヨンの時刻期
限を満足しない場合に、待機状態にある無人搬送
車の運行スケジユールに運行予定を記録する待機
車選定手段と、選定された無人搬送車に運行指示
を与える運行指示手段と、全ての無人搬送車が各
ステーシヨンに到着するごとに運行スケジユール
を修正・更新していく運行管理手段とを含むこと
を特徴とする無人搬送車の運行制御装置。1. A work time calculation means that calculates each reserved work completion time for all the running automatic guided vehicles based on the operation schedule at the time a carry-out request or carry-in request is issued from a certain station in the transport system. , request time determination means for predicting the scheduled arrival time at the requesting station based on the calculated time, and checking whether the scheduled arrival time satisfies the requested time deadline in order from the latest work completion time. and a schedule recording means for recording the travel time to the loading station and the scheduled travel time from the loading station to the unloading station in the operation schedule of the corresponding automatic guided vehicle if the requested time determination means is satisfied. and a waiting vehicle selection means for recording the operation schedule in the operation schedule of the automatic guided vehicle in the waiting state when all the scheduled arrival times in the request time determination means do not satisfy the time limit of the requesting station. An automatic guided vehicle characterized by comprising an operation instruction means for giving operation instructions to the automatic guided vehicle, and an operation management means for correcting and updating the operation schedule every time all the automatic guided vehicles arrive at each station. Operation control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61275932A JPS63128404A (en) | 1986-11-18 | 1986-11-18 | Operation control device for unmanned carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61275932A JPS63128404A (en) | 1986-11-18 | 1986-11-18 | Operation control device for unmanned carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63128404A JPS63128404A (en) | 1988-06-01 |
| JPH0516047B2 true JPH0516047B2 (en) | 1993-03-03 |
Family
ID=17562435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61275932A Granted JPS63128404A (en) | 1986-11-18 | 1986-11-18 | Operation control device for unmanned carrier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63128404A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW276353B (en) * | 1993-07-15 | 1996-05-21 | Hitachi Seisakusyo Kk |
-
1986
- 1986-11-18 JP JP61275932A patent/JPS63128404A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63128404A (en) | 1988-06-01 |
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