WO2019142499A1 - Système et procédé de simulation - Google Patents

Système et procédé de simulation Download PDF

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Publication number
WO2019142499A1
WO2019142499A1 PCT/JP2018/043425 JP2018043425W WO2019142499A1 WO 2019142499 A1 WO2019142499 A1 WO 2019142499A1 JP 2018043425 W JP2018043425 W JP 2018043425W WO 2019142499 A1 WO2019142499 A1 WO 2019142499A1
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WO
WIPO (PCT)
Prior art keywords
unit
simulation
execution
result value
execution units
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PCT/JP2018/043425
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English (en)
Japanese (ja)
Inventor
俊光 東
豊和 小林
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村田機械株式会社
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Priority to JP2019565738A priority Critical patent/JP6856144B2/ja
Publication of WO2019142499A1 publication Critical patent/WO2019142499A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
    • G16Z99/00—Subject matter not provided for in other main groups of this subclass

Definitions

  • the present invention relates to a simulation system that derives the processing capability of a transport system having a plurality of types of transport devices by simulation.
  • the transport system provided in the delivery center or the like is provided in combination with an automatic warehouse including a stacker crane and a shelf, a conveyor, and an unmanned transport vehicle with a track or a track, as a transfer device for transporting a load.
  • an automatic warehouse including a stacker crane and a shelf, a conveyor, and an unmanned transport vehicle with a track or a track, as a transfer device for transporting a load.
  • transfer simulation of a load corresponding to the transfer system is executed at any time to construct the transfer system.
  • Patent Document 1 is a simulation system that can easily change the layout of the transfer device, can execute a simulation in a short time even with a complicated layout, and calculate information on the processing capacity of the transfer system as a result value. It is disclosed.
  • the simulation as described above simulates the transport state of a package using a predetermined model in a layout of the transport apparatus set arbitrarily, and calculates the processing capacity of the transport system as a result value.
  • the simulation program as described above is used, the simulation is performed based on the layout of the transport apparatus set arbitrarily. Based on the simulation result, the simulation is executed again by changing the replacement of the transport device, the change of the layout, and the like. By repeating these, it has been attempted to construct an optimal transport system that achieves the desired processing capacity.
  • the present invention has been made in view of the above problems, and even a large-scale complex transport system can execute a simulation in a relatively short time, and a wealth of information for constructing the transport system
  • the purpose is to provide a simulation system that can be provided.
  • a simulation system includes a plurality of execution units for calculating information related to processing capability of a conveyance system including a plurality of types of conveyance devices, and a plurality of the execution units. And a plurality of execution units execute simulations on the basis of mutually different mathematical expressions, and the optimization unit is configured to execute the simulation results of the execution units.
  • a determination unit that acquires a certain result value and determines whether the acquired result value satisfies a predetermined determination condition, and the determination unit determines that the determination condition is not satisfied, the determination is performed based on the result value When it is determined that the execution instruction unit that causes another execution unit different from or the same execution unit to execute the simulation, and the determination unit satisfies the determination condition And an output unit for outputting the result values each execution unit is calculated as the processing capacity of the transport system.
  • a receiving unit for receiving the input layout of the transport apparatus as layout information, and an information generating unit for generating information for executing at least one of the execution units based on the layout information received by the receiving unit.
  • the execution instruction unit may cause the execution unit selected based on the information generated by the information generation unit to execute a simulation.
  • the determination unit determines, as an individual condition, that the result value calculated by the execution unit is equal to or greater than a threshold corresponding to the same execution unit, or less than a threshold corresponding to the same execution unit. If the results calculated by the execution unit satisfy the individual conditions, it may be determined that the judgment conditions are satisfied. Further, the judgment unit determines that no change is recognized with respect to the newly calculated result value in the same execution unit, and the result value calculated by a predetermined number of the execution units It may be determined that the judgment condition is satisfied when the individual condition is satisfied.
  • all the execution units may execute a simulation based on a mathematical model.
  • one of the execution units may execute a simulation according to queue theory, and another one of the execution units may perform a simulation according to scheduling theory.
  • the information processing apparatus further includes a search unit that specifies and reports one of the transfer devices that most significantly affects the simulation result executed by the execution unit.
  • the present invention can obtain a wealth of information about the throughput of the transport system in a relatively short time by simulation.
  • FIG. 1 is a block diagram showing a functional configuration of a simulation system.
  • the simulation system 100 is a system that executes a simulation related to the transfer of a package and derives the processing capability of the transfer system for a transfer system including a plurality of types of transfer devices, and includes a plurality of execution units and an optimization unit 120 There is.
  • the simulation system further includes a reception unit 131, an information generation unit 132, and a storage unit 101.
  • the simulation system includes a CPU (Central Processing Unit), and the CPU executes a program stored in the storage unit 101 to realize each functional unit.
  • CPU Central Processing Unit
  • a transfer device provided in the transfer system to be simulated, there are a case conveyor which mainly transports a load such as a case in a horizontal direction, a pallet conveyor which transports a pallet which integrally holds a plurality of loads in a horizontal direction.
  • Automatic warehouse combined with a crane and a rack for holding luggage, a sorter for sorting luggage, a tracked unmanned transport vehicle for transporting luggage along a rail, a trackless unmanned transportation for traveling luggagelessly on a floor surface and the like
  • a picking station or the like which picks up a predetermined number of articles from among packages by a car, a person or a robot according to an order, collects a plurality of articles, stores them in another package and carries them out.
  • a separating device or the like for taking out the package from the pallet is also included in the transfer device.
  • processing devices such as a coating device, inspection devices, etc. also carry out processing, inspection, etc. on the carried-in and carried-in luggage, and then carry out the luggage and temporarily store (buffer) the plurality of luggage. Therefore, in the simulation system 100, it is handled as one of the transfer devices.
  • the execution unit receives the processing capacity of the transfer system consisting of a plurality of transfer devices virtually laid out and connected to one another, specifically, receives the number of packages within a unit time, and within the transfer system within a unit time It is a processing unit which carries out transport and buffering of how many packages, and simulates processing capabilities such as how many packages can be carried out within a unit time according to mutually different mathematical models (formulas).
  • the simulation system 100 includes a first execution unit 111 and a second execution unit 112 as execution units.
  • the first execution unit 111 is a processing unit that executes a simulation using queue theory.
  • the variables used for the first execution unit 111 include, for example, the number of transport devices provided in the transport system, the capacity of each transport device, the buffer of each transport device, the arrival rate of each transport device, and the service rate of each transport facility is there.
  • the effective arrival rate of each transport device for example, the effective arrival rate of each transport device, the effective service rate of each transport device, the steady state in a connection state of a predetermined transport device and transport devices connected before and after that It is state establishment etc.
  • the second execution unit 112 is a processing unit that executes a simulation using scheduling theory.
  • variables used in the second execution unit 112 for example, the location of the picking station which is one of the transport devices, the input buffer capacity of the picking station, the output buffer capacity, and the transport and work waiting occur, so The number of gates indicating the number of gates to be selected, picking time, moving time from input buffer to next input buffer, moving time from output buffer to next output buffer, moving time from gate to next gate, For example, the time of order occurrence
  • the first execution unit 111 can execute a simulation using at least one of the result value calculated by the second execution unit 112 and the information acquired from the information generation unit 132.
  • the second execution unit 112 The simulation can be performed using at least one of the result value calculated by one execution unit 111 and the information acquired from the information generation unit 132.
  • the optimization unit 120 is a processing unit that exchanges information with the execution units so that the result values calculated by the plurality of execution units become optimum values, and the determination unit 121, the execution instruction unit 122, and the output And a unit 123.
  • the optimization unit 120 includes a search unit 124.
  • the optimization unit 120 includes a holding unit that stores at least one of the information generated by the information generation unit 132, the result value calculated by the first execution unit 111, and the result value calculated by the second execution unit 112. .
  • the holding unit may overwrite the same when a result value of the same type is input, or may hold a predetermined amount of information, and may delete the old information when it overflows. Further, the optimization unit 120 can appropriately output the information stored in the holding unit to at least one of the first execution unit 111 and the second execution unit 112.
  • the determination unit 121 is a processing unit that acquires a result value that is a simulation result of any of the plurality of execution units, and determines whether the acquired result value satisfies a predetermined determination condition.
  • the determination conditions which are the criteria for the determination by the determination unit 121, are not particularly limited, and change depending on the type, purpose, and the like of the corresponding transfer system.
  • the determination unit 121 determines the result value calculated by each execution unit under each individual condition, and the summary of each determination result for the result value of each execution unit is The determination may be made based on whether the determination condition is satisfied.
  • the determination unit 121 uses determination conditions that collectively determine whether individual conditions equal to the number of execution units and individual conditions are satisfied.
  • the determination unit 121 includes a first individual condition corresponding to the first execution unit 111, a second individual condition corresponding to the second execution unit 112, and a judgment condition summarizing these. .
  • the determination unit 121 determines that the result value calculated by the first execution unit 111 is equal to or greater than the threshold value corresponding to the first execution unit 111, or less than the threshold value corresponding to the first execution unit 111.
  • One individual condition, and the result value calculated by the second execution unit 112 being equal to or greater than the threshold value corresponding to the second execution unit 112 or less than the threshold value corresponding to the second execution unit 112 is referred to as a second individual condition
  • the result calculated by the first execution unit 111 satisfies the first individual condition and the second execution unit 112 satisfies the second individual condition, it is determined that the judgment condition is satisfied.
  • the determination unit 121 determines that the result value newly calculated in the first execution unit 111 does not show a change with respect to the result value calculated earlier, as a first individual condition, and the second execution unit 112 newly The result value calculated by the first execution unit 111 and the result value calculated by the second execution unit 112 have the second individual condition that no change is recognized with respect to the result value calculated earlier. When the individual conditions are satisfied, it may be determined that the judgment conditions are satisfied.
  • the determination unit 121 may not determine using the result values of all execution units, but may determine whether the determination condition is satisfied based on only some result values in the execution units. . For example, when judging only the result value of one execution unit, the individual condition and the judgment condition match.
  • the execution instruction unit 122 determines that the determination unit 121 does not satisfy the determination condition, the execution instruction unit 122 executes a simulation on another execution unit different from or the same execution unit that calculated the result value based on the acquired result value Processing unit.
  • execution unit the execution instructing unit 122 causes to execute the simulation.
  • the order of the execution units that execute the simulation is determined in advance, and the execution instructing unit 122 determines the determined order. You may give instructions for execution according to
  • the execution instructing unit 122 causes the same execution unit to execute the simulation until the individual condition is satisfied, or the like when the judgment condition is not satisfied.
  • the execution unit to execute the simulation may be determined dynamically based on the above.
  • some of the result values calculated by the second execution unit 112 are If the first execution unit 111 is input as a variable of the execution unit 111 and causes the first execution unit 111 to execute a simulation, and if the determination condition is not satisfied depending on the result value calculated by the first execution unit 111, Some of the result values calculated by the first execution unit 111 are input to the second execution unit 112 as variables of the second execution unit 112, and the second execution unit 112 is caused to execute a simulation.
  • the maximum number of buffers which is one of the calculated result values Is input as the input buffer capacity of the second execution unit 112.
  • each transport apparatus which are the result values calculated by the second execution unit 112 based on the scheduling theory, are input to the first execution unit 111.
  • the output unit 123 is a processing unit that outputs the result value finally calculated by each execution unit to the display device 210 or the like as the processing capacity of the transport system when the determination unit 121 determines that the determination condition is satisfied.
  • FIG. 2 and FIG. 3 are diagrams showing an output example output to the display device by the output unit.
  • the output unit 123 creates and displays a table in which a queue, which is a result value finally output by the first execution unit 111, is associated with the transport apparatus (see FIG. 2), and the second execution unit 112 Based on the calculated result, a Gantt chart including the transport capacity of each transport device is created and displayed.
  • the search unit 124 is a processing unit that specifies and notifies by search of at least one of the transport devices that most significantly affects the simulation result executed by the execution unit.
  • the output unit 123 outputs.
  • the transport device searched is notified using a table, a diagram, a chart or the like created for display by the output unit 123. Specifically, as shown in FIG. 2, the transfer device 2 has the largest number of queues and has the largest impact on the entire transfer system, so it is notified by highlighting it with the corresponding number of queues. There is.
  • the storage unit 101 is a storage device that stores, for example, variables that are information related to the processing capabilities of the respective transport devices.
  • the storage unit 101 is a device that stores a simulation program or the like corresponding to an execution unit that is one of the programs executed by the CPU, and is configured by a storage element such as a ROM (Read Only Memory) or a hard disk. There is.
  • the variables stored in the storage unit 101 are not particularly limited. For example, (a) control parameters of each conveyance device such as speed, acceleration / deceleration, operation timer value, etc. (b) number of conveyance devices (c ) Conveying device, allocation control logic to determine conveyance instructions for picking operators, (d) Number of buffers described in the conveyance layout, conveyance route length, (e) How to convey objects etc. be able to.
  • the receiving unit 131 is a processing unit that receives the input layout of the transfer device as layout information. In the case of the present embodiment, as shown in FIG. 1, the receiving unit 131 graphically receives the connection between the output of one transport apparatus stored in the storage unit 101 and the input of another transport apparatus. The receiving unit 131 displays the first icon 221 corresponding to the type of the transfer device, and graphically connects the first icon 221 on the screen of the display device 210 to receive connection of the transfer device.
  • the interface 220 drags the plurality of first icons 221 arranged at the right end of the screen to the connection screen 229 provided on the left, and the first icons arranged first on the connection screen 229
  • the receiving unit 131 receives the connection between the output and the input of the transfer device corresponding to the first icon 221.
  • CCV Case conveyor
  • PCV Pallet conveyor
  • AWH Automatic warehouse
  • S Sorter
  • RGV Tracked unmanned transport vehicle
  • AGV Floor trackless unmanned transport vehicle
  • DM Separating device.
  • the information generation unit 132 is a processing unit that generates information for causing at least one execution unit to execute a simulation based on the layout information received by the reception unit 131.
  • the information generated by the information generation unit 132 is not particularly limited.
  • the processing time (conveyance time) of each conveyance device, the conveyance start time of each conveyance, the conveyance end time of each conveyance, each conveyance It is possible to show the stagnation (congestion) time of
  • information is generated by extracting from the storage unit 101 the information corresponding to each transport apparatus received by the receiving unit 131, and the information is provided to the execution instructing unit 122.
  • the execution instructing unit 122 which has acquired the information from the information generating unit 132 uses the acquired information as an initial condition, and either one of predetermined execution units or any of the execution units selected as meeting the initial condition. Provide the initial conditions to run the simulation.
  • the operator draws the layout of the transport system via the interface 220 (S101).
  • the information generation unit 132 generates, based on a table stored in the storage unit 101 or the like, information used for simulation, such as the transport capacity of the transport apparatus and the transport speed included in the drawn layout. Further, the operator may input via the interface 220 the conveyance unit not registered in the table or the conveyance apparatus whose specification is changed, and the reception unit 131 may receive it. Furthermore, the information generation unit 132 determines the connection state of the conveyance device based on the drawn layout, and generates information necessary for simulation (S102). At this stage, the operator can add, modify, delete, etc. information.
  • the execution instruction unit 122 of the optimization unit 120 first determines which execution unit to execute the simulation based on the information generated by the information generation unit 132, and provides information to the determined execution unit.
  • the simulation is executed based on (S103).
  • the execution unit that initially executes the simulation is not particularly limited, and may be selected in advance, selected with a predetermined probability, or the like. In the case of the present embodiment, it is determined in advance that the first execution unit 111 performs an initial simulation.
  • a simulation is executed in the execution unit instructed by the execution instruction unit 122 (S104), and the determination unit 121 determines whether the calculated result value satisfies the judgment condition (S105). Note that the determination condition is not satisfied until all of the plurality of execution units or the result values of a plurality of predetermined execution units are obtained.
  • the execution instruction unit 122 determines the execution unit to execute the simulation next (S106), and determines the newly acquired result value. Provide instructions to run the simulation.
  • the execution unit that has received the instruction executes a simulation using the provided result value as a variable or the like (S104).
  • the output unit 123 converts the result value finally calculated by each execution unit into the processing capacity of the transport system, and the operator such as a table or a Gantt chart Etc. (see FIGS. 2 and 3) and output to the display device 210 (S107).
  • the search unit 124 acquires a variable in at least one execution unit when the processing capacity is calculated, and the transport apparatus that has the largest influence on the simulation result executed by the execution unit. At least one of them is specified by search, and the corresponding transport device and its variable are notified (S108).
  • the notification method is not particularly limited. For example, information to be notified may be superimposed on information such as a table generated by the output unit 123 and a Gantt chart. In addition, the information to be notified may be superimposed on the layout diagram drawn in S101.
  • the display device 210 displays an image indicating the processing capacity and indicating the bottleneck location (S109).
  • a complex layout is provided by using a plurality of execution units that execute simulations with different types of simulation models, and mutually utilizing result values that are results of simulation as variables for simulation. It is possible to calculate the processing capacity with high accuracy even with the transport system of
  • the present invention is not limited to the above embodiment.
  • another embodiment realized by arbitrarily combining the components described herein and excluding some of the components may be used as an embodiment of the present invention.
  • the present invention also includes modifications obtained by applying various modifications to those skilled in the art without departing from the spirit of the present invention, that is, the meaning described in the claims with respect to the above embodiment.
  • the layout information received by the receiving unit 131 may be simple as shown in FIG.
  • the simulation system 100 may include three or more execution units.
  • the present invention can be used to design a transport system that transports packages automatically by combining a plurality of transport devices such as a distribution base and a production plant.
  • simulation system 101 storage unit 111 first execution unit 112 second execution unit 120 optimization unit 121 determination unit 122 execution instruction unit 123 output unit 124 search unit 131 reception unit 132 information generation unit 210 display device 220 interface 221 first icon 229 Connection screen

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Abstract

La présente invention concerne un système de simulation (100) qui est pourvu d'une pluralité d'unités d'exécution qui calculent des informations concernant la capacité de traitement d'un système de transport, et d'une unité d'optimisation (120) qui effectue un échange d'informations parmi la pluralité d'unités d'exécution, la pluralité d'unités d'exécution exécutant des simulations sur la base de formules mathématiques mutuellement différentes; et l'unité d'optimisation (120) étant pourvue d'une unité de détermination (121) qui acquiert une valeur de résultat qui est un résultat de simulation de chacune des unités d'exécution et qui détermine si la valeur de résultat acquise satisfait ou non une condition de détermination prédéterminée, une unité d'instruction d'exécution (122) qui, lorsque la condition de détermination n'est pas satisfaite, amène une autre unité d'exécution différente d'une unité d'exécution unique ou de la même unité d'exécution à exécuter une simulation sur la base de la valeur de résultat, et une unité de sortie (123) qui, lorsque la condition de détermination est satisfaite, délivre en sortie des valeurs de résultat calculées par les unités d'exécution en tant que capacité de traitement du système de transport.
PCT/JP2018/043425 2018-01-17 2018-11-26 Système et procédé de simulation WO2019142499A1 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115582836A (zh) * 2022-10-14 2023-01-10 中南大学 一种物流机器人系统搬运能力的计算方法
WO2023193236A1 (fr) * 2022-04-08 2023-10-12 宁德时代新能源科技股份有限公司 Système de vag et procédé de planification de vag

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JPS63266573A (ja) * 1987-04-23 1988-11-02 Fujitsu Ltd モデル管理処理方式
JPH06314107A (ja) * 1993-04-30 1994-11-08 Nippon Steel Corp 物流シミュレーション方法
JP2002259888A (ja) * 2000-12-25 2002-09-13 Toshiba Corp シミュレーション制御プログラム、方法及び装置
JP2007264890A (ja) * 2006-03-28 2007-10-11 Murata Mach Ltd シミュレーションシステム
JP2017084080A (ja) * 2015-10-27 2017-05-18 村田機械株式会社 シミュレーションシステム、および、シミュレーションプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63266573A (ja) * 1987-04-23 1988-11-02 Fujitsu Ltd モデル管理処理方式
JPH06314107A (ja) * 1993-04-30 1994-11-08 Nippon Steel Corp 物流シミュレーション方法
JP2002259888A (ja) * 2000-12-25 2002-09-13 Toshiba Corp シミュレーション制御プログラム、方法及び装置
JP2007264890A (ja) * 2006-03-28 2007-10-11 Murata Mach Ltd シミュレーションシステム
JP2017084080A (ja) * 2015-10-27 2017-05-18 村田機械株式会社 シミュレーションシステム、および、シミュレーションプログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023193236A1 (fr) * 2022-04-08 2023-10-12 宁德时代新能源科技股份有限公司 Système de vag et procédé de planification de vag
CN115582836A (zh) * 2022-10-14 2023-01-10 中南大学 一种物流机器人系统搬运能力的计算方法

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