KR950017683A - Operation control device and method - Google Patents

Operation control device and method Download PDF

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Publication number
KR950017683A
KR950017683A KR1019940012486A KR19940012486A KR950017683A KR 950017683 A KR950017683 A KR 950017683A KR 1019940012486 A KR1019940012486 A KR 1019940012486A KR 19940012486 A KR19940012486 A KR 19940012486A KR 950017683 A KR950017683 A KR 950017683A
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KR
South Korea
Prior art keywords
route
driving
nodes
section
search means
Prior art date
Application number
KR1019940012486A
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Korean (ko)
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KR100347191B1 (en
Inventor
다가미 에가와
Original Assignee
스즈끼 아끼오
신꼬덴끼 가부시끼가이샤
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Application filed by 스즈끼 아끼오, 신꼬덴끼 가부시끼가이샤 filed Critical 스즈끼 아끼오
Publication of KR950017683A publication Critical patent/KR950017683A/en
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Publication of KR100347191B1 publication Critical patent/KR100347191B1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31003—Supervise route, reserve route and allocate route to vehicle, avoid collision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32372—Petrinet, coloured, inhibitor arc, timed, object token Petrinet
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Conveyors (AREA)

Abstract

본 발명의 공장등의 무인반송시스템에 있어서, 무인반송차의 주행경로결정등을 행하는 운행관리제어장치 및 그 방법에 관한 것으로, 복수의 무인차가 효율좋게 이동을 행하도록 주행경로를 구하는 운행관리제어장치 및 그 방법을 제공하려는 목적으로 발명된 것으로, 이를 위해 본 발명은 경로정열부(107)와 경로탐색부(108)에서 제공되는 각 무인차의 주행경로의 역방향구간을 조사하고, 당해 구간의 코스트에 기하여 주행로의 특정구간에 방향제한을 한 후, 경로탐색부(108)에서 다시 각 무인차의 주행경로를 구하고, 상기의 조작을 역주행구간이 없을 때까지 행하도록 구성하였다.In an unmanned conveyance system such as a factory of the present invention, the present invention relates to an operation management control apparatus for determining a driving route of an unmanned vehicle and a method thereof, and to a driving management control for obtaining a driving route to efficiently move a plurality of unmanned vehicle. The present invention has been invented for the purpose of providing an apparatus and a method thereof, and for this purpose, the present invention examines the reverse section of the driving route of each unmanned vehicle provided by the path arranging unit 107 and the path searching unit 108, and After limiting the direction to a specific section of the driving route based on the cost, the route search section 108 calculates the driving route of each driverless vehicle again and performs the above operation until there is no reverse driving section.

Description

운행관리 제어장치 및 그 방법Operation control device and method

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명의 1실시예에서의 운행관리제어장치의 블럭도.1 is a block diagram of a driving management control apparatus in one embodiment of the present invention.

제2도는 주행도에서의 각 마크의 코스트 표시도.2 is a cost display diagram of each mark in the driving degree.

제3도는 제1도의 코스트 정력부가 행하는 처리를 도시한 플로우차트.FIG. 3 is a flowchart showing processing performed by the cost tuck unit in FIG.

제4도는 실시예의 동작예 1에서의 무인차의 주행경로를 도시한 운행도.4 is a driving diagram showing a driving route of an unmanned vehicle in Operation Example 1 of the embodiment.

제7도는 동작예 1에서의 트리(tree)도.7 is a tree diagram in operation example 1. FIG.

제8도는 동 실시예의 동작예 2에서의 운행도.8 is a driving diagram in Operation Example 2 of the embodiment.

Claims (2)

정지위치에 있는 복수의 노드와 상기 노드간을 접속하는 접속로로 이루어지는 주행로를 주행하는 복수 무인차의 운행을 제어하는 운행관리 제어장치에 있어서, 상기 복수노드의 위치 및 접속에 기하여 상기 노드간을 접속하는 반송가능한 구간의 코스트를 산출하고, 현재지점에서 목표지점까지 코스트의 누계가 최소로 되는 주행경로를 작성하는 경로탐색수단과, 현재지점 및 목표지점이 다른 복수 무인차의 경로 및 그 코스트를 상기 경로탐색수단으로 작성시켜, 그 결과에 기하여 상기 주행로의 특정구간의 반송방향으로 제한한 후, 다시 상기 경로탐색수단에 주행경로를 작성시킨 경로정리수단과를 구비하는 것을 특징으로 하는 운행관리제저장치.A driving management control device for controlling the operation of a plurality of unmanned vehicles traveling on a traveling path consisting of a plurality of nodes at a stop position and a connection path for connecting the nodes, wherein the nodes are connected to each other based on the position and connection of the plurality of nodes; A route search means for calculating a cost of a transportable section for connecting a route and creating a driving route with a minimum total of costs from a current point to a target point; a route of a plurality of unmanned vehicles having different points at the current point and a target point; Characterized in that the route search means is provided, and the route search means is provided with the route search means in which the travel route is created in the route search means again after limiting to the conveying direction of a specific section of the travel route based on the result. Management de-device. 정지위치에 있는 복수의 노드와 상기 노드간을 접속하는 접속로로 이루어지는 주행로를 주행하는 복수 무인차의 운행을 제어하는 운행관리 제어장치에 있어서, 상기 복수 무인차의 각 최적주행경로를 구하는 제1스텝과, 상기 제1스텝에 의해 얻어진 복수의 최적주행경로에 있어서, 서로 역방향의 주행경로인 역방향 구간을 구하는 제2스텝과, 상기 역방향 구간이 없는 경우에는 처리를 종료하고, 다른 경우에는 상기 역방향 구간의 코스트를 적산하는 제3스텝과, 상기 코스트가 가장 큰 역방향 구간을 한방향으로 방향설정하는 제4스텝과, 상기 방향 설정된 주행로에서, 모든 무인차에 대해 다시 최적 주행경로를 구하는 제5스텝를 가지고, 상기 제3~제5스텝을 반복하는 것에 의해 경합이 없는 최적주행경로를 구하는 것을 특징으로 하는 운행관리제어방법.A driving management control device for controlling the driving of a plurality of unmanned vehicles traveling on a traveling path consisting of a plurality of nodes at a stop position and a connection path connecting the nodes, the method comprising: obtaining respective optimum driving paths of the plurality of unmanned vehicles; In the step 1 and the plurality of optimum driving paths obtained by the first step, the second step of obtaining a reverse section that is a reverse driving path from each other, and the process ends when there is no reverse section, and in the other case, A third step of integrating the cost of the reverse section, a fourth step of directionalizing the reverse section having the largest cost in one direction, and a fifth step of obtaining the optimum driving path again for all unmanned vehicles in the set direction of travel; Operation management control method characterized by obtaining an optimal running route without contention by repeating the third to fifth steps with steps; . ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019940012486A 1993-12-10 1994-06-03 Operation management control device and method KR100347191B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP93-310931 1993-12-10
JP5310931A JP2953282B2 (en) 1993-12-10 1993-12-10 Operation management control apparatus and method

Publications (2)

Publication Number Publication Date
KR950017683A true KR950017683A (en) 1995-07-20
KR100347191B1 KR100347191B1 (en) 2002-11-29

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TW (1) TW274134B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3684755B2 (en) * 1997-05-12 2005-08-17 アシスト シンコー株式会社 Operation management control device and operation management control method
JP3715420B2 (en) * 1997-11-12 2005-11-09 マツダエース株式会社 Driving program creation device for automated guided vehicles
JP4705274B2 (en) * 2001-07-24 2011-06-22 本田技研工業株式会社 Work transfer method and work transfer system
JP4705273B2 (en) * 2001-07-24 2011-06-22 本田技研工業株式会社 Work transfer method
KR102080424B1 (en) * 2016-01-04 2020-02-21 저장 리뱌오 로보츠 컴퍼니 리미티드 Method and apparatus for robotic site return
JP7228420B2 (en) * 2019-03-13 2023-02-24 株式会社東芝 Information processing device, information processing method, information processing system and computer program
JP7204631B2 (en) * 2019-10-29 2023-01-16 株式会社東芝 TRIP CONTROL DEVICE, METHOD AND COMPUTER PROGRAM
JP2021071891A (en) 2019-10-30 2021-05-06 株式会社東芝 Travel control device, travel control method, and computer program
JP7328923B2 (en) 2020-03-16 2023-08-17 株式会社東芝 Information processing device, information processing method, and computer program

Also Published As

Publication number Publication date
JPH07160333A (en) 1995-06-23
JP2953282B2 (en) 1999-09-27
KR100347191B1 (en) 2002-11-29
TW274134B (en) 1996-04-11

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