CN101963812A - Unmanned conveying device and conveying route confirming method thereof - Google Patents
Unmanned conveying device and conveying route confirming method thereof Download PDFInfo
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Abstract
The invention provides an unmanned conveying device. A conveying route confirming method thereof comprises the steps of: storing a transfer site, a branch site, a confluence site, a conveying source address, a conveying destination of a conveying device (11) through a storage device (17) as a 'point' (2), storing a distance from each point to an adjacent point capable of being directly moving as a 'branch' (3), storing the loading of each branch as a chart (1) of weight (4), confirming the route having the minimum sum weight of each branch of a conveying route from the conveying source address to the conveying destination as a 'preset route' through a conveying control device (18) according to various goods, adding a specified weight on the current weight (4) of the confirmed preset route, conveying goods along the confirmed preset route by separately controlling the conveying device, and subtracting the specified weight from the current weight of each branch of the preset route after conveying.
Description
Technical field
The present invention relates to determine automatically unmanned conveying device and its transport path determining method of transport path.
Background technology
In the unmanned conveying device of using a plurality of conveying equipments,, various motions (for example Ri Ben patent documentation 1～7) have been carried out as the means of decision transport path.
[patent documentation 1] spy opens flat 6-83445 instructions " utilizing the travel path system of selection in the no person conveying system of the moving body of advancing automatically "
[patent documentation 2] spy opens 2003-337623 instructions " path determination device and method "
[patent documentation 3] spy opens 2003-345439 instructions " path searching method therefor of automatic conveying system and waggon "
[patent documentation 4] special permission No. 3485755 instructions " unmanned waggon control device and unmanned waggon control method "
[patent documentation 5] special permission No. 3539838 instructions " unmanned waggon control device and unmanned waggon control method "
[patent documentation 6] special permission No. 3755268 instructions " unmanned waggon control device and unmanned waggon control method "
[patent documentation 7] special permission No. 3728864 instructions " unmanned waggon control device and method "
The transport path determining method of above-mentioned unmanned conveying device in the past can be divided into following 3 kinds substantially.
(1) by the delivery source and the path of carrying destination of manual definition corresponding to object conveyor.
This method need be by manually setting all combinations corresponding to delivery source and conveying destination.In addition, Jue Ding path is a fixed path like this, has limit aspect the state in the path of tackling fault neatly or blocking up etc.
(2) regard transport path as chart, decision weight is minimum path.
This method needs to monitor the detailed position of conveying equipment and by the time for calculated weight again, need be used for obtaining sensor, communication path and the calculation element of the information of various device.
(3) prepare a plurality of delivery source and the path of carrying the destination, among this path, select optimal path corresponding to object conveyor.
The path of this method in order to select in the shortest time of avoiding blocking up etc., to move, based on current path mix and the prediction that mixes in following path determines.Therefore, need the good prediction of precision, if mix prediction of failure then with delivery pathways, so by suitable path based on the prediction of mistake.
Summary of the invention
The present invention makes in order to solve above-mentioned problem in the past.That is, though the purpose of this invention is to provide a kind ofly can determine transport path automatically, do not need to monitor the detailed position of conveying equipment and by the time, do not need to be used for this sensor, communication path and calculation element, do not need high-precision prediction to mix unmanned conveying device and its transport path determining method that prediction of failure also can be selected suitable path.
According to the present invention, a kind of unmanned conveying device is provided, be the unmanned conveying device of controlling a plurality of conveying equipments individually, it is characterized in that,
Possess each conveying device of control a plurality of plant control units, explore the path and each plant control unit sent the conveying control device of indication and the memory storage of storage conveying device state, transport path chart and predefined paths;
Above-mentioned memory device stores with the transfer place of conveying equipment, branch place, place, interflow, delivery source, conveying destination be " point ", to be " branch " from each point, to be the chart of " weight " with each load to the adjacent place that can directly move;
Above-mentioned conveying control device is according to each article, with each the summation of weight that constitutes from delivery source to the transport path of carrying the destination be that minimum path decision is " predefined paths ", each current weight of the predefined paths that determines is added the weight of regulation;
Control conveying equipment individually and articles conveyed according to each article along the predefined paths of decision, and each current weight of the predefined paths after carry deducts the weight of afore mentioned rules.
In addition, according to the present invention, providing a kind of transport path determining method of unmanned conveying device, is the transport path determining method of controlling the unmanned conveying device of a plurality of conveying equipments individually, it is characterized in that,
By memory device stores with the transfer place of conveying equipment, branch place, place, interflow, delivery source, conveying destination be " point ", to be " branch " from each point, to be the chart of " weight " with each load to the adjacent place that can directly move;
Pass through conveying control device, according to each article, with each the summation of weight that constitutes from delivery source to the transport path of carrying the destination be that minimum path decision is " predefined paths ", each current weight of the predefined paths that determines is added the weight of regulation;
Control conveying equipment individually and articles conveyed according to each article along the predefined paths of decision, and each current weight of the predefined paths after carry deducts the weight of afore mentioned rules.
According to a preferred embodiment of the invention, about each of path in the predefined paths of above-mentioned decision, that surpass defined threshold, with the weight of the functioning efficiency reduction addition of regulation.
In addition, whenever each article when point moves to, deduct the weight of afore mentioned rules from each the current weight of current " predefined paths ", each the summation of weight that then will constitute from current point to the transport path of carrying the destination determines to be " predefined paths " again for minimum path, each current weight of the predefined paths of decision is added the weight of afore mentioned rules.
And then, to certain article once by after the current weight in path add the point penalty of regulation, determine " predefined paths " of these article again.
Device and method according to the invention described above, because storage is with the transfer place of conveying equipment, the branch place, the place, interflow, delivery source, carrying the destination is " point ", being " branch " to the adjacent place that can directly move from each point, load with each is the chart of " weight ", according to each article, the summation of the weight of each with formation from delivery source to the transport path of carrying the destination is that minimum path decision is " predefined paths ", current weight is added each weight of the predefined paths of decision, so by regarding transport path as chart, to use in weight as congestion status in the future by the path that track search portion determines earlier temporarily, can predict to become the path that blocks up that decision is with its path of avoiding.
Thereby, the state in corresponding neatly fault and the path that blocks up etc., and the weight that no longer needs to be used for to obtain various device is calculated sensor, communication path, calculation element of needed information etc.
In addition, since whenever each article when point moves to, deduct each the weight of current " predefined paths " from current weight, each the summation of weight that then will constitute from current point to the transport path of carrying the destination determines to be " predefined paths " again for minimum path, current weight is added each weight of the predefined paths of decision, so when the place of the separation that moves to transport path, interflow, transfer etc., can study transport path again and new route more.
Thereby, always select the path with up-to-date routing information, even and failing in the prediction mixing of future and having selected unsuitable path, also can get back to suitable path midway in conveying.In addition, therefore do not need high-precision prediction.
Description of drawings
Fig. 1 is the one-piece construction figure of unmanned conveying device of the present invention.
Fig. 2 is the figure of the example of expression transport path chart.
Fig. 3 is the figure that Fig. 2 has been given weight.
Fig. 4 is the figure that has changed the weight of Fig. 3.
Fig. 5 is the figure of the 1st embodiment of expression method of the present invention.
Fig. 6 is the 2nd embodiment of method of the present invention, is the figure of expression future anticipation.
Fig. 7 is the figure of another reference example of expression future anticipation.
Fig. 8 is the 3rd embodiment of method of the present invention, is the figure of expression future anticipation.
Fig. 9 is the 4th embodiment of method of the present invention, is the figure of research again of expression transport path.
Figure 10 is the figure of another reference example of research again of expression transport path.
Figure 11 is the 5th embodiment of the method for invention, is the figure of research again of expression transport path.
Embodiment
Below, with reference to description of drawings preferred embodiment of the present invention.In addition, give identical Reference numeral for part common in each figure, the repetitive description thereof will be omitted.
Fig. 1 is the one-piece construction figure of unmanned conveying device of the present invention.
In the figure, unmanned conveying device 10 of the present invention possess a plurality of conveying devices 11 of control a plurality of plant control units 12, to each plant control unit 12 send indication equipment indication sending part 13, from epigyny device 14 receive the conveying indication acceptance division 15 of carrying indication, explore the track search portion 16 in path, storage conveying device state, transport path chart, Item Information, memory storage 17a, the 17b of predefined paths, 17c, 17d respectively.Each conveying device 11 also can be the device of 1 article of 1 conveying.
The said equipment indication sending part 13, conveying indication acceptance division 15 and track search portion 16 constitute conveying control device 18 as a whole.This conveying control device 18 for example is single or multiple computing machine.
In addition, above-mentioned memory storage 17a, 17b, 17c, 17d also can be single memory storages 17.
In the structure of Fig. 1, carry indication acceptance division 15 to give the conveying indication (mobile destination, mobile relative importance value etc.) of article from 14 pairs of epigyny devices.
Equipment indication sending part 13 is carried indication according to the transport path that generates to each control device 12.
Fig. 2 is the figure of the example of expression transport path chart.
Transport path is by ceiling advance chassis (OHV:Overhead Hoist Vehicle), unmanned waggon (RGV:Rail Guided Vehicle), the constituting of conveying equipment of various kinds such as crane automatically.The combination of these conveying equipments is showed with transport path chart 1 (being called " chart " to place an order).
In order will (to be that the path that A～D) constitutes shows with chart in the figure, with the transfer place of each equipment, branch place, place, interflow, as the place of delivery source, all be defined as " point " by conveying equipment as the place of carrying the destination.In addition, will be defined as " branch " to the adjacent place that can directly move from this each point.According to equipment, have and it to be defined as " direction of branch " to two-way mobile situation and the situation that only can move to a direction.
Here, consider in the example of Fig. 2 that " from starting point A to point of arrival C " carries.At this moment, can get two kinds of transport paths of " A → C " and " A → B → D → C ", but need represent which is the pointer in " good path " more.
Fig. 3 is the figure that Fig. 2 has been given weight 4.Weight 4 is to each 3 numeral arbitrarily of giving.In Fig. 3, each numeral " 5 ", " 10 " are weight 4.
In the present invention, to each 3 definition weight 4, be that the path definition of minimum is " best path " with each the summation of weight 4 that constitutes transport path.Weight 4 is numerical value arbitrarily, if but for example establish this numerical value and be " passing through the time of path ", then the summation of the weight of each is " moving to the needed time of the point of arrival from starting point ".At this moment, so-called " best path " is " path that can pass through in the shortest time ".
The memory storage 17b of above-mentioned transport path chart storage with transfer place, branch place, place, interflow, delivery source, the conveying destination of conveying equipment be " point ", to be " branch " from each point, to be the chart of " weight " with each load to the adjacent place that can directly move.
Fig. 4 is the figure that has changed the weight of Fig. 3.In Fig. 4, each numeral " 5 ", " 10 ", " 30 " are weight 4.
When obtaining " the best path " of point-to-point transmission arbitrarily, owing to always obtain identical path, so block up and also can walk around such path even can not obtain the specific part in this path by fixing weight.Therefore, need dynamically change weight 4 corresponding to blocking up.
For example, in Fig. 3, if considering " from starting point A to point of arrival C " carries, then obtain as " best path " usually " A → C ", if but between " A → C ", taken place to make when blocking up the weight between " A → C " to become as shown in Figure 4 greatly, then could access " A → B → D → C " as " best path ".This path is the path of walking around that blocks up.
In order so dynamically to change weight 4, proposed to be provided with the traveling time actual value that detects sensor that the path blocks up and measuring equipment since in the past, with its method as new " passing through the time of path " etc.But, need to be provided with for this reason obtain block up, the sensor of position, speed etc. or the device that detected information is sent the device of obtaining the path.
Given this, in the present invention, do not obtain that the path blocks up and the actual value of traveling time, and dynamically change weight by following method.
(1) by memory storage 17 store in advance transfer place with conveying equipment, branch place, place, interflow, delivery source, conveying destination for " point ", with from each point to the adjacent place that can directly move for " branch ", be the chart of " weight " with each load.
(2) then, by conveying control device 18 according to each article, decision constitute each the summation of weight from delivery source to the transport path of carrying the destination be minimum path as " predefined paths ", each current weight of the predefined paths that determines is added the weight of regulation.The weight of regulation for example is the weight corresponding to 1 article.
That is, when obtaining transport path, as predefined paths, with reservation join constitute this path each in 3.The weight of branch 3 is the increase function that joins the pre-approximate number in this.
For example, establish weight (weight of regulation)=1 time (design load) * pre-approximate number that the corresponding portion of equipment in the path moves.Here, so-called equipment is conveying device 11, and so-called corresponding portion is the correspondence branch 3 that constitutes the path, and so-called pre-approximate number is corresponding 3 the total number of times that uses in the formation under the situation of the predefined paths that has determined a plurality of conveying devices 11, at these predefined paths.
New transport path is obtained with above-mentioned weight.
(3) then,,, control conveying equipment separately and articles conveyed, and deduct the weight of afore mentioned rules from each current weight of the predefined paths carried along the predefined paths of decision according to each article by conveying control device 18.
Fig. 5 is the figure of the 1st embodiment of expression method of the present invention.Below, change the weight of each according to the order of Fig. 5 (A)～Fig. 5 (C).
Fig. 5 (A) is the situation that " from starting point A to point of arrival C " carries at first.That is, Fig. 5 (A) expression will determine to be used for carrying the predefined paths state before of initial article at once.At this moment, select in " A → C " and " A → B → D → C " two kinds of transport paths, each the summation of weight is minimum " A → C " (below be called " AC ").
By this selection, preengage a branch AC, the weight of branch AC is changed to 20 from 10.
Fig. 5 (B) is the situation of " from starting point A to point of arrival C " the 2nd conveying.That is, Fig. 5 (B) expression will determine to be used for carrying the predefined paths state before of the 2nd article at once.Also select this moment the summation of the weight of each to be minimum " A → C " (branch AC).
By this selection, preengage a branch AC, the weight of branch AC is changed to 30 from 20.
Fig. 5 (C) is the situation of " from starting point A to point of arrival C " the 3rd conveying.That is, Fig. 5 (C) expression will determine to be used for carrying the predefined paths state before of the 3rd article at once.Select this moment in two kinds of transport paths of " A → C " and " A → B → D → C ", each the summation of weight is " A → B → D → C " of minimum.
By this selection, preengage branch AB, a BD, DC, the weight of branch AB, BD, DC is changed to 10,20,20 respectively.
In addition, each weight 4 is at the actual subtraction that takes turns doing when having passed through the branch of reservation.
By the method for the invention described above, can access following effect.
(1) because the weight that less path is preengage in general path is less, so new transport path is preferentially selected the less path of reservation, path.Preengage less path and can be regarded as the path that does not mix, so walking around of can blocking up.
(2) pre-approximate number is owing to the frequency of utilizing of also representing following path, so also become the prediction that mixes.Therefore, mixing also of future added, can access the path of avoiding it.
Here, so-called " future ", be meant the time before at least 1 under the situation of a plurality of conveying devices having been carried out the path reservation, in this reservation of execution.
Fig. 6 is the 2nd embodiment of method of the present invention, is the figure of expression future anticipation.
In the figure, A～O is above-mentioned point 2, as shown in the figure, suppose to exist each 3.
Suppose to preengage at first the transport path of " A → B → C → D → E ", then the transport path of reservation " F → G → H → C → D ".In the case, the reservation of branch CD repeats, and its weight increases.
In the case, if then obtain the transport path of " K → E ", then as dotting among the figure, can access and avoid the path that mixes part (branch CD) in the future.
Fig. 7 is the figure of another reference example of expression future anticipation.
In the figure, A～O is above-mentioned point 2, as shown in the figure, suppose to exist each 3.
Suppose the transport path of initial secondary reservation " A → B → C → D → E → J → I → H → G → F ".In the case, the reservation in this path repeats, and its weight increases.
In the case, if then obtain the transport path of " N → G ", then as dotting among the figure, can access and avoid the path that mixes part " H → G " in the future.
But, " H → G " though the path by having been preengage, actual use is future far away.If also obtain the transport path of " N → G " this moment, then become the path of walking around it.
As this example,,, the situation that this path is walked around is arranged also although then the use in Shi Ji this path is future far away if preengage the very following path.
Fig. 8 is the 3rd embodiment of method of the present invention, is the figure of expression future anticipation.
Under the such situation of Fig. 7, also can define threshold value, the path that surpasses the future of this threshold value is not preengage.That is, about each of the path of threshold value in the predefined paths of decision, that surpass regulation, with the weight of the functioning efficiency reduction addition of regulation.Functioning efficiency is the positive number below 1, also can be 0.
Threshold value for example is path step number (promptly in the quantity that arrives the branch that passes through before the corresponding branch), displacement (promptly arriving the distance that moves before the corresponding branch), the traveling time (promptly arriving the time that needs till the corresponding branch) of this model.In addition, also can not exclusively end, and the functioning efficiency to weight is diminished.
On the other hand, in the method for the invention described above, for when beginning to carry from towards a plurality of paths of the point of arrival, selecting suitable path by this starting point, it is alternative and from wherein selecting to prepare a plurality of paths in advance, and be reflected in the weight by transport path is blocked up with the chart performance, with the path, block up and avoid.
But, carry out under the situation of track search at the path status that has sent the utilization this moment when carrying indication, owing to only only consider the state of this moment, so can not tackle for contingent blocking up in the future.In addition, also carry out waiting the processing of selecting the path according to the prediction of blocking up that the traveling time of conveying equipment or speed etc. are also added in the future, but need many calculating in order to predict.In addition, future anticipation is just unreliable more, becomes to be unworthy the method for trusting.
Given this, in the present invention, not only make the reflection sent when carrying indication the path and the indication of path status of this moment give conveying device, and under up-to-date path status, obtain the path once more in the place that can get a plurality of paths for the transfer place of conveying equipment, the conveying destination of separating place etc.
Promptly, according to the present invention, each article deducts the weight of afore mentioned rules from each the current weight of current " predefined paths " when moving to from point, each the summation of weight that then will constitute from current point to the transport path of carrying the destination determines to be " predefined paths " again for minimum path, each current weight of the predefined paths of decision is added the weight of afore mentioned rules.
By carrying out the research again in path continually like this, not only obtain transport path corresponding to the route conditions that at every moment changes, in the time can not selecting suitable path, also when studying again, be modified to suitable path to prediction of failure in the future.
Fig. 9 is the 4th embodiment of method of the present invention, is the figure of research again of expression transport path.
As Fig. 9 (A), if obtain the path, then do not block up with the path condition that has sent when carrying indication, so via between F-H, but this two goods are owing to use zone between F-H in the future simultaneously, so get congestion.
Given this, as Fig. 9 (B),, can obtain the path of avoiding that does not block up by studying the path again as the E that separates the place.
Figure 10 is the figure of another reference example of research again of expression transport path.
Supposing from certain place alternatively has a plurality ofly to what moved the destination, and their route conditions is same, and which uses all do not have to change.Here also there are a plurality of the alternative of destination that move at the some place on the path of Xuan Zeing, their route conditions be same, when which using all do not change, the situation of obtaining the path that continues to walk around identical place is arranged.
For example, as Figure 10 (A), the route conditions at a D place owing to path (DFEA) and path (DFECA) is same, so hypothesis is obtained path (DFECA) as the path.If goods then moves to a C, then as Figure 10 (B), the route conditions at a C place owing to path (CBA) and path (CBDFEA) is same, so hypothesis has been obtained path (CBDFEA) as the path.If then goods moves to a D, then get back to initial state, continue to walk around identical place.
Figure 11 is the 5th embodiment of method of the present invention, is the figure of research again of expression transport path.
In order to solve the problem of Figure 10, in the present invention, to certain article once by after the current weight in path add the point penalty of regulation, determine " predefined paths " of these article again.The point penalty of regulation for example is the weight corresponding to 1 article.
That is, as shown in figure 11, to certain article once by after the path give point penalty 6, the preferential path of selecting not have point penalty.For example, this point penalty realizes by the weight that increases respective path.
Device and method according to the invention described above, because storage is with the transfer place of conveying equipment 11, the branch place, the place, interflow, delivery source, carrying the destination is " point " 2, being " branch " 3 to the adjacent place that can directly move from each point 2, with each load of 3 is the chart 1 of " weight " 4, according to each article, the summation of the weight of each with formation from delivery source to the transport path of carrying the destination is that minimum path decision is " predefined paths ", each weight of the predefined paths of decision is added in the current weight, so by transport path being regarded as chart 1, will be in case use in weight as congestion status in the future in the path of decision in track search portion, can predict becomes the path that blocks up, its path is avoided in decision.
Thereby, the state in corresponding neatly fault or the path that blocks up etc., and the weight that does not need to be used for to obtain various device is calculated sensor, communication path, calculation element of needed information etc.
In addition, because whenever each article moved to a little 2 o'clock from putting 2, each the weight of current " predefined paths " is deducted from current weight, each the summation of weight that then will constitute from current point to the transport path of carrying the destination determines to be " predefined paths " again for minimum path, each weight of the predefined paths of decision is added in the current weight, so when the place of the separation that moves to transport path, interflow, transfer etc., can study transport path again and new route more.
Thereby, always select the path with up-to-date routing information, even and failing in the prediction mixing of future and having selected unsuitable path, also can get back to suitable path midway in conveying.In addition, therefore no longer need high-precision prediction.
In addition, the present invention is not limited to above-mentioned embodiment, certainly in addition various changes in the scope that does not break away from purport of the present invention.
Claims (5)
1. a unmanned conveying device is a unmanned conveying device of controlling a plurality of conveying equipments individually, it is characterized in that,
Possess each conveying device of control a plurality of plant control units, explore the path and each plant control unit sent the conveying control device of indication and the memory storage of storage conveying device state, transport path chart and predefined paths;
Above-mentioned memory device stores with the transfer place of conveying equipment, branch place, place, interflow, delivery source, conveying destination be " point ", to be " branch " from each point, to be the chart of " weight " with each load to the adjacent place that can directly move;
Above-mentioned conveying control device is according to each article, with each the summation of weight that constitutes from delivery source to the transport path of carrying the destination be that minimum path decision is " predefined paths ", each current weight of the predefined paths that determines is added the weight of regulation;
Control conveying equipment individually and articles conveyed according to each article along the predefined paths of decision, and each current weight of the predefined paths after carry deducts the weight of afore mentioned rules.
2. the transport path determining method of a unmanned conveying device is a transport path determining method of controlling the unmanned conveying device of a plurality of conveying equipments individually, it is characterized in that,
By memory device stores with the transfer place of conveying equipment, branch place, place, interflow, delivery source, conveying destination be " point ", to be " branch " from each point, to be the chart of " weight " with each load to the adjacent place that can directly move;
Pass through conveying control device, according to each article, with each the summation of weight that constitutes from delivery source to the transport path of carrying the destination be that minimum path decision is " predefined paths ", each current weight of the predefined paths that determines is added the weight of regulation;
Control conveying equipment individually and articles conveyed according to each article along the predefined paths of decision, and each current weight of the predefined paths after carry deducts the weight of afore mentioned rules.
3. the transport path determining method of unmanned conveying device as claimed in claim 2 is characterized in that, about each of path in the predefined paths of above-mentioned decision, that surpass defined threshold, with the weight of the functioning efficiency reduction addition of regulation.
4. the transport path determining method of unmanned conveying device as claimed in claim 2, it is characterized in that, whenever each article when point moves to, deduct the weight of afore mentioned rules from each the current weight of current " predefined paths ", each the summation of weight that then will constitute from current point to the transport path of carrying the destination determines to be " predefined paths " again for minimum path, each current weight of the predefined paths of decision is added the weight of afore mentioned rules.
5. the transport path determining method of unmanned conveying device as claimed in claim 4 is characterized in that, to certain article once by after the current weight in path add the point penalty of regulation, determine " predefined paths " of these article again.
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| CN110486048A (en) * | 2019-08-28 | 2019-11-22 | 湖南帝星智能科技有限公司 | A kind of control system and control method of tunnel lining trolley distributing trolley |
| CN110486048B (en) * | 2019-08-28 | 2021-08-27 | 湖南帝星智能科技有限公司 | Control system and control method of material distribution trolley for tunnel lining trolley |
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| CN101963812B (en) | 2013-02-20 |
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