JPH11119829A - Vehicle operation management system - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To reduce the load on an operator involved in a function test for confirming the operation of a vehicle operation management system. Increase the versatility of functional tests. SOLUTION: A plurality of vehicles AGVi equipped with a communication device, and state information received from each vehicle, and based on a given transfer command, state information and a previously determined operation assignment of each vehicle, a given transfer command In a vehicle operation management system including a management device 3 having a communication device for allocating a vehicle and transmitting an operation command to the vehicle: When a transfer command transmitted by the management device 3 is received, the transfer command is simulated and executed to complete the simulation. To the management apparatus 3. A plurality of communication points p1 to p8 are defined on the vehicle operation route,
The vehicle and the simulation device 4 communicate with the management device 3 at each communication point, the management device 3 receives state information from the vehicle and the simulation device 4 at the communication point, and transmits an operation command to the vehicle at the communication point. .

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a vehicle management system which receives vehicle status information from each of a plurality of vehicles on a vehicle travel route, and the operation management device receives the given operation request, the status information of each vehicle, and the preceding information. A vehicle operation management system that allocates a vehicle to a given operation request and transmits an operation command to the vehicle on the basis of the operation schedule for each vehicle determined as above, and in particular, correct or incorrect operation of the operation management device. And confirmation of the appropriateness of scheduling.

More specifically, although not intended to be limited to this, an operation management device is a computer that assigns successively necessary processing operations (object transportation) to vehicles capable of performing the operations. A scheduling device for use,
For example, in factories, warehouses or yards or fields,
Each vehicle is assigned to an object transfer request (operation request) generated one after another for each of the plurality of vehicles.

[0003]

2. Description of the Related Art In the production of steel sheets (steel coils), for example, various processes such as cold rolling, annealing, galvanizing, coil packing, etc. of an original sheet are performed. Is delivered. Each equipment and yard has an entrance skid for receiving a steel coil to be conveyed and an exit skid for receiving a steel coil to be carried out. The steel coil lowered to the entrance skid has an entrance crane. Then, the steel coil which has been sent into the processing line in the equipment and has been processed is discharged from the processing line to the output skid by the output crane. The transfer of the steel coil between the equipment is performed by a vehicle.
A steel coil that has been processed in one facility is transferred from the exit skid of the facility to the vehicle, transported to another facility, and lowered to the entrance skid. Although the conveyance route of the steel coil between the equipment and the yard (the number of combinations of the sending source and the receiving side) is relatively small, each equipment discharges the steel coil one after another, and As a whole, steel coil conveyance requests are generated one after another from various places. To cope with this, there are a plurality of transport vehicles, and the transport vehicles are sequentially assigned to each of the steel coil transport requests.

[0004] It is necessary to shorten the time required from completion of a steel coil transfer request to completion of the transfer from the viewpoint of increasing the operation efficiency of each facility. For this purpose, the number of transport vehicles may be increased, but this increases the maintenance cost. In addition, since there are a plurality of transport routes, there is a problem in that a small number of transport vehicles can respond to the successively required steel coil transport requests in any transport route with good timing ( Optimization problem).

Japanese Unexamined Patent Publication No. 7-219920 proposes a method for solving an optimization problem in the case where a package is mixedly delivered to a plurality of delivery destinations by a plurality of trucks using a genetic algorithm. . This means that when a certain number of transport lots, such as one day's worth of transport lots, are given in advance, such as truck transport for transporting luggage between factories or companies, a dispatch plan for efficiently transporting them is batched. It seems to be a process.

Conventional scheduling using a genetic algorithm includes an evaluation function for evaluating the propriety of each of a plurality of transport instruction lists (temporary schedules) generated by a genetic algorithm, and a plurality of penalties. And a method of selecting a transport instruction list having a minimum evaluation function value by determining a value of each penalty of each transport instruction list with reference to a table (table look-up). A method of simulating all transfer instruction lists generated by a genetic algorithm, calculating an evaluation function value from a simulation result, and selecting an optimal transfer instruction list based on the evaluation function values (simulation evaluation). Law).

In Japanese Patent Application No. 8-298688, the present inventors write and manage work information of a plurality of vehicles in a memory.
Time information at which the newly assigned work of each vehicle can be started is calculated based on the memory information, and a plurality of temporary schedules m in which the vehicle AGVi is temporarily temporarily allocated to the transfer instruction j whose allocation has not been determined are calculated. The evaluation value Vevm that is generated, and the adaptability is high when the unassigned work starts early and ends quickly,
A temporary schedule m is generated for each of the temporary schedules m based on the time information and the transport instruction, and the temporary schedule is changed to generate an evaluation value Vevm. A scheduling device using a genetic algorithm to select was presented. According to this, the distribution schedule in the factory is determined in real time, the responsiveness of the operation request / vehicle assignment is improved, the assignment calculation time is shortened, and the assignment accuracy is improved.

Further, in Japanese Patent Application No. 9-61407, a plurality of temporary schedules for allocating a plurality of vehicles to a plurality of operation commands are generated, and a tentative schedule of a convergent solution is generated using a first evaluation function P1m. Get a schedule and simulate it
To calculate a simulation value corresponding to each of the plurality of parameters of the first evaluation function P1m.
Deviations Dp1-D of evaluation function P1m from corresponding parameter values
p3 is calculated, and the weights W1 to W3 of the parameters having large deviations on the first evaluation function P1m are reflected in the first evaluation value P1m to reflect the decrease in the operating efficiency due to the interference between the vehicles appearing in the simulation. A schedule using a genetic algorithm, which is changed corresponding to the deviations Dp1 to Dp3,
A ring device was presented. According to this, the overall efficiency of the operation of the automatic transport vehicle in the physical distribution is improved, and the time required for searching for the optimal assignment is reduced. The main component of the above-described scheduling device is a computer, and the allocation process (scheduling) is executed based on a computer program.

[0009]

Conventionally, an operator prepares a transport scenario and stores it in a scheduling device to check whether the computer program is correct or incorrect and whether the above-mentioned allocation processing is appropriate or not. Then, in the test mode, the scheduling device outputs the transport scenario on an output device (CRT display or printer), and the operator creates a transport request according to the transport scenario and gives it to the scheduling device. The scheduling device is
As in the case of the actual operation, the assignment processing is executed and the operation command is output. However, since the operation mode is the test mode, the operation command is output to the output device (CRT display or printer).
The operator gives information according to the scheduled behavior to the scheduling device at the timing according to the scheduled behavior of the vehicle executing the output operation command instead of the vehicle. When the transport scenario is digested, the operator compares the transport scenario with the output of the scheduling device between them, and determines whether the allocation processing function (computer program) of the scheduling device is correct or incorrect.

[0010] The vehicle from when the scheduling device outputs one operation command until the vehicle to which the scheduling device outputs the operation command executes and completes the operation command and transmits the completion to the scheduling device. For example, in the test mode, the operator sends the data to the scheduling device in place of the vehicle, and the data is transmitted to the scheduling device. There are many data input operations. If the transport scenario is, for example, a sequence of 10 transport commands, the operator will
It is necessary to input 300 data, and the operation of the operator is complicated. Further, since the timing of each data input needs to match the timing of the scheduled behavior of the vehicle, the load on the operator is large. As described above, since the performance of the test largely depends on the operator, there is a problem that the versatility of the function test is low.

A first object of the present invention is to reduce the load on an operator involved in a function test of an operation management device of a vehicle operation management system, and to increase the versatility of the function test. And

[0012]

[Means for Solving the Problems]

(1) The present invention provides a plurality of vehicles (AGVi) provided with communication means on a vehicle operation route, and receives vehicle state information for referencing from each vehicle by vehicle operation scheduling, and provides a given operation. Communication means for allocating a vehicle to a given operation request (transportation instruction) based on a request (transportation instruction), state information of each vehicle and an operation schedule for each vehicle determined in advance, and transmitting an operation instruction to the vehicle; In a vehicle operation management system including an operation management device (3) including: When receiving an operation command transmitted by the operation management device (3),
An operation simulation device (4) for simulating the operation specified by the operation command and completing the operation on the simulation and transmitting the operation completion to the operation management device (3); ) Transmits an operation command to the operation simulation device in the test mode. In addition, in order to facilitate understanding, in the parentheses, reference numerals or corresponding items of the corresponding elements of the embodiment shown in the drawings and described later are added for reference.

According to this, in the test mode, the operation simulation device (4) becomes a virtual vehicle, and operates in a simulation in response to the operation command transmitted from the operation management device (3). The operation completion is transmitted to the operation management device (3).
By giving a plurality of operation requests to the operation management device (3) in the test mode in accordance with the transport scenario, the operation management device (3) operates in the same manner as when an operation request is actually given and scheduling is performed. Since scheduling corresponding to the request and the vehicle state information of the virtual vehicle is performed, it is possible to determine whether the scheduling function of the operation management device (3) is correct, erroneous, and appropriate. The operation of the operator is simplified, and the versatility of the function test of the operation management device (3) is enhanced.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION

(2) The operation management device (3) transmits an operation command addressed to each of the plurality of virtual vehicles to the operation simulation device (4) in the test mode;
Each operation specified by the operation command addressed to each virtual vehicle is simulated, and when the operation is completed on each simulation, each operation completion is transmitted to the operation management device (3). According to this, it is possible to determine whether the scheduling function is correct, erroneous, and suitability when a plurality of vehicles are operated in parallel.

(3) A plurality of communication points (p1 to p8) are predetermined on the vehicle operation route; the vehicle communicates with the operation management device (3) at each communication point; (3)
Receives the vehicle state information from the vehicle at the communication point and transmits an operation command to the vehicle at the communication point.

(4) The operation command is a unit information of unit information addressed to one section, which designates a section distance, a traveling speed, and the receipt and delivery of a conveyed article at the section point, including the communication point as a section break point. Including one unit or two or more units.

(5) The operation simulation device (4) includes a two-dimensional display, and displays the vehicle position on the simulation on an operation route display representing the vehicle operation route on the two-dimensional display. According to this, the operator confirms the position of each virtual vehicle on the two-dimensional display, and easily determines whether or not the scheduling function is appropriate, particularly whether or not there is interference, and whether or not the communication function of the operation management device (3) is appropriate. can do.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

[0019]

FIG. 1 shows a distribution of a transportation path (vehicle operation path) VR for transporting a steel coil by an unmanned electric transportation vehicle (vehicle) equipped with a battery. In FIG. 1, blocks marked A to D are places where skids or chargers for receiving steel coils are provided, and a transport path VR for a transport vehicle to travel from one of these locations to another is provided. It is stretched. The skid is substantially gate-shaped, and its upper surface is inclined in a valley shape so as to stably receive the steel coil. The bottom of the valley is opened in a slit shape so that the coil receiving block is raised from below to support the steel coil on the skid below and lift it upward, and can move in the direction in which the inner hole axis of the coil extends. . In other words, the skid uses two inverted-type support legs,
The upper oblique sides are opposed to each other, and a gap is provided between them so as to oppose each other. There is a shelter for the transport vehicles on the transport path VR.

An induction magnet of a magnetic induction type unmanned vehicle traveling system is laid on the transport path VR, and a transport vehicle, a shelter, a skid position, and a charger position are located near the roadside end. Posts p1 to p8 equipped with an infrared communication device for performing distance remote communication stand. These positions are communication points. When each of the infrared communication devices of the posts p1 to p8 detects the infrared radiation emitted by the communication device of the carrier, the carrier No. Data and notification data
(State information), and transfers it to a communication device connected to an AGV computer 3 (FIG. 3) described later.
The control signal and data provided by the V computer 3 are transmitted to the carrier, and the data provided by the carrier are transferred to the AGV computer 3.

The carrier AGVi (i = 1 to n; FIG. 2)
An unmanned electric vehicle equipped with a battery, which receives and holds a steel coil from a skid or passes the held steel coil to the skid according to control signals and data received from an AGV computer 3 via a post. A steel coil transfer mechanism for receiving and unloading,
According to the destination information (route information: map information) received from the AGV computer 3 via the post, the guide magnets on the road are searched, the passage is counted, the travel distance is measured, and the destination is reached along the arrangement of the guide magnets. An unmanned driving system is installed. There are n transport vehicles of the same specification in the above-mentioned transport route VR and the drop-in route, and the transporting vehicle that is receiving the steel coil from the skid or passing it to the skid is in the drop-in route, directly under the skid, and waits for a transport instruction Waiting vehicle is on the transport path V
It is in the evacuation area or charging area (where the charger is located) on R.
Each skid, shelter and charging station has a post for communicating with a carrier there.

At the position where the skid is located, there are automatic or operator operated crane Cra, Crb as shown in FIG. Replacement (transportation to another facility) of a certain facility (pre-process) for a steel coil in the exit coil storage area is a vidicon (raw material,
When the crane Cra is instructed from the product management computer 1, the steel coil is transferred from the storage to the skid (From) automatically or by an operator. When this transfer is complete,
The completion of the transfer is notified from the crane Cra to the vidicon 1, and in response, the vidicon 1 instructs the AGV computer 3 to transfer the steel coil to the destination equipment (next process) (the transfer command, that is, the transfer command). Service request). AGV calculator 3
By scheduling using a genetic algorithm,
A carrier AGVi to which the steel coil is to be transported is determined, and a skid (Fro
Direction information to m) and instructions to move there. In response, the carrier AGVi moves from the standby position to the skid (From) (request traveling (forwarding) in FIG. 2). Then, it communicates with the AGV computer 3 via the post there and the skid (Fro
Receiving the steel coil of m), and being instructed to travel to destination information and travel there, go to the skid (To) of the destination (loading traveling in FIG. 2). Then, the steel coil communicated with the AGV computer 3 via the post of the skid (To) is dropped onto the skid (To), and the destination (evacuation place) is instructed and the travel information is instructed. After moving there and arriving there, the post notifies the AGV computer 3 of the arrival of the AGVi.

On the other hand, the AGV computer 3 is provided with a carrier AGVi.
When the lowering of the steel coil from the skid (To) to the skid (To) is completed and the AGVi moves away from the skid (To), the vidicon 1
To notify the completion of conveyance. The vidicon 1 instructs the crane Crb to perform a rearrangement, and the steel coil is dropped from the skid (To) to the entry side coil storage of the destination facility (next step) by automatic or operator operation of the crane Crb. . When this is completed,
Crb notifies the vidicon 1 of the completion of the transfer.

FIG. 3 shows a functional configuration of the AGV computer 3. The computer 3 incorporates a transfer instruction management (program) 31, an operation control (program) 32, and an allocation process (program) 35 in the production mode and the test mode.

The transfer command management 31 includes a transfer command (FIG. 2) as an operation request given from the vidicon 1 in the production mode, a transfer command of the transfer scenario file 38 in the test mode, and a transfer command. Writing to the table 33 (one area of the memory) and "allocation" in the allocation process 35
Instruct. The transfer command is the transfer target coil No. , Transfer start point (From: transfer source skid No.), transfer end point (To: transfer destination skid No.), and transfer completion schedule (command) time. The transfer command management 31 is composed of a transfer command table 33.
Next to the end of the already written transport instruction, the latest received transport instruction is the instruction No. Give and write.

The operation control 32 controls the transportation vehicles AGV1 to AGVn via the post and the allocation information from the allocation process 35.
Based on the information received from, the current transfer state, current transfer command, current position, and current charge amount (remaining charge amount of the battery) addressed to the carrier on the work state table 34 are updated. When the operation of the carrier is completed and the carrier is on standby (empty: waiting for the next operation), the carrier instruction manager 31 deletes the carrier command executed by the carrier on the carrier instruction table 33. Then, "assignment" is instructed to the assignment processing 35.

FIG. 4 shows the vidicon 1 and the AG shown in FIG.
The relationship between the functions of the V calculator 3 and the control items for the work of the transport vehicle will be described.

Next, the outline of the allocation processing 35 will be described. The transfer command management 31 instructs “assignment”. Assignment processing 35
Executes the assignment process in response to the "assignment" instruction.
In this case, first, it is checked from the work state table 34 whether or not there is a forwarding vehicle indicating that the current transportation state data indicates a standby (vacant). 1 (AGV # 1)
-No. n (AGV # n), the “next work possible time” at the present time is calculated and written into the work state prediction table 37. Carrier No. In this process relating to 1 (AGV # 1), first, the work state prediction table 37 is used.
The current time is written to the “next work time”. Then, the transport vehicle No. of the work state table 34 is set. 1 (AGV # 1) with reference to the data of the "current transport state".
If neither the charging nor the requested traveling is being performed (during standby), this process is terminated. That is, the process is ended with the “next work possible time” of the work state prediction table 37 as the current time.
If the data of the "current transport state" indicates the loading travel, charging, or required travel, the remaining time of the work is calculated using the standard travel time table, the standard work time table, and the required charging time. The prediction calculation is performed by referring to the time table (all data tables in the memory).

If the data in the "current transport state" is "loading traveling", the transport vehicle No. in the transport state table is displayed. 1 (AGV #
1) Read the current transfer command and current position addressed to the destination, read the data of the transfer destination (To) of the current transfer command from the transfer command table, and move from the current position to this transfer destination (To). The time is read from the standard travel time table. Then, the unloading time is read out from the standard work time table, the remaining time of the current work = the read standard time + the unloading time is calculated, and the “next workable time” of the work state prediction table 37 is calculated. Update to current time + current work remaining time.

If the data of the "current transfer state" is "charge", the transfer vehicle No. of the transfer state table 34 is set. 1 (AGV #
1) Read the current charge amount addressed to the user, calculate the current work remaining time = remaining charge time = (full charge amount−current charge amount) / charge speed according to the work time calculation formula in the standard work time table, and The “next work possible time” in the prediction table 37 is updated to the current time + the current work remaining time.

If the data in the "current transport state" is "requested travel", the transport vehicle No. in the transport status table is displayed. 1 (AGV #
1) Read the current transfer command and current position addressed to it, and read the transfer source table (From) and destination (To) of the current transfer command from the transfer command table.
Is read from the current position, the time to move from the current position to the transport source (From), the time of receiving the cargo at the transport source (From), the transport source (From)
The transfer time to the transfer destination (To) and the unloading time at the transfer destination (To) are read from the standard work time table and the standard transfer time table, and the sum of these is taken as the current remaining work time. Then, the "next work possible time" of the work state prediction table 37 is updated to the current time + the current work remaining time.

Next, the transport vehicle N of the transport status table 34
o. 1 (AGV # 1), read the current charge amount during the above-mentioned current work remaining time, write the calculated value to the work state prediction table 37, and calculate the calculated value from the current charge amount. Check if the remaining charge amount is less than the set value (it will be necessary to charge during the next work). For example, when the current work is “loading traveling”, the charge consumption during the above-described remaining time of the current work = the read standard time + the unloading time is calculated according to the charge consumption of the standard work time table. Calculate the remaining charge amount by subtracting the value from the current charge amount, write these in the work state prediction table 37, and check whether the subtracted remaining charge amount is less than or equal to the set value (requires charging during the next work). I do.

When the value becomes equal to or less than the set value, additional work time is calculated. That is, it is necessary to calculate the time required to move to the charging station after completing the current work and the amount of charge consumed during the time, and to charge the remaining charge obtained by subtracting the calculated consumed charge from the remaining charge to the full charge. The time is calculated, and the sum of the time required to move to the charging station and the required charging time is added to the next work possible time as the additional work time, and the obtained time is used as the next work possible time, and the work state prediction table 37 is used. Is updated.

For the other transport vehicles AGV2 to AGVn, the "next work possible time" is calculated and written in the work state prediction table 37 in the same manner as described above. Then, based on the genetic algorithm, the sum of the required travel times of the transport vehicles, the sum of the charging time, and the sum of the delay values of the execution completion time from the scheduled transport completion time are small, and interference between the transport vehicles is reduced. Determine the assignment (transport order / transport vehicle) that does not occur.
That is, the allocation schedule is determined. Then, the transport command is transmitted to the transport vehicle in accordance with the determined allocation schedule. The contents of the generation of the allocation schedule are disclosed in Japanese Patent Application No. 9-61407.

The communication device of the AGV computer 3 is connected to the communication device of the AGV simulator 4. The AGV simulator 4 does not need to be connected to the AGV computer 3 at all times, and is in a test mode (function check of the AGV computer 3).
It is only necessary to be connected at the time. The AGV simulation device 4 is also provided with a communication device similar to the infrared communication device provided in the carrier vehicle AGVi, and includes the posts p1 to p1 on the transport path.
It may be configured to communicate with the AGV computer 3 via any one of p8.

The AGV simulator 4 is a computer system including a communication device, a CRT display, a keyboard, a mouse and a printer, and has the functions shown in FIG. 5 (programs for realizing each function). 6, 7, and 8
FIG. 5 shows the relationship between the functions shown in FIG.
6 to 8 are block diagrams each of which is a block diagram originally represented on a single sheet of paper, which is divided into three drawings so as to partially overlap each other. A single drawing appears by overlapping and connecting the blocks.

FIG. 9 is a flowchart showing the functions of the AGV computer 3 and the AGV simulator 4 when the test mode is designated, in which the mutual communication timing is adjusted. First, referring to FIG. 9, AGV computer 3 in the test mode
And a functional outline of the AGV simulator 4 will be described. Note that FIG.
Shows a case where the carrier is moved from one post to another post for the sake of simplicity.

Creation of a transfer scenario: At the beginning of the test mode, the AGV computer 3 creates a transfer scenario in the transfer scenario file 38 in an interactive manner with the operator.
The transport scenario is a transport instruction group (may be one transport instruction), and one transport instruction is a transport target coil No. as in the case of actually transporting a coil by a transport vehicle. , Transfer start point (From: one of transfer source skid Nos. A to D), transfer end point (To: one of transfer destination skid Nos. A to D), and transfer completion schedule (command) time. The operator inputs the transfer command group to the AGV computer 3, and the AGV computer 3 writes the transfer command group to the transfer scenario file 38.

AGV assignment: When the operator instructs the execution of the test mode, the AGV computer 3 assigns a transport vehicle to each transport command of the transport command group in the transport scenario file 38. This processing is performed by the above-described scheduling based on the genetic algorithm for actually operating the carrier.

Download transmission: Generates "download" data for each of the transfer command and the assignment of the transport vehicle, and transmits the data to the AGV simulation device 4 to the transport vehicle (virtual transport vehicle). This is an operation command. Here, "Download
The transfer path (FIG. 1) is composed of a set of unit sections s1 to s14. The "download" data includes a transfer start point (From: A) to a transfer end point (T).
o: for example, a set of unit section data addressed to each of the unit sections passing through to C). The unit section data includes the section length (distance data) of each unit section, Running speed (specified value), post No. at end of section And others (work to be done at the end of the section: receiving, unloading, charging, waiting)
Is a set of data representing

Table 1 exemplifies the contents of the unit section data. Unit data No. in Table 1 Each of 1 to 14 is
This is data addressed to each of the sections s1 to s14 shown in FIG. Table 2 shows download data for instructing the transport vehicles AGV1 and AGV2 to operate.

[0042]

[Table 1]

[0043]

[Table 2]

As viewed from the scheduled traveling direction from the transfer start point (From: A) to the transfer end point (To: C) of the transfer vehicle (for example, in the case of download data of AGV No. 1 in Table 2), When there is a post (for example, p2) at the end point of the unit section (for example, s1), the post No. of the unit section data (No. 1) addressed to the unit section (s1). The data of
The post No. It shall represent (2). For example, when the coil is received at C (post p8) starting from A (post p1), the AGV No. 1 data No. 1 14 "Other" data, "Package"
Will be included. Hereinafter, AGV No. shown in Table 2 will be described. As an example, the download data of 1.
Give an explanation.

Operation simulation: AGV computer 3
Downloads the downloaded data to the AGV simulating device 4 and transfers the vehicle (virtual vehicle) AGVNo. 1 and send it to AG
The V simulation device 4 receives this and stores it in a download (operation command) data file in the carrier AGV No. 1, download data is stored, and upon completion of this, the completion of operation command reception is notified to the AGV computer 3. The AGV No. is placed at the position of the post p1 on the transport path pattern display on the CRT display. 1 is displayed. When receiving the reception completion, the AGV computer 3 receives the AGV No. according to the previously determined allocation schedule. 1
This is transmitted to the V simulation device 4.

Running simulation: AGV simulator 4
Is the AGV No. When the first travel instruction addressed to No. 1 is received, the section s of the first unit section from the current position (post p1) is received.
Calculate the required traveling time Tt up to the end of 1 (post p2), start a timer of Tt / (60 × K) seconds,
Further, the section s1 is defined as AGVNo. 1 data No. 1 The charge amount consumed when traveling at the speed value of 1 is subtracted from the remaining charge amount data, and the remaining charge amount data is updated to the remaining value. The timer waits for the time to expire, during which time the CR
ADVNo. On the transport path pattern display on T. 1 is displayed at the designated traveling speed (data of AGV No. 1 in Table 2).
No. The data is updated at a speed that is K times higher than the data of (1) "speed". K is a proportional constant, which is used to reduce the real time to 1 / K. This is the traveling simulation of the first section. When the timer times out, the AGV No. 1 data No. 1 Reference is made to the OCD (post) data of No. 1 and there is data representing the post p2, so that the arrival at the post p2 is notified to the AGV computer 3.

Notification of arrival: AGV simulator 4
Is transmitted to the AGV computer 3 by the AGV No. 1, the completion of traveling (arrival to post p2) is notified.

Operation management: Upon receiving this, the AGV computer 3 receives the AGV No. of the work status table 34 according to the program of the operation control 32. 1 is updated and the AGV No. 1 is updated. 1 and the work status information (data of the work status table 34) of the other transport vehicles, referring to the transfer instruction assigned to AGV No. 1. Run further to execute the transfer command assigned to 1 (from post p2 to post p5)
Is checked to see if there is interference with another carrier, and interference occurs and AGV No. 1 when it is necessary to make the AGVNo. 1 to the AGV simulator 4.

Continuation / Standby: When a traveling instruction is received, A
The GV simulation device 4 calculates the required traveling time Tt to the end of the second unit section s2 (no post), and calculates Tt / (6
0 × K) second timer is started and the section s2
Is the AGV No. in Table 2. 1 data No. 1 The remaining charge amount when traveling at the speed value of 2 is subtracted from the remaining charge amount data, and the remaining charge amount data is updated to the remaining value. The timer waits for the timer to expire. During that time, the ADV No. on the transport path pattern display on the CRT is displayed. The display position of No. 1 is updated at a speed that is K times the designated traveling speed (data of "speed" of data No. 2 of AGV No. 1 in Table 2). This is the traveling simulation of the second section.

When a stop instruction is received, a CR
AGV No. on the T display. The position change of 1 is stopped, and the counting of the standby time is started, and the transmission timer is started. Then, while waiting for the time over of the transmission timer, the counted value of the standby time reaches the set value (the abnormality determination reference value). Check if you did. If the transmission timer times out without reaching the set value, the process proceeds to the above-mentioned "arrival notification" again. When the standby time count value reaches the set value (the abnormality determination reference value), the output of the abnormality alarm is set there, and the transmission timer waits for time over. This abnormality alarm is cleared when a traveling instruction is received from the AGV computer 3.

When the running simulation of the second section is started and the timer started in the running simulation is timed out, the AGV No. 1 data No. 1 2 OC
Reference is made to D (post) data. Since there is no post information there, in this case, the AGV simulation device 4 is executed without executing the “arrival notification” and the “operation management” described above.
Calculates the required travel time Tt to the end of the third unit section s6 (no post), starts a timer of Tt / (60 × K) seconds, and sets the section s6 to Table 2 AG on
VNo. 1 data No. 1 The amount of charge consumed when traveling at the speed value of 6 is subtracted from the remaining charge data, and the remaining charge data is updated to the remaining value. The timer waits for the time to expire, and during that time, A on the transport path pattern display on the CRT is displayed.
DVNo. 1 is displayed at the designated traveling speed (A in Table 2).
GVNo. 1 data No. 1 The data is updated at K times the speed (data) of No. 6. This is the traveling simulation of the third section s6.

When the timer expires, AGVN
o. 1 data No. 1 The OCD (post) data No. 6 is referred to, but since there is no post information there, even in this case, the above-mentioned "arrival notification" and "operation management" are not executed, and the above-described third section is executed. The same processing as the running simulation of AGVNo. 1 data No. 1 8 is performed. This is a running simulation of the fourth section s8.

When the timer times out, AG
VNo. 1 data No. 1 Reference is made to the OCD (post) data No. 8 which contains the post information (p5), so that the above-mentioned "arrival notification" and "operation management" are executed. Then, the same processing as the running simulation in the second section s2 described above is performed by AGV No. 1 data No. 1 9 is performed. This is a running simulation of the fifth section s9.

Hereinafter, AGV No. 1 data No. 1 14
Are performed in the same way up to the running simulation of the ninth section s14 based on. Then, when the timer started there is time-over, the AGV simulator 4 sends the AGV No. to the AGV computer 3. 1, the completion of traveling (arrival at post p8) is notified. The AGV simulation device 4 has an AGV No. 1
Since there is no unit section data to be referred to next for
GVNo. For 1, the above-mentioned simulation processing is stopped. The same applies to the AGV computer 3.

The AGV simulator 4 including the download data and the remaining charge data includes the AGV computer 3.
The data received from and transmitted to the AGV computer 3 is the AGV
The transmission and reception data buffer for tracing of the
VNo. In one section, the data is stored together with the time data (time unit obtained by expanding the actual processing time by K times: the running time scale of the actual transport vehicle) in the order of reception and transmission. Stored data can be printed out by a printer for each transport scenario.

The above description is of a simulation test in which a carrier is moved from one post to another. Carrier at a certain post ws and a certain post f
And the coil is received at the post f,
In the case where the vehicle is loaded and traveled to another post t, unloaded at the post t, moved to a certain post we, and made to stand by there, the AGV computer 3 uses the travel path ws-ft- of the transport vehicle. The unit section data of each section of we are arranged to generate download data similar to that shown in Table 2, and the section of the download data ending with post f. "Other" in the unit section data of
Data specifying "receipt" is included, and "other" of the unit section data of the section ending at post t includes data specifying "unloading", and post "we" is included. "Others" in the unit section data of the section at the end includes data designating "standby". The AGV computer 3 uses the “operation management” described above to determine the work state (position, work content,
(Remaining charge), and the AGV simulator 4
Is notified that the post f has been reached, in response to this, the "other" of the unit section data including the post f is notified.
Is read out, and there is a "receipt" there. In this case AG
The V simulation device 4 sets the timer to 1 / K of the required time for receiving the cargo, starts the timer, subtracts the power consumption value in the receiving operation from the remaining charge, and obtains the remaining charge to obtain the remaining charge. To update. And when the timer is over,
The AGV computer 3 is notified of the completion of the receipt.

The AGV computer 3 responds to this by giving a traveling instruction to the AGV simulator 4, and the AGV simulator 4 responds thereto in the same manner as described above to move from post f to post t. Perform an action. When the timer expires, the arrival at the post t is notified to the AGV computer 3. In response to this, the AGV computer 3 transmits "unloading" to the AGV simulator 4, and in response, the AGV simulator 4 sets 1 / K of the unloading time as a timer and starts the timer. At the same time, the power consumption value in the unloading operation is subtracted from the remaining charge amount, and the remaining charge amount is updated to the obtained remaining value. And when the timer is over,
The completion of unloading is notified to the AGV computer 3.

In response to this, the AGV computer 3 gives a travel instruction to the AGV simulator 4 and, in response to this, performs a travel simulation of moving from post t to post we in the same manner as described above. Execute. When the timer times out, the arrival to the post-we is notified to the AGV computer 3. The AGV computer 3 transmits “standby” to the AGV simulator 4 in response to this. AGV simulator 4
Responds to this and terminates the process for the carrier. In other words, the corresponding carrier waits for reception of a new carrier command (download data addressed to the carrier).

When the post-we is in the charging station and “charging” is designated instead of waiting, the AGV calculator 3 notifies the “charging” when the AGV simulator 4 notifies the arrival to the post-we. An instruction is given to the AGV simulator 4. In response to this, the AGV simulator 4 sets the remaining charge amount to the set value (FU
LL) is calculated, the charging time required for raising the charging time is set to a timer, the timer is started, and the time over is waited. When the time is over, the remaining charge amount is updated to the set value (FULL) and the completion of charging is notified to the AGV computer 3.

Next, the contents of each function of the AGV simulator 4 shown in FIG. 5 will be described in more detail with reference to FIGS.
The AGV simulation device 4 receives instruction information from the AGV computer 3 which is a host computer via the Ethernet, and performs various operations (loading, receiving, etc.) of the carrier AGVi in accordance with the received instruction information.
(Running, unloading, waiting, charging, etc.). The AGV simulator 4 is operated by an operation instruction (download) from the AGV computer 3.
Do upper limit check for each data of
The validity check of whether the data of the operation instruction is the optimal information is not performed. That is, if download data is operable data, simulation is performed.
The validity of whether the operation instruction data is the optimal information is determined by A
While the simulation is being performed by the GV simulation device 4, the operator determines from the behavior of each vehicle on the CRT display.
The operator prints out the accumulated data during the simulation, and analyzes the data to check the validity.

Instruction information from the AGV computer 3 to the AGV simulator 4: r1) run instruction r2) stop instruction r3) download (operation instruction). Abbreviation is DL r4) Receiving instruction r5) Unloading instruction r6) Charging preparation instruction (same as charging instruction) r7) Charging end instruction r8) DL clear instruction (operation instruction clear) r9) State request instruction.

Information transmitted from the AGV simulation device 4 to the AGV computer 3: t1) driving completion t2) stopping completion t3) downloading completion (DL completion) t4) loading completion t5) unloading completion t6) charging preparation completion t7) charging completion t8) DL clear response t10) Status response t11) Driving confirmation t12) Stop confirmation t13) Download confirmation (DL confirmation) t14) Receipt confirmation t15) Unloading confirmation t16) Charging preparation confirmation t17) Charging completion confirmation t18) DL clear confirmation.

Function Details The AGV simulation device 4 receives various messages from the AGV computer 3, stores the received data in the transmission / reception trace buffer, and starts the reception data editing process.

Received data editing process This is started when the messages r1 to r8 are received, and performs the following processes according to the message type. (1) Check the received message. The upper and lower limits of the received message data (suitability of the number of data of the message frame) are checked. Further, it is determined whether or not the carrier AGV (virtual carrier) is ready to receive a message. Since the operator sets the AGV power ON / OFF and the manual / automatic mode in the actual carrier, the operator in the AGV simulator 4 correspondingly operates the operator on the CRT display. Then, turn on the AGV power of the (virtual) carrier
/ OFF and manual / automatic mode settings. On the AGV state setting screen, the (virtual) carrier AG
The operator sets these for each of Vi (i = 1 to 13). In this check, it is determined that these settings can be received when the power is on and in the automatic mode.

(2) Creation of Simulation Execution Data: The AGV simulator 4 receives the download message
Data necessary for executing the simulation is created and stored in a download data file prepared for each AGV.

(3) A transmission data editing process is started to transmit acknowledgments for various messages. Message No. Is determined, and a transmission data editing task is started in order to transmit an acknowledgment to a received message requiring an acknowledgment.

(4) The transmission data editing process is started to transmit a download completion response.

Creation of download data (see supplement B)
Upon completion, the transmission data editing process is started to transmit a download completion response.

(5) Activation of AGV Operation Process For each instruction message from the AGV computer 3, data necessary for executing the AGV operation process is created, and the AGV operation process is activated with linkage data. However, the AGV operation process is not activated when receiving the operation command (download) and the status request.

Higher-order transmission / transmission processing This is started by the transmission data editing processing, and transmits various messages (t1 to t18) to the AGV computer 3. The transmission data is stored in a trace output buffer to enable the trace output.

Transmission data editing processing 1) The processing is started by the reception data editing processing and the AGV operation processing, edits various response messages of the corresponding AGV, and starts the upper transmission transmission processing. 2) When transmitting various completion messages, the own task timer is registered so that the completion message transmitted this time is transmitted at a fixed period until the next instruction is given.

3) However, the response data is not edited in the following cases: When the power is turned off as the state of the AGV, when the operation mode is other than automatic as the state of the AGV.

AGV operation processing 1) Running simulation The following processing is performed according to the information in the download data file when the running instruction is received and when the running operation time of the own task is up: Performs calculation and operation time timer registration. When an alternative route is specified, runs the specified alternative route instead of the normal route. OCD (post No.) exists in the unit section data being executed. If there is no OCD (post) in the unit section data being executed, calculate the operation time for the next operation and calculate the operation time. Register the timer. When registering the running operation timer, calculate the remaining charge consumed in the next operation, and reflect it on the actual time along with the operation time and distance.

2) Stop simulation When the stop instruction is received and when the operation time is up by registering the timer of the own task, the following processing is performed: Stop operation time timer registration, and after the stop operation time up, a stop completion message is transmitted. To send data editing process.

3) Receiving simulation When receiving a receiving instruction and when the operation time is up by registering the timer of the own task, the following processing is performed: The receiving operation time is calculated and the timer of the operating time is registered.

After the receiving operation time is up, the transmission data editing process is started in order to transmit the completion of the receiving operation. After the receiving operation is completed, a notification is sent to the coil simulator to set the skid loading state to no loading, a receiving operation timer. At the time of registration, the charge remaining amount consumed in the next operation is calculated, and the calculated operation time and distance are reflected in the actual result.

4) Unloading Simulation When receiving the unloading instruction and when the operation time is up by registering the timer of the own task, the following processing is performed: Unloading operation time is calculated and the timer of the operation time is registered. After the operation time is up, the transmission data editing process is started to transmit the completion of unloading. After the completion of unloading, a notification is sent to the coil simulator to make the skid loading state available, and the unloading operation timer is registered. At times, the remaining charge consumed in the next operation is calculated, and is reflected in the results together with the operation time and distance.

5) Charging simulation The following processing is performed when the charging (preparation / stop) instruction is received and the operation time is up by registering the timer of the own task. When the charging preparation instruction is issued, the timer for the charging preparation operation time is registered. , When a charge stop command is issued, a timer for the charge stop operation time is registered. After each charge operation time is up, the transmission data editing process is started to transmit the completion of the charge operation.

AGV initial processing 1) Cart loading (initial setting of carrier) When power supply OFF → ON of the carrier is specified on the display screen of the CRT display by operator input, the following state information is set at the same time. Performs the following steps: Shifts the current position of the transport vehicle to the set initial registration position (setting the current position of the virtual transport vehicle), uses the set charge amount as the remaining charge amount of the transport vehicle, and all other states clear.

2) Start of automatic operation When the operation mode is changed from manual to automatic when the power of the carrier is ON from the CRT, the execution state of the carrier is changed from "pause" to "standby".

3) Automatic operation stop or power OFF On the display screen of the CRT display, the operation mode is manually operated while the power of the carrier is ON by an operator input.
When the automatic is specified or when the power ON → OFF is specified, the following processing is performed: The running state of the bogie is set to “pause”. If the corresponding bogie is operating the timer, the timer is canceled. 4) Transmission / reception trace buffer clear When clearing of the transmission / reception trace buffer is designated by the operator input on the display screen of the CRT display, the trace buffer is cleared for each carrier specified by the operator.

MMI (Man / Machine Interface Processing) The following functions are supported as man / machine interface functions: 1) Transmission / reception trace display screen AGV computer 3 and AGV up to now for each AGV carriage The history of transmission and reception with the simulation device 4 is displayed. The number of stored histories is a maximum of 50 (number of transfer commands = total number of transfer vehicles).

2) AGV state display screen The current operation state (execution state, remaining charge, etc.) of each carrier AGV is displayed.

3) AGV state setting screen Sets an initial state (carrier insertion position, initial charge amount, etc.) for each carrier AGV. Various operations (receiving, unloading, charging, e, etc.) for each AGV truck.
tc. ) Is set, and the clearing of the transmission / reception trace buffer is instructed for each AGV truck.

4) AGV constant setting screen An AGV simulating constant is set.

1. Consumption charge calculation formula (1) Travel consumption (without lifter operation) = Travel consumption [distance / speed] x distance (2) Travel consumption (with lifter operation) = Travel consumption [distance / speed] x distance + Lifter operation consumption (3) Charge stop = FULL charge (4) Other = 0.

2. Operation time (timer value) calculation formula (1) Travel time (without lifter operation) = (travel distance / speed + delay time per carrier) x simulated speed coefficient (2) Travel time (with lifter operation) = (travel distance) ÷ Speed + lifter operation time + delay time per carrier) × simulated speed coefficient (3) Preparation for charging / end of charge = (constant value + delay time per carrier) × simulated speed coefficient (4) In unit travel data Running mode is direction reversal stop =
(Constant value + delay between bogies) × Simulated speed coefficient.

[Brief description of the drawings]

FIG. 1 is a plan view showing a transport path of a vehicle in a steel coil processing factory field.

FIG. 2 is a block diagram corresponding to a side view, showing crane Cra and Crb on the exit side and entrance side of a steel coil of a factory near the conveyance path shown in FIG.

3 is an AGV computer 3 which controls and manages the operation of each of a plurality of transport vehicles AGV1 to AGVn represented by the transport vehicle AGVi shown in FIG. 2 in response to a transport command from the vidicon 1 shown in FIG. FIG. 2 is a block diagram showing a functional configuration of the first embodiment.

4 is a vidicon 1 and an AGV calculator 3 shown in FIG.
Is a flowchart showing the contents of the work control of the carrier by the function of (1).

FIG. 5 is a block diagram showing a functional configuration of the AGV simulation device 4 shown in FIG.

FIG. 6 shows a command given by the AGV calculator 3 to the AGV simulator 4 shown in FIG. 3, a data processing function corresponding to the command of the AGV simulator 4, and notification information given to the AGV calculator 3 by the AGV simulator 4. Is a part of a block diagram showing.

7 is a command given to the AGV simulation device 4 by the AGV computer 3 shown in FIG. 3, a data processing function corresponding to the command of the AGV simulation device 4, and notification information given to the AGV computer 3 by the AGV simulation device 4. Is a part of a block diagram showing.

8 is a command given to the AGV simulation device 4 by the AGV computer 3 shown in FIG. 3, a data processing function corresponding to the command of the AGV simulation device 4, and notification information given to the AGV computer 3 by the AGV simulation device 4. Is a part of a block diagram showing. 6 and 7 are joined so that the same blocks on FIGS. 6 and 7 are overlapped, and FIGS. 7 and 8 are joined together so that the same blocks on FIGS. 7 and 8 are overlapped. As a result, a single block diagram showing the entire system appears.

FIG. 9 is a flowchart showing an example of a data processing flow in a test mode of the AGV calculator 3 and the AGV simulator 4 shown in FIG.

[Explanation of symbols]

A to D: Locations where skids or chargers for receiving steel coils are located. AGVi, AGV1 to n: Carriers (vehicles) p1 to p8: Communication posts (communication points) s1 to ss14: Unit sections Cra, Crb: Crane

Claims (5)

[Claims] 1. A vehicle equipped with a plurality of communication means on a vehicle operation route, and vehicle state information to be referred to by vehicle operation scheduling from each vehicle. A vehicle operation management system including communication means for allocating a vehicle to a given operation request and transmitting an operation command to the vehicle based on the state information and the operation schedule for each vehicle determined in advance; When the operation command transmitted from the operation management device is received, the operation simulation device simulates the operation specified by the operation command, and when the operation is completed on the simulation, transmits the operation completion to the operation management device. Prepared,
The vehicle operation management system, wherein the operation management device transmits an operation command to the operation simulation device in a test mode. 2. The operation management device transmits an operation command addressed to each of a plurality of virtual vehicles to the operation simulation device in a test mode; the operation simulation device transmits an operation instruction addressed to each virtual vehicle. 2. The vehicle operation management system according to claim 1, wherein when each operation specified is simulated and the operation is completed on each simulation, each operation completion is transmitted to the operation management device. 3. A plurality of communication points are defined in advance on the vehicle operation route; the vehicle communicates with the operation management device at each communication point; The vehicle operation management system according to claim 1, wherein the vehicle operation information is received, and an operation command is transmitted to the vehicle at a communication point. 4. The operation command is a unit information of unit information addressed to one section, which designates a section distance, a traveling speed, and a transfer / transfer of a conveyed article at the section break point on the operation route including the communication point as a section break point. The vehicle operation management system according to claim 3, wherein the system includes one unit, two units or more. 5. The operation simulation device includes a two-dimensional display, and displays a vehicle position on the simulation on an operation route display representing the vehicle operation route on the two-dimensional display. The vehicle operation management system according to claim 3 or 4.