JPH10254545A - Control method and simulation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the operations of plural equipments to be controlled by a simple program and to quickly cope with even an unscheduled event. SOLUTION: A controller 1 composed of parallel processing computers detects an obstacle by obstacle detection signals 1011 -101n and independently controls respective automatic carriers 101 -10n by respective processors 71 -7n by driving signals 1021 -102n . Thus, the respective automatic carriers 101 -10n are controlled by the simple program and coping is quickly performed even when the respective automatic carriers 101 -10n encounter an unexpected obstacle during movement.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of controlling a controller for controlling a plurality of controlled devices that operate simultaneously and independently, and a simulation method for simulating the controlled devices by software.

[0002]

2. Description of the Related Art In a conventional control method, the operation of each device to be controlled is controlled by one processor. In a conventional simulation method, a plurality of devices to be controlled are controlled by one processor.
Simulated by two processors. When a plurality of control target devices are controlled by one processor, a control procedure is created in advance before actual control is performed, and each control target device is controlled according to the control procedure. However, since the creation of the control procedure is performed by modeling and calculating the operation of all the devices to be controlled, the program for creating the control procedure is very complicated. In addition, when an unplanned event such as a failure of a device to be controlled or a new obstacle occurs, it is necessary to create the entire control procedure again, so that the time required for recovery from the failure is long.

When a plurality of controlled devices are simulated by one processor, it is difficult to simulate a system in which a plurality of controlled devices operate independently by one processor, and the program is very complicated. Had become. In addition, since the response time to the controller varies depending on the number of controlled devices to be simulated, it is necessary to adjust the response time to the controller according to the number of controlled devices to be simulated, and the control target that can simulate The number of devices was limited.

[0004]

The above-described conventional control method and simulation method have the following problems. (1) In the conventional control method, a program for creating a control procedure becomes very complicated. (2) In the conventional control method, when an unplanned event occurs, the time required for recovery is long. (3) In the conventional simulation method, since the response time to the controller changes depending on the number of controlled devices to be simulated, the number of controlled devices that can be simulated is limited. (4) In the conventional simulation method, the program for performing the simulation is very complicated.

An object of the present invention is to provide a control method capable of controlling a plurality of controlled devices with a simple program and quickly responding to an unplanned event. An object of the present invention is to provide a simulation method capable of performing a simulation in which a response time to a controller does not change even if the number increases, with a simple program.

[0006]

In order to achieve the above object, a control method according to the present invention is directed to a control method for controlling the operation of a plurality of controlled devices that operate simultaneously and independently. Using a parallel processing computer in which the same number of processors operate in parallel, each of the processors controls the operation of each of the controlled devices according to the set operation schedule of each of the controlled devices, and each of the processors controls each of the controlled objects. State data indicating the current state of the device is collected for each calculation cycle, and when a failure in the operation of each of the controlled devices is detected from the collected state data and the operation schedule, the failure is avoided. The operation of each of the control target devices is controlled.

According to the present invention, each controlled device is made to correspond to each processor of the parallel processing computer, and each processor independently controls each controlled device and monitors the state of each controlled device for each operation cycle. When an obstacle in operation of each control target device is detected, each control target device is controlled so as to avoid the obstacle. Therefore, each control target device can be controlled by a simple program, and even if an unexpected event is encountered during the control of each control target device, it is possible to respond quickly. Also,
The control method of the present invention is a control method for controlling the operation of a plurality of automatic transport vehicles that operate simultaneously and independently, wherein a parallel processing computer in which the same number of processors as the automatic transport vehicles operate in parallel is used. Calculates the movement route of each of the automatic transport vehicles based on the set data, and outputs an instruction to move the travel route to each of the automatic transport vehicles. When it is detected that the moving path is blocked by an object, if the obstacle is another automatic transport vehicle, the automatic transport vehicle corresponding to the priority order of the transported product being transported by the automatic transport vehicle and the corresponding automatic transport vehicle is transported. The present invention is characterized in that the priority is compared with the priorities of the conveyed products, and an instruction to preferentially convey the higher conveyed products is output to the corresponding automatic conveyance vehicle.

According to the present invention, each automatic transport vehicle is independently controlled by each processor of the parallel processing computer. If the automatic transport vehicle encounters another automatic transport vehicle while moving, the automatic transport vehicle is transported. The priority of the conveyed product being transported is compared with the priority of the conveyed product being conveyed by the automatic conveyance vehicle, and the automatic conveyance vehicle is controlled so as to preferentially convey the higher conveyed product. It is like that. Therefore, each automatic transport vehicle can be controlled with a simple program, and even if an unexpected obstacle is encountered during the movement of each automatic transport vehicle, it is possible to quickly respond. Further, the control method of the present invention is a control method for controlling the operation of a plurality of overhead cranes that operate independently and simultaneously to transfer an object to be transferred to a target location,
Using a parallel processing computer in which the same number of processors as the overhead cranes operate in parallel, the processors output operation commands to the overhead cranes in accordance with the set transfer schedule of the transfer target, and the processors are each The position, speed, and acceleration data of each overhead crane are collected for each calculation cycle, and the collected position, speed, and position, speed, and unit speed of each of the overhead cranes after unit time are collected from the acceleration data.
Determine the acceleration, the position after the unit time determined by the collision determination means, speed, acceleration, and the position of the transfer target,
The collision of an overhead crane among the overhead cranes is predicted based on the transfer target data including the shape data, the position of the obstacle within the range where the overhead cranes can be transported, and the obstacle data including the shape data. And outputting an avoidance command to the processor corresponding to the overhead crane in which a collision is expected among the processors according to the priority of the transfer target at the time of collision avoidance determined from the transfer schedule, and outputting the avoidance command. The processor controls an operation of a corresponding overhead crane to avoid a collision.

According to the present invention, each overhead crane is independently controlled by each processor of the parallel processing computer, and the position, speed, and acceleration of the overhead crane are collected as data by each processor, and the collected data and transfer are collected. When a collision of a certain overhead crane is predicted from the object data and the obstacle data, each overhead crane is controlled so as to avoid the collision according to the priority of collision avoidance determined from the transfer schedule. It is. Therefore, each overhead crane can be controlled with a simple program, and even if an unexpected obstacle is encountered during the operation of each overhead crane, it is possible to quickly respond. In order to achieve the above object, a simulation method according to the present invention is directed to a simulation method for simulating the operation of a controlled device controlled by a controller and operating independently and simultaneously, wherein a parallel processing computer in which a plurality of processors operate in parallel. By using the time condition, the position condition, the operating characteristic parameters of each control target device consisting of conditions indicating the relationship with other control target devices are set in each of the processors that simulate, and each of the control targets is set in each of the processors. Recognition number for each device, elapsed time after receiving the command from the controller, set a data group consisting of status information, each processor receives the operation command from the controller, the data group and the operation characteristic parameters Calculating the current state of each controlled device using the processor It characterized this and outputting the operation result to each of the controller.

According to the present invention, a time condition for each control target device,
By setting an operation characteristic parameter consisting of a position condition and a condition indicating a relationship with another controlled device to each processor of the parallel processing computer, each processor can independently simulate the operation of each controlled device. When a command is input from the controller, each processor calculates a data group, which is information on the state of each device to be simulated, using the operation characteristic parameters, and updates the data group, which is information on the current state, with the operation characteristic parameters. Output to the controller. Therefore, the operation of each controlled device can be simulated with a simple program, and the response time to the controller controlling each controlled device does not change depending on the number of controlled devices to be simulated. The number of controllable devices that can be controlled is not limited.

[0011] The simulation method of the present invention further comprises:
In a simulation method for simulating the operation of each control target unit of an electronic component mounting machine that operates simultaneously and independently controlled by a controller, a plurality of processors operate in parallel using a parallel processing computer, and a time condition, a position condition, An operation characteristic parameter of each control target unit, which is a condition indicating a relationship with another control target unit, is set in each of the processors that simulates, and a recognition number for each control target unit of the electronic component mounting machine is assigned to each processor. An elapsed time after receiving a command from the controller, a data group including state information is set, and each processor receives an operation command from the controller and performs a simulation using the data group and the operation characteristic parameter. Calculate the current state of each control target part of the component mounting machine,
The processor outputs the calculation results to the controller.

According to the present invention, an operation characteristic parameter including a time condition, a position condition, and a condition indicating a relationship with another control target unit for each control target unit of the electronic component mounting machine is set in each processor of the parallel processing computer. This allows each processor to independently simulate the operation of the control target unit of each electronic component mounting machine, and when an operation command is input from the controller, each processor simulates the state of each simulated control target unit. A data group as information is calculated using an operation characteristic parameter, updated to a data group as current state information, and output to the controller.
Therefore, it is possible to simulate the operation of each control target unit of the electronic component mounting machine with a simple program,
The number of controlled parts of the electronic component mounting machine that can be simulated without changing the response time to the controller is not limited by the number of controlled parts to be simulated.

[0013] The simulation method of the present invention includes:
In a simulation method for simulating the operation of an elevator that operates independently and simultaneously controlled by a controller, using a parallel processing computer in which a plurality of processors operate in parallel, the speed condition of each elevator, the number of elevators, and other elevators The operating characteristic parameters for each elevator consisting of conditions indicating the relationship are set in each of the processors that simulate, the identification numbers for each of the elevators in each of the processors, the elapsed time since receiving a command from the controller, A data group consisting of state information is set, and when each processor receives a movement command from the controller, the respective processors calculate the current state of each elevator using the data group and the operation characteristic parameters, and the processor calculates the calculation results respectively. Output to the controller This and said.

According to the present invention, each processor is independently set by setting an operation characteristic parameter including a speed condition of each elevator, a condition of the number of elevators, and a condition indicating a relationship with another elevator in each processor of the parallel processing computer. When simulating the operation of each elevator and inputting an operation command from the controller, each processor calculates a data group which is information on the state of each elevator being simulated using the operation characteristic parameters, and calculates the current state. Is updated to a data group which is the information of the above and output to the controller. Therefore, the operation of each elevator can be simulated with a simple program, and the number of elevators that can be simulated without changing the response time to the controller that controls each elevator is limited by the number of elevators to be simulated. Not done.

[0015]

Next, an embodiment of the present invention will be described in detail with reference to the drawings. (First Embodiment) FIG. 1 is a block diagram showing a configuration of a control method according to a first embodiment of the present invention. In this embodiment,
A plurality of automatic transport vehicles are controlled by a control method using a parallel processing computer. The automatic transport trolley automatically transports a specified transported product to a specified destination. The method of this embodiment includes a data setting device 3, a controller 1, n pieces of automatic transport vehicle 10 ₁ -
10 _n . The data setting device 3 inputs data such as a type of a conveyed product to be conveyed by the automatic conveyance carts 10 ₁ to 10 _{n, a} target value thereof, and a priority of the conveyed product, and outputs the data as setting data 103.

The controller 1 comprises a parallel processing computer, and has the same number of processors 7 _{1 as the} number of the automatic transport vehicles 10 ₁ to 10 _n.
To _7-n is composed of a processor 7 ₁ to _7-n are each automatic conveyance carriage 1 by the data set by the setting data 103
The movement paths of 0 ₁ to 10 _n are calculated, and drive signals 102 _{1 to} 102 _n are output to move the movement paths. Then, the processor 7 ₁ to _7-n, the obstacle detection signal 1
The 01 ₁ to 101 _n, the automatic transport vehicle 10 ₁ to 10 _n detects that the moving path has been blocked by some obstruction, if the obstacle is another automatic transport vehicle, and transported the automatic transport vehicle The priority of the transported product being transported is compared with the priority of the transported product transported by the connected automatic transport vehicle, and the priority of the transported product transported by the connected automatic transport vehicle is higher. In such a case, drive signals 102 _{1 to} 102 _n are output so as to move the set moving route as it is. If the priority of the conveyed goods being conveyed by the connected automatic conveyance vehicle is lower, the apparatus waits for one operation cycle (frame) as it is, and again receives the data of the failure detection signals 101 _{1 to} 101 _n . Enter Then, when no obstacle is detected, the driving signals 102 _{1 to} 102 _n are output so as to directly move on the set moving route,
When an obstacle is detected, another driving route is selected and drive signals 102 _{1 to} 102 _n for moving to the moving route are output.

The automatic transport vehicle 10 ₁ to 10 _n is composed of a photosensor or the like, the obstacle of the destination is detected the sensor unit 2 ₁ outputs an obstacle detection signal 101 ₁ to 101 _n
２2 _n and the drive signals 102 _{1 to} 102 _n ,
Drive units 4 ₁ to 4 _n for moving the automatic transport carts 10 ₁ to 10 _n
It is composed of Next, the operation of the present embodiment will be described with reference to FIG. First, the data setting device 3
Data such as the type of transported articles transported by each of the automatic transport vehicles 10 ₁ to 10 _n , their target values, and the priorities of the transported articles are output as setting data 103. Processor 7 ₁ ~7 _n
Calculates the moving paths of the respective automatic transport vehicles 10 ₁ to 10 _{n based on} the data set by the setting data 103 and drives the driving signals 102 ₁ to 102 ₁ to move the moving paths.
102 _n is output. Therefore, the driving portions 4 ₁
4 _n operates according to the instructions of the drive signals 102 _{1 to} 102 _n ,
The automatic transport carts 10 ₁ to 10 _n transport the designated transport articles to the respective destinations.

[0018] Then, the processor 7 ₁ to _7-n monitors constantly obstacle detection signal 101 ₁ to 101 _n (step 20
1), the obstacle detection signal 101 ₁ to 101 _n, the automatic transport vehicle 10 ₁ to 10 _n detects that the moving path has been blocked by some obstruction (step 202), automatic transfer the obstacle is another In the case of a trolley, the priority of the conveyed product conveyed by the automatic conveyance trolley is compared with the priority of the conveyed product conveyed by the connected automatic conveyance trolley (steps 203 and 204). If the priority order of the conveyed goods being conveyed by the automatic conveyance trolley is higher, the drive signal 10 for moving the set moving route as it is is used.
And outputs a 2 ₁ to 102 _n (step 206). When the priority of the conveyed product being conveyed by the connected automatic conveyance vehicle is lower, the process waits for one operation cycle (frame) as it is (step 207), and the failure detection signals 101 ₁ to 101 _{1 are} again output. The data of 101 _n is input and it is confirmed whether or not there is an obstacle (steps 208 and 209). And
If no obstacle is detected, drive signals 102 _{1 to} 102 _n are output so as to move along the set moving route as it is (step 206). If an obstacle is detected, another moving route is selected and the moving route is selected. The driving signals 102 _{1 to} 102 _n for moving to the moving path are output (step 210).
Therefore, each of the movable carts 10 ₁ to 10 _n can convey the specified conveyed article to the destination while avoiding the obstacle.

In the present embodiment, each of the automatic transport vehicles 10 ₁ to 10 _1-
The 10 _n, because it is controlled independently by the processor 7 ₁ to _7-n of the controller 1 comprising a parallel processing computer, it is possible to control the automatic transport vehicle 10 ₁ to 10 _n by a simple program, also Even if you encounter an unexpected obstacle while moving, you can respond quickly. Therefore, an efficient automatic conveyance vehicle control system can be constructed. (Second Embodiment) FIG. 3 is an external view of an electronic component mounting machine, and FIG. 4 is a block diagram showing a configuration of a simulation method according to a second embodiment of the present invention. The electronic component mounting machine shown in FIG. 2 includes a conveyor 32 for transporting a substrate 31 on which electronic components are mounted to a position where electronic components are mounted, a component supply cartridge 33, a rotary head 34 for mounting electronic components on the substrate 31, and a rotary head. Substrate 31 to mounting point of head 34
And a positioning servomotor 35 for moving the.

When mounting electronic components, the substrate 31 is first placed on a conveyor 32 and transported to a mounting position for electronic components. At the same time, rotary head 3
4 receives the electronic component from the component supply cartridge 33,
Move to the electronic component mounting position. Then, the positioning servomotor 35 moves the substrate 31 to the mounting point of the rotary head 34, and the rotary head 34
1 mounts electronic components. Thereafter, the mounting of the electronic components is repeated while the positioning servomotor 35 and the rotary head 34 are synchronized. FIG. 4 shows a controller 41 for controlling the electronic component mounting machine shown in FIG. 3, a simulation device 42 for evaluating the controller 41 instead of an actual electronic component mounting machine when developing the controller 41, and an operation performed by the simulation device 42. FIG. 4 is a diagram illustrating an operation characteristic parameter setting unit 47 that outputs a characteristic parameter 48.

The simulation device 42 comprises a parallel processing computer and comprises processors 43 to 46. The processor 43 simulates the operation of the conveyor 32 in FIG. 3, the processor 44 simulates the operation of the component supply cartridge 33, the processor 45 simulates the operation of the rotary head 34, and the processor 46 controls the positioning servomotor 35. Simulate the behavior of Further, each of the processors 43 to 46 is processed at a predetermined calculation cycle, and each of the processors 43 to 46 has a recognition number, an elapsed time,
It has a data group consisting of control target device states (ON / OFF). The operation characteristic parameter setting unit 47 includes the conveyor 32, the component supply cartridge 33, and the rotary head 3.
4. An operation characteristic parameter 48, which is a parameter for determining operation characteristics such as an operation time of the positioning servomotor 35 and an installed position, is output to each of the processors 43 to 46.

Next, the operation of this embodiment will be described with reference to FIG. First, the operation characteristic parameter setting unit 47
Thus, the operating characteristic parameters 48 of the conveyor 32, the component supply cartridge 33, the rotary head 34, and the positioning servomotor 35, which are the control target devices, are output to the processors 43 to 46, respectively. Processor 43-4
In step 6, the operation characteristics of each control target device to be simulated are set by inputting the operation characteristic parameters 48. When the simulation is started and the controller 41 issues an operation command to each of the processors 43 to 46,
Each of the processors 43 to 46 determines whether or not to change the state based on the received operation command, the internal elapsed time, and the set operation characteristic parameter, and transmits the determination result to the controller 41.

This operation is repeated to simulate the electronic component mounting machine. In the present embodiment, since the operation of each unit of the electronic component mounting machine is independently simulated by each processor of the parallel processing computer, the operation of each unit of the electronic component mounting machine can be simulated with a simple program. . Further, since the response time to the controller 41 does not change even if the number of control target devices to be simulated, that is, the number of processors of the simulation device 42 is increased, the number of parts of the electronic component mounting machine that can be simulated is not limited. Third Embodiment FIG. 5 is a block diagram showing a configuration of an elevator system, and FIG. 6 is a block diagram showing a configuration of a simulation method according to a third embodiment of the present invention.

According to the simulation method of this embodiment, in an elevator system in which a plurality of elevators operate independently, the operation of each elevator is simulated by a parallel processing computer, and the parameters such as the moving speed of the elevator, the number of elevators, etc. It determines the most efficient parameters. First, the elevator system of FIG. 5 will be described. This elevator system has a configuration of 17 floors, and includes main elevators 56 to 59, sub elevators 61 to 68, and sub elevators 65 to 68.
Shaft 51 for moving the main elevator 5
It comprises shafts 52 and 53 for moving 6 to 59 and a shaft 54 for moving sub-elevators 61 to 64.

The main elevators 56 to 59 circulate in the shafts 52 and 53 in a certain direction and can be stopped only at the fifth, fifth and fifteenth floors of the shafts 51 and 54. Therefore, when the main elevators 56 to 59 are in a state of waiting for a command, 5, 10, and
Waiting on any of the 15th floor. In FIG. 5, the main elevator 56 is in a state of stopping at the tenth floor of the shaft 51. Also, the main elevator 56 ~
Similarly, the shaft 5 is used when a person gets on or off or when the vehicle is temporarily evacuated when being overtaken by another main elevator.
1 and 54. Sub-elevators 61-68
Moves between floors where the main elevators 56 to 59 stop, and one sub-elevator is installed in each interpolation range and can stop at each floor. For example, the sub-elevator 64 moves only in the interpolation range of the first to fourth floors of the shaft 54. In addition, sub-elevators 61 to
68 waits around the floor where the main elevator stops.

Next, a method of simulating the elevator system shown in FIG. 5 will be described with reference to FIG. The simulation method according to the present embodiment is performed using a simulation device 71 for simulating the operation of the elevator system and a parameter input device 79 for setting parameters of the elevator system. In this simulation, it is assumed that n main elevators and m sub-elevators are controlled. The simulation device 71 includes a parallel processing computer, and includes a command management processor 72, a main elevator command processor 73, a sub elevator command processor 74, a control parameter management processor 75, control model calculation processors 76 _{1 to} 76 _n , Model calculation processor 7
7 _{1 to} 77 _m , an overall management processor 78, and a parameter input device 79.

When a command for movement is input, the command management processor 72 determines a route for the command for movement in consideration of the current position information of the main elevator and the sub-elevator and outputs the command. The main elevator command processor 73 inputs an instruction for the main elevator from the command management processor 72, selects a main elevator for executing the instruction, and selects a selected main elevator among the control model calculation processors 76 _{1 to} 76 _n. Is transmitted to the control model calculation processor corresponding to. The sub-elevator command processor 74 inputs an instruction for the sub-elevator from the command management processor 72, selects a sub-elevator for executing the instruction, and selects the selected sub-elevator among the control model calculation processors 77 _{1 to} 77 _m. Is transmitted to the control model calculation processor corresponding to.

The control parameter management processor 75 includes: a control parameter input from the parameter input device 79;
The current position information of the main elevator and the sub-elevator input from the central management processor 78 is output to the command management processor 72. Control model calculation processor 7
6 _{1 to} 76 _n are provided by the same number as the main elevator, and the identification number of the corresponding main elevator, the current position,
It has a data group such as a destination position and an elapsed time, and updates the data group according to an instruction from the main elevator command processor 73. Then, the updated data group is output to the overall management processor 78. The control model calculation processors 77 _{1 to} 77 _m are provided by the same number as the sub-elevators, have data groups such as the identification numbers of the corresponding sub-elevators, the current position, the destination position, the elapsed time, and the like. The data group is updated according to the instruction. Then, the updated data group is output to the overall management processor 78.

The general management processor 78 grasps the state of the entire elevator system from the data groups from the control model calculation processors 76 _{1 to} 76 _n and 77 _{1 to} 77 _m, and converts the position information of each main elevator and sub elevator into control parameters. Output to the management processor 75. The parameter input device 79 outputs control parameters such as a movement command, a speed condition, and the number of main elevators and sub-elevators to the control parameter management processor 75. Next, the operation of the present embodiment will be described with reference to FIG. First, parameters such as a speed condition and the number of main elevators and sub-elevators are input by the parameter input device 79 and transmitted to the control parameter management processor 75.

In the control parameter management processor 75,
The control parameters input from the parameter input device 79 and the current position information of the main elevator and the sub-elevator input from the general management processor 78 are output to the command management processor 72. Command management processor 72
Then, when a movement command is input, the route for the movement command is determined in consideration of the current position information of the main elevator and the sub-elevator, and the instruction is output. Here, when moving both the main elevator and the sub elevator, an instruction is issued to both the main elevator command processor 73 and the sub elevator command processor 74. Then, the main elevator command processor 73 inputs an instruction to the main elevator from the command management processor 72, selects a main elevator for executing the instruction, and selects one of the control model calculation processors 76 _{1 to} 76 _n . An instruction is transmitted to a control model calculation processor corresponding to the main elevator.

The sub elevator command processor 74
Then, an instruction to the sub elevator from the command management processor 72 is input, a sub elevator to execute the instruction is selected, and the control model calculation processor 77 ₁
An instruction is transmitted to the control model calculation processor corresponding to the selected sub-elevator out of ~ 77 _m . In the control model processor selected by the main elevator command processor 73 among the control model calculation processors 76 _{1 to} 76 _n , the main elevator command processor 7
3 to update the data group. Then, the data group is output to the overall management processor 78. The control model calculation processor selected by the sub elevator command processor 74 among the control model calculation processors 77 _{1 to} 77 _m updates the data group in accordance with the instruction from the sub elevator command processor 74. Then, the data group is output to the overall management processor 78.

In the general management processor 78, the control model
Calculation processor 76₁~ 76_n, 77 ₁~ 77_mDay from
The status of the entire elevator system is grasped by
Controls the position information of the main elevator and sub elevator
Control parameter management processor 75. Above
The control of each elevator is performed by repeating the process
It is. In this embodiment, the elevator operates efficiently
The movement command is set for each elevator to determine whether
Count the time from moving
It is evaluated by calculating the time. Therefore, para
The control parameters are changed by the meter input device 79, and the
Find control parameters that minimize the average time.
It is possible to design an optimal elevator system
it can.

[0033] In the present embodiment, the control model computation processor 76 _1-7 to simulate the operation of the elevator
Since 6 _n and 77 _{1 to} 77 _m are constituted by parallel processing computers, the calculation of each simulation is extremely simplified, and the simulation can be easily performed. (Fourth Embodiment) FIG. 7 is a block diagram showing a configuration of a control method according to a fourth embodiment of the present invention. In the control method according to the present embodiment, the controller 90 operates the overhead crane 80 ₁ according to an external command input from the operator input / output unit 85.
８０80 _{n This} is to control while avoiding a collision between competitors. The controller 90 is composed of a parallel processing computer and has the same number of processors 84 ₁ to 8 as the overhead cranes 80 ₁ to 80 _n.
4 _n is performing parallel computation.

The controller 90 outputs an operation command for operating the overhead cranes 80 ₁ to 80 _{n based} on the transfer schedule data and the avoidance command.
_1-81 and _n, the position of the ceiling crane 80 ₁ ~80 _n, speed,
A real-time data collection unit 82 _{1 to} 82 _n that collects acceleration data for each calculation cycle, and a position, a speed, and an acceleration of each of the overhead cranes 80 ₁ to 80 _n after a unit time are obtained from the collected position, speed, and acceleration data. respectively constituted processor 84 ₁ -84 _n and a movement prediction unit 83 ₁ to 83 _n and output as the prediction result, the position of the transfer object is input from the operator input unit 85, the shape data as the transport object data The transfer object data management unit 87 to be output and the overhead crane 80 ₁ input from the operator input / output unit 85
Position of to 80 _n is an obstacle in the range transportable, obstacle data management unit 89 outputs the shape data as an obstacle data
And a transfer schedule management unit 86 that creates a transfer schedule of the transfer target object and outputs it as transfer schedule data in accordance with an external command input from the operator input / output unit 85, and determines a priority for collision avoidance from the transfer schedule data. a priority determination unit 88, the expected result, the transfer object data, a collision performs collision determination from the obstacle data is expected, instruction unit 81 ₁ to the avoidance command in accordance with priority determined by the priority determining unit 88 81 _n , respectively, and a collision determination unit 91 that outputs the results to the respective units 81 _n .

Next, the operation of this embodiment will be described.
First, when an external command is input from the operator input / output unit 85, the transfer schedule management unit 86 creates a transfer schedule for transferring the transfer target to the target location, and outputs it as transfer schedule data. For this reason, the command units 81 _{1 to} 81 _n output operation commands according to the transfer schedule data, so that the overhead cranes 80 ₁ to 81 _n are output.
Operate 80 _n . Then, the real-time data collection units 82 _{1 to} 82 _n collect the position, speed, and acceleration data of the overhead cranes 80 ₁ to 80 _n for each calculation cycle. The operation prediction unit 83 ₁ to 83 _n, the collected position, velocity, position after a unit time of each overhead crane 80 ₁ to 80 _n from the acceleration data, speed, and outputs the predicted result determined acceleration.

The priority determining section 88 determines the priority at the time of collision avoidance from the transfer schedule data and transmits the priority to the collision determining section 91. Transfer object data management unit 8
7, the position and shape data of the transfer target input from the operator input / output unit 85 are output as transfer target data. The obstacle data management unit 89 outputs the overhead crane 80 ₁ input from the operator input / output unit 85. The position and shape data of the obstacle within a range in which .about.80 _n can be transferred are output as obstacle data. The collision determination unit 91, the expected result, the transfer object data, performs collision determination from the obstacle data, if there is a ceiling crane 80 ₁ to 80 _n a collision is predicted, the avoidance command by the priority order determination unit 88 according to the determined order of priority and outputs the instruction unit 81 ₁ to 81 _n corresponding to the overhead crane 80 ₁ to 80 _n.

For this reason, the command section 81 which has input the avoidance command
₁ to 81 _n is the collision of the ceiling crane 80 ₁ to 80 _n for outputting an operation command such as to avoid a collision is avoided. According to this embodiment, in a system in which a plurality of objects to be transferred are simultaneously transferred by a plurality of overhead cranes, the plurality of overhead cranes can be controlled by a simple program.

[0038]

As described above, the present invention has the following effects. (1) The control method of the present invention can control a plurality of control target devices with a simple program. (2) The control method of the present invention can quickly respond to unplanned events. (3) In the simulation method of the present invention, since the response time to the controller does not change even if the number of controlled devices to be simulated increases, the number of controlled devices to be simulated is not limited. (4) In the simulation method of the present invention, the simulation can be performed by a simple program.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a control method according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing the operation of processors 7 _{1 to} 7 _{n in} FIG. 1;

FIG. 3 is an external view of an electronic component mounting machine.

FIG. 4 is a block diagram illustrating a configuration of a simulation method according to a second embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of an elevator system.

FIG. 6 is a block diagram illustrating a configuration of a simulation method according to a third embodiment of the present invention.

FIG. 7 is a block diagram illustrating a configuration of a control method according to a fourth embodiment of the present invention.

[Explanation of symbols]

Reference Signs List 1 controller 2 _{1 to} 2 _n sensor unit 3 data setting device 7 _{1 to} 7 _n processor 9 setting data 10 ₁ to 10 _n automatic transport trolley 31 substrate 32 conveyor 33 component supply cartridge 34 rotary head 35 positioning servo motor 41 controller 42 simulation Apparatus 43 to 46 Processor 48 Operating characteristic parameter 51 to 54 Shaft 56 to 59 Main elevator 61 to 68 Sub elevator 71 Simulation device 72 Command management processor 73 Main elevator command processor 74 Sub elevator command processor 75 Control parameter management processor 76 _{1 to} 76 _n control model computation processor 77 ₁ to 77 _m control model computation processor 78 supervisor processor 79 parameter input device 80 ₁ to 80 _n overhead crane 1 ₁ to 81 _n instruction unit 82 ₁ to 82 _n real-time data acquisition unit 83 ₁ to 83 _n operation prediction unit 84 ₁ -84 _n processor 85 the operator input unit 86 transferring the schedule management unit 87 transfer the object data management unit 88 Priority Judgment unit 89 Obstacle data management unit 90 Controller 91 Collision judgment unit 201-210 Step

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Takashi Nakajima 2-1 Kurosaki Castle Stone, Yawatanishi-ku, Kitakyushu-shi, Fukuoka

Claims (6)

[Claims] 1. A control method for controlling the operation of a plurality of controlled devices that operate simultaneously and independently, wherein a parallel processing computer in which the same number of processors as the controlled devices operate in parallel is used, and each of the processors is configured The operation of each of the controlled devices is controlled in accordance with the operation schedule of each of the controlled devices, and the processor collects state data indicating the current state of each of the controlled devices for each operation cycle, and collects the data. A control method comprising: detecting an operation failure of each of the controlled devices from the status data and the operation schedule, and controlling the operation of each of the controlled devices so as to avoid the failure. 2. A control method for controlling the operation of a plurality of automatic transport vehicles that operate simultaneously and independently, comprising: a parallel processing computer in which the same number of processors as the automatic transport vehicles operate in parallel; The moving path of each of the automatic transport vehicles is calculated based on the obtained data, and an instruction to move the automatic transport vehicle is output to each of the automatic transport vehicles. If it is detected that the moving route is blocked, if the obstacle is another automatic transport vehicle, the automatic transport vehicle corresponding to the priority order of the transported product being transported by the automatic transport vehicle is being transported. A control method comprising: comparing a priority of a conveyed product; and outputting an instruction to prioritize a conveyed product having a higher priority to a corresponding automatic conveyance vehicle. 3. A control method for controlling the operation of a plurality of overhead cranes that operate independently and simultaneously to transport an object to be transported to a target location, wherein the overhead cranes and the same number of processors operate in parallel. Using a processing computer, each of the processors outputs an operation command to each of the overhead cranes in accordance with the set transfer schedule of the transfer object, and each of the processors calculates the position, speed, and acceleration data of each of the overhead cranes in a calculation cycle. The position, speed, and acceleration of the overhead crane after a unit time are obtained from the collected position, speed, and acceleration data, and the position, speed, and acceleration after the unit time are obtained by the collision determination unit. Transfer object data including the position and shape data of the transfer object, and the position of obstacles within a range that can be transferred by each of the overhead cranes. Place
When a collision of a certain overhead crane among the overhead cranes is predicted by the obstacle data including the shape data, the processor is selected from among the processors according to the priority of the transfer target at the time of collision avoidance determined from the transfer schedule. A control method comprising: outputting an avoidance command to a processor corresponding to an overhead crane in which a collision is expected; and outputting the avoidance command to control the operation of the overhead crane corresponding to avoiding the collision. 4. A simulation method for simulating the operation of a device to be controlled, which operates independently and simultaneously, which is controlled by a controller, wherein a parallel processing computer in which a plurality of processors operate in parallel is used. An operation characteristic parameter for each controlled device, which is a condition indicating a relationship with the controlled device, is set in each of the processors that simulates, and an identification number for each controlled device is set in each processor,
Elapsed time since receiving the command from the controller,
A data group consisting of state information is set, and when each processor receives an operation command from the controller, the processor calculates the current state of each controlled device using the data group and the operation characteristic parameter, and the processor calculates the calculation result. Are output to the controller, respectively. 5. A simulation method for simulating the operation of each control target portion of an electronic component mounting machine controlled independently by a controller, wherein the plurality of processors operate in parallel using a parallel processing computer. Condition, a position condition, and an operation characteristic parameter of each control target unit including a condition indicating a relationship with another control target unit are set in each of the processors performing the simulation, and each of the control targets of the electronic component mounting machine is set in each of the processors. The identification number of each unit, the elapsed time after receiving the command from the controller, a data group consisting of state information is set, and each processor receives the operation command from the controller, and sets the data group and the operation characteristic parameter. Calculate the current state of each control target part of the electronic component mounting machine that performs simulation using Serial processor simulation method characterized by this that outputs the operation result to each of the controller. 6. A simulation method for simulating the operation of an elevator operating independently and simultaneously controlled by a controller, comprising: a parallel processing computer in which a plurality of processors operate in parallel; , An operating characteristic parameter for each elevator, which is a condition indicating a relationship with other elevators, is set in each of the processors that simulates, and the processor receives a recognition number for each of the elevators, and receives a command from the controller. The elapsed time from, a data group consisting of state information is set, each processor receives a movement command from the controller, calculates the current state of each elevator using the data group and the operation characteristic parameters, the processor Each of the operation results is Simulation method according to claim this to be output to the roller.