KR950017684A - Operation management control device and method - Google Patents

Operation management control device and method Download PDF

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Publication number
KR950017684A
KR950017684A KR1019940012487A KR19940012487A KR950017684A KR 950017684 A KR950017684 A KR 950017684A KR 1019940012487 A KR1019940012487 A KR 1019940012487A KR 19940012487 A KR19940012487 A KR 19940012487A KR 950017684 A KR950017684 A KR 950017684A
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KR
South Korea
Prior art keywords
route
path
vehicle
unmanned
driverless vehicle
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KR1019940012487A
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Korean (ko)
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KR100347192B1 (en
Inventor
다가미 에가와
Original Assignee
스즈끼 아끼오
신꼬덴끼 가부시끼가이샤
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Publication of KR950017684A publication Critical patent/KR950017684A/en
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Publication of KR100347192B1 publication Critical patent/KR100347192B1/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], 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], 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], 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

Abstract

본 발명은 공장등의 무인반송시스템에서의 무인반송차의 운행을 관리하고, 반송경로의 결정등을 운행관리제어장치 및 방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation management control apparatus and method for managing the operation of an unmanned vehicle in an unmanned transport system such as a factory, and determining a transport path.

이는 복수 무인차의 운행을 관리하는 반송효율을 향상시키는 운행관리제어장치 및 방법을 제공하려는 목적을 가진다.It is an object of the present invention to provide an operation management control apparatus and method for improving the transportation efficiency for managing the operation of a plurality of unmanned vehicles.

이를 위해, 본 발명은 경로탐색부(110)는 각각의 무인차의 코스트가 최소로 되는 주행경로(초기경로)를 구한다. 경로계획부(109)는 경로탐색부(110)에서 구해진 주행경로의 역주행구간을 조사하고, 그 결과에 기하여 역주행구간이 없는 기본경로를 구한다. 동작계획부(108)는 이 기본경로를 패쇄트리네트로 모델화하고, 그 시뮬레이션에 의한 통행불능이 검출된 경우에는 노드 통행순서의 조정ㆍ우회경로의 탐색ㆍ퇴피/대피경로의 탐색을 하여 주행불능을 해소한다. 이들의 결과로 부터 각 무인차의 이동의 추이(동작계획)가 얻어지도록 구성한다.To this end, in the present invention, the route search unit 110 obtains a driving route (initial route) in which the cost of each driverless vehicle is minimized. The route planning unit 109 examines the reverse driving section of the driving route obtained by the route searching unit 110, and calculates a basic route without the reverse driving section based on the result. The operation planning unit 108 models the basic route as a closed tree net, and when the failure is detected by the simulation, adjusts the node passage order, searches for the bypass route, searches for the evacuation route, and searches for the evacuation route. Eliminate From these results, the transition (operation plan) of each driverless vehicle is obtained.

Description

운행관리제어장치 및 그 방법Operation management control device and method

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

제1도는 본 발명의 제1실시예에서의 운행관리제어장치의 블럭도.1 is a block diagram of a driving management control apparatus in the first embodiment of the present invention.

제2도는 경로계획을 이용한 트리(Tree)도.2 is a tree diagram using path planning.

제3도는 경로계획부의 경로계획처리를 도시한 흐름도.3 is a flowchart showing the route planning process of the route planning section.

제4도는 동작계획처리의 동작예를 도시한 운행도.4 is a driving diagram showing an operation example of an operation planning process.

Claims (2)

정지위치에 있는 복수의 노드와, 상기 노드간을 접속하는 접속로로 되는 주행로를 주행하는 복수 무인차의 운행을 제어하는 운행관리제어장치에 있어서, 각 무인차가 동일 접속로를 서로 역방향 주행하지 않도록 각 무인차의 주행경로를 탐색하는 제1의 수단과, 상기 제1의 수단에 의해 탐색된 각 무인차의 주행경로에 기하여 각 무인차의 시간적인 이동을 시뮬레이션하고, 어느 것인가 무인차의 진행불능을 검출한 경우에, 노드 통과순서 변경ㆍ우회경로탐색ㆍ대피경로탐색워 어느 것인가의 방법으로 상기 무인차의 진행불능을 해제하는 제2의 수단를 구비하여 되는 것을 특징으로 하는 운행관리제어장치.A driving management control device for controlling the operation of a plurality of nodes at a stop position and a plurality of unmanned vehicles traveling on a traveling path that is a connection path for connecting the nodes, wherein each unmanned vehicle does not travel backwards on the same connection path. The first means for searching the driving route of each driverless vehicle and the driving route of each driverless vehicle detected by the first means so as to simulate the temporal movement of each driverless vehicle, which is the progress of the driverless vehicle. And a second means for releasing the progression of the unmanned vehicle by the method of changing the node passing order, searching for a bypass route, or searching for an escape route when the failure is detected. 정지위치에 있는 복수의 노드와, 상기 노드간을 접속하는 접속로로 되는 주행로를 주행하는 복수 무인차의 운행을 제어하는 운행관리제어방법에 있어서, 각 무인차가 동일 접속로를 서로 역방향 주행하지 않도록 각 무인차의 주행경로를 탐색하는 제1스탭과, 상기 제1스탭에 의해 얻어진 주행경로에 기하여 각 무인차의 시간적인 이동을 조사하고, 어느 것인가 무인차의 진행불능이 검출된 경우에는 이미 주행을 종료하고 있는 무인차의 경로에 퇴피경로를 추가하는 제2스탭과, 상기 제2스탭에서의 진행불능이 해소될 수 없는 경우에 무인차의 주행순서를 변경하는 제3스탭과, 상기 제3스탭에서의 진행불능이 해소될 수 없는 경우에 무인차의 경로에 우회경로를 추가하는 제4스탭과, 상기 제4스탭에서의 진행불능이 해소될 수 없는 경우에 무인차의 경로에 대피경로를 추가하는 제5스탭를 가지는 것을 특징으로 하는 운행관리제어방법.In the operation management control method for controlling the operation of a plurality of nodes at a stop position and a plurality of unmanned vehicles traveling on a traveling path that is a connection path for connecting the nodes, each unmanned vehicle does not travel backward in the same connection path. The first step of searching the driving route of each driverless vehicle and the timetable movement of each driverless vehicle are investigated based on the driving route obtained by the first step. A second step for adding a evacuation path to the path of the unmanned vehicle that has finished driving; a third step for changing the driving order of the unmanned vehicle when the inability to proceed in the second step cannot be eliminated; The fourth step of adding a detour path to the path of the driverless vehicle when the inability to proceed in the third step cannot be resolved; and the path of the driverless vehicle if the inability to proceed in the fourth step cannot be resolved. The traffic management control method characterized by having a fifth seutaepreul adding the evacuation route. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019940012487A 1993-12-10 1994-06-03 Operation management control device and method KR100347192B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP31093293 1993-12-10
JP93-310932 1993-12-10

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Publication Number Publication Date
KR950017684A true KR950017684A (en) 1995-07-20
KR100347192B1 KR100347192B1 (en) 2002-11-18

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100461869B1 (en) * 2002-07-04 2004-12-14 삼성전자주식회사 Control method of conveying system
KR100478451B1 (en) * 2002-07-05 2005-03-22 삼성전자주식회사 Control method of conveying system

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006059316A (en) * 2004-07-21 2006-03-02 Hitachi Kiden Kogyo Ltd Design support system of carrying device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100461869B1 (en) * 2002-07-04 2004-12-14 삼성전자주식회사 Control method of conveying system
KR100478451B1 (en) * 2002-07-05 2005-03-22 삼성전자주식회사 Control method of conveying system

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Publication number Publication date
KR100347192B1 (en) 2002-11-18
TW258720B (en) 1995-10-01

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