JPH08282968A - Operation control device for plural sets of cranes - Google Patents

Abstract

(57) [Summary] [Purpose] To create a running schedule for multiple automatic cranes on the same rail to enable efficient transport control. [Structure] In a plurality of automatic cranes on the same rail, a schedule and a schedule for creating a time schedule for each crane from the transfer command data for each crane. Use the to change the operation sequence of the cranes or the combination of transport command data to create multiple time schedules and determine the combination with the least waiting time when the crane is not transporting. -Equipped with a control unit, it is characterized by efficient operation control by decoupling each crane.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention creates an operation schedule for a non-interfering lane in real time in a plurality of automatic lanes on the same rail for efficient lane creation. The present invention relates to an operation control device that controls the operation of a group of vehicles.

[0002]

2. Description of the Related Art When operating a plurality of automatic cranes on the same rail, a control method disclosed in Japanese Patent Laid-Open No. 51-1949 has been proposed. This control method prevents collision between the cranes by checking the interference of the next command of the own crane with the current operation of other cranes at the time when the transport operation of each crane is completed. Since this control method aims to prevent collisions between the cranes, it is not possible to shorten the waiting time and the evacuation operation time itself that occur due to the transfer operation of other cranes, and it is possible to reduce the entire crane. There is a limit to improving the transportation efficiency.

[0003]

The present invention has been invented in view of such a situation, and shortens the waiting time and the evacuation time itself caused by the transport operation of other cranes (hereinafter For the purpose of (interference), it is an object of the present invention to provide an operation control device of a plurality of cranes for improving the transport efficiency of the entire crane.

[0004]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a transport instruction data and a crane for each crane.
The schedule for calculating the time schedule of all the cranes and the waiting time showing the degree of interference from the transport order of the cranes, and the transport command data and the cranes of the respective cranes in this schedule.
An online simulator that determines the most non-interfering combination by giving multiple cases of transport order, and the execution plan of the crane from the determined transport command data and the crane transport order. Efficient operation control considering non-interference control of each crane consisting of an event schedule section and an operation control section that issues a transfer instruction to each crane based on the transfer completion record from each crane Is to do.

[0005]

In the above structure, a schedule is created in real time according to the change of the work situation such as the addition of the transfer command data, so that more efficient operation control can be achieved. Act to run.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall view showing an embodiment of the present invention.
Is a group of transport command data, and is the source of the transport target (hereinafter referred to as F
ROM), transport destination (hereinafter referred to as TO), transport crane NO. Multiple sets of transfer command data
There is This transfer command data is received from the host computer each time a transfer operation occurs or is input by installing an input device in this device.

Reference numeral 2 is a scheduler. First, the function of the scheduler 2 will be described. The processing flow of this schedule 2 is shown in FIG. 2, and the information items of the crane group time schedule data 3 created from the schedule 2 are shown in FIG.
Shown in

First, the units of the crane carrying operation and the schedule are "FROM position movement", "TO position movement",
It is divided into three, "movement of avoidance position". “FROM position movement” refers to a series of operations from moving from a certain position to a position where loading is performed, and lowering, loading, and hoisting.
The "TO position movement" refers to a series of operations from the "FROM position movement completion" position to the unloading position, and unloading, unloading, and hoisting. The "avoidance position movement" is a movement for retracting the adjacent crane when the adjacent crane is in the movement range when performing the operation of a certain crane, and it is different from a certain position. Refers to the action of moving to a position.

The scheduler 2 has the constants of the speed, acceleration, loading time and unloading time of the lateral traveling winding of each crane, and can calculate the time of each operation of the crane. Next, the processing of the scheduler 2 shown in FIG. 2 will be described.

The scheduler 2 first schedules this operation as initial registration if each of the cranes is currently in operation.
Schedule No. 3 of schedule data 3
Register to 0. The data to be registered are the transport operation classification, start position, completion position, start time and completion time.

Next, the scheduler 2 reads the first "transport command data and crane number" for the number of cranes given from the online simulator 6, and moves in the FROM direction. It is checked whether or not there is any interference from the outer lanes for all of the cranes, and if there is interference, the avoidance position movement of that crane is calculated and registered in the time schedule data 3. After the scheduling of the interference lane is completed, the FROM position of the main lane (the read lane number) is scheduled to be moved. The same process is performed for the TO position movement, and the time schedule for one transport command is completed.

This processing is performed for the number of cranes, and a time schedule for carrying one command of all the cranes is created, and the total of the avoidance position movement and the waiting time of all the cranes are calculated. And respond to the online simulator 6.

FIG. 4 shows an example of the traveling schedule of the crane represented by the time schedule data 3 which has been time scheduled. The vertical axis of FIG. 4 represents the traveling position of the crane, and the horizontal axis represents the time.
This is an example of performing the schedule in the order of → crane 2 → crane 3. In the traveling schedule of the crane 1, the crane 2 interferes, so after the avoidance position movement of the crane 2 is scheduled, the schedule of the crane 1 is executed and the crane is run. The schedule of 2 is FRO after the TO position movement of crane 1 (displayed as T in FIG. 4) is started.
It is assumed that the M position movement (displayed as F in FIG. 4) is started. Since there are no interfering cranes, the schedule of Crane 3 performs the schedule immediately, calculates the waiting time for the entire Crane, and calculates the time for the Crane 2 to move to the avoidance position and the Crane. The waiting time is α seconds, which is the total of the waiting time of the second station.

As described above, the scheduler 2 is provided with the carrier command data and the order of the cranes from the online simulator 6 so as to include the movements for avoiding the interference of other cranes. The time schedule is created and the unnecessary waiting time during which the carrying work is not performed is output.

Next, a series of operations of the online simulator 6 and the scheduler 2 will be described with reference to FIG. 5 as an example. As a premise of FIG. 5, the crane A (A is one of 1 to n) has only the FROM position X2 and the TO position X3 as a transport instruction, and the crane B (one of 1 to n ,
(Except for A), FROM position X2
There is only TO position X1. At time 0 in FIG. 5, the transport operation of the crane A is completed, and the crane B is in the state where the work is completed in the remaining T seconds during the unloading process.

The online simulator 6 is started when the operation of each crane is completed or when a new command is received. In the example of FIG. 5, the online simulator 6 is started when the operation of the crane A is completed, and each crane has only one command, so the operation sequence of the crane is 2
Simulate the case. The first position in the transfer command data for the number of cranes is crane A, and FROM position X
2, TO position X3, the second crane B writes FROM position X2, TO position X1 to the write scheduler 2; The scheduler 2 first registers the start position X1, the completion position X1, the start time 0, and the completion time T seconds for the moving crane B by moving the TO position, and the time is given in the order of the cranes A and B. Make a schedule and reply to the online simulator 6 that the waiting time is T seconds. The online simulator 6 uses the crane B as the first case of the transport command data as the next case, and the FROM position X2 and the TO position X are set.
The first and second cranes A write the FROM position X2 and the TO position X3 and pass the process to the scheduler 2.

As shown in FIG. 6, the scheduler 2 first performs the initial registration of the lane B, creates the time schedule in the order of the lanes B and A, and the waiting time is T / 2 seconds. Answer this to the online simulator 6. The online simulator 6 finally evaluates the case that is the minimum waiting time for these two cases, determines the order of cranes A and B, and schedules the final time schedule to the scheduler 2. -Let's create a file.

As described above, the conventional method results in the control shown in FIG. 5, but in the present method, the scheduler 2 shown in FIGS.
Thus, it is possible to make a non-interfering plan by modeling the position and time in the same manner as the actual operation and performing the evaluation by the online simulator 6.

The above description has been made on the premise that each of the cranes A and B has one transport instruction. However, next, as shown in FIG. 7, each crane has two transport instructions. Explain to the premise. In the example shown in FIG. 7, the online simulator 6 is started when the operation of the crane A is completed, and the first transport operation is planned first. Therefore, the instruction combination 4 cases and the crane order 2 cases are used. -Simulation of a total of 8 cases will be implemented based on the above concept. Next, the second transportation operation is planned. At this point, however, since there is one transportation command for each crane, the simulation of the case of the crane order 2 is similarly performed. The time schedule of the finally decided transportation plan is shown in FIG. In addition, the operation result in the case of the conventional method is shown in the time schedule of FIG. As can be seen by comparing FIGS. 8 and 9, the waiting time is large, and it can be seen that the transfer plan shown in FIG. 9 is efficient.

As described above, the scheduler 2 is used as an evaluation model of position and time simulating the actual operation of the crane, and the online simulator 6 is used to online the sequence of the cranes or the combination of the transport commands. Evaluate and create an efficient transportation plan.

Reference numeral 5 shown in FIG. 1 is an event schedule section, which will be described below. For example, the time schedule shown in Fig. 4 is planned to be calculated from a constant,
The actual operation of each crane may end earlier than expected, or it may take longer than expected.If the transport operation of each crane is performed on time, collision between cranes will occur, so It is not possible to control the operation of cranes only with the schedule. Therefore, in the process of creating the final time schedule, the interlock between the cranes is guaranteed by creating the activation condition of each crane as an event.
In the flow chart shown in FIG. 2, the process shown in FIG. 10 is performed in the portion for creating a schedule for each operation, and the event schedule data 4 shown in FIG. 11 is created. When creating a new schedule for your own lane, check whether a schedule for an adjacent lane has already been created in the movement range of your own lane, and if there is a schedule, check the schedule. −
The rule data is fetched as a condition of the adjacent lane of the own lane, and registered in the event schedule data of the own lane together with the data of the own lane. If there is no schedule for the adjoining crane, only the data for the own crane is registered in the event schedule data 4. The conditions for the adjacent cranes are the "movement start event" and "event when a certain position is reached after the start of movement" of the schedule.
Can be registered. For example, FR of crane 2 in Figure 4
In the case of the OM position movement, the schedule of the adjacent crane 1 has already been created. If this position is checked, the schedule of the TO position movement of the crane 1 is the FROM position of the own crane. Since it is within the movement range of movement, the TO position movement of the lane 1 is registered as the adjacent lane condition. Therefore, the condition to start moving the FROM position of the crane 2 is the AND condition of the completion of moving the avoiding position of the crane 2 and the start of moving the TO position of the crane 1, and the actual operating time of each crane. Even if variations occur, the interlock between the cranes is guaranteed.

Reference numeral 7 in FIG. 1 is a crane group operation control unit which receives traveling position data of a fixed period and movement start and movement completion events from the automatic crane. After receiving these events and starting to move to the event schedule data of the relevant crane, write the sign of completion and refer to the adjacent crane conditions of other cranes If they match, the signature is written, and at the same time, if the activation conditions for each of the cranes are satisfied, the next schedule transfer command is issued to the automatic crane.

[0023]

As described above, the operation control system for a plurality of cranes of the present invention does not simply perform control for avoiding the operation of another crane in order to avoid collision with another crane. , The most suitable combination in consideration of the transfer command data currently given to each crane, the order of the cranes, and the performance of each crane (speed, acceleration / deceleration, gripping time, unloading time) Create a schedule for the crane so that
In order to carry out more efficient operation control as a group of vehicles, it is possible to improve the carrying capacity as a client.

[Brief description of drawings]

FIG. 1 is a block diagram showing a functional configuration of an embodiment of the present invention.

FIG. 2 is a flowchart showing the processing of the scheduler 2 shown in FIG.

FIG. 3 is a timeline schedule for the crane group shown in FIG.
It is a chart showing the information items of data 3.

FIG. 4 is a crane group time schedule shown in FIG.
3 is a graph showing a traveling schedule of the crane represented by data 3;

5 is a graph showing a traveling schedule of a crane represented by command data of the transport command data group 1 shown in FIG.

FIG. 6 is a graph showing a travel schedule, which is created based on command data by the online simulator 6 and the scheduler 2 shown in FIG. 1, instead of the travel schedule shown in FIG.

7 is a table showing an example of a part of the instruction data of the transport instruction data group 1 shown in FIG.

8 is a graph showing a traveling schedule of the crane represented by the instruction data shown in FIG.

FIG. 9 shows a travel schedule, which is created by the online simulator 6 and the scheduler 2 shown in FIG. 1 based on the command data shown in FIG. 7, instead of the travel schedule shown in FIG. It is a graph shown.

FIG. 10 shows the event schedule section 5 shown in FIG.
9 is a flowchart showing a process of creating event schedule data.

FIG. 11: Crane group event schedule shown in FIG.
It is a chart showing the information items of the rule data 4.

[Explanation of symbols]

1: Transport command data group 2: Schedule 3: Crane group time schedule data 4: Crane group time event schedule data 5: Event schedule section 6: Online simulator Part 7: Crane group operation control unit 8 ₁ to 8 _n :
Automatic crane

Claims (1)

[Claims] 1. An operation control device for a plurality of automatic cranes on the same rail, wherein a time schedule for each crane is created from transport instruction data for each crane. Change the operation sequence of the schedule and the crane or the combination of the transfer command data to create multiple time schedules and
Online simulator section that determines the combination with the least waiting time that the client does not carry, the event schedule section that creates the execution plan of the crane, and the order and each determined by the above event schedule section. Efficient operation control by creating an operation plan that does not interfere with each crane, consisting of an operation control unit that issues a transportation command to each crane based on the results from the crane. An operation control device for multiple cranes.