JP2021168012A - 無人搬送車の走行制御システム - Google Patents
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Abstract
Description
図1に一例として示されている充放電検査工場は、充放電検査の第1工程に対応する第1の作業エリア1と、第2工程に対応する第2の作業エリア2と、第3工程に対応する第3の作業エリア3と、第4工程に対応する第4の作業エリア4と、第5工程に対応する第5の作業エリア5と、第6工程に対応する第6の作業エリア6とが配置されており、第1〜第6の作業エリア1〜6の間には、実搬送車(AGV)A0〜A6、によりワークである蓄電池を搬送するための搬送エリア7が設定されている。なお、図1においては、第1工程〜第6工程をそれぞれ工程1〜工程6としている。
本実施形態に係る無人搬送車の走行制御システムSSは、以上説明した蓄電池検査工場等で使用されるものであり、図2に示すように、現実の搬送エリア7内で複数の実搬送車A0〜A6を互いに交差する複数の走行ルートR0〜R6に沿って走行させるための実制御プログラムを備えた実搬送車走行コントローラ8と、仮想の搬送エリア内で複数の仮想搬送車B0〜B6を実搬送車A0〜A6の動きを模して走行させるための仮想制御プログラムを備えた仮想搬送車走行コントローラ9と、この仮想搬送車走行コントローラ9により制御される仮想搬送車B0〜B6が仮想の搬送エリア内で衝突又は停止異常を起こした場合にその異常事象を検知し記録する仮想搬送車走行監視部11と、この仮想搬送車走行監視部11により検知された異常事象を外部に出力する監視結果出力部12と、この監視結果出力部12から出力された異常事象を参照して修正された更新データを外部から受け取り当該更新データを最終的に前記実制御プログラムに反映させるための更新データ入力部13とを具備してなる。
8…実搬送車走行コントローラ
9…仮想搬送車走行コントローラ
10…走行制御データ入力部
11…仮想搬送車走行監視部
12…監視結果出力部
13…更新データ入力部
14…表示部
16…更新データ入力部
Claims (7)
- 現実の搬送エリア内で複数の実搬送車を互いに交差する複数の走行ルートに沿って走行させるための実制御プログラムを備えた実搬送車走行コントローラと、
仮想の搬送エリア内で複数の仮想搬送車を前記実搬送車の形状と動きを模して走行させるための仮想制御プログラムを備えた仮想搬送車走行コントローラと、
この仮想搬送車走行コントローラにより制御される仮想搬送車が前記仮想の搬送エリア内で衝突又は停止異常を起こした場合にその異常事象を検知し記録する仮想搬送車走行監視部と、
この仮想搬送車走行監視部により検知された異常事象を外部に出力する監視結果出力部と、
この監視結果出力部から出力された異常事象を参照して修正された更新データを外部から受け取り当該更新データを最終的に前記実制御プログラムに反映させるための更新データ入力部とを具備してなる無人搬送車の走行制御システム。 - 現実の走行エリア内で複数の実搬送車を互いに交差する複数の走行ルートに沿って走行させるための実制御プログラムに用いられる走行制御データを入力する走行制御データ入力部と、
この走行制御データ入力部からの走行制御データに基づいて、仮想の走行エリア内で複数の仮想搬送車を前記実搬送車の形状と動きを模して走行させるための仮想制御プログラムを備えた仮想搬送車走行コントローラと、
この仮想搬送車走行コントローラにより制御される仮想搬送車が前記仮想の走行エリア内で衝突又は停止異常を起こした場合にその異常事象を検知し記録する仮想搬送車走行監視部と、
この仮想搬送車走行監視部により検知された異常事象を外部に出力する監視結果出力部とを具備してなる無人搬送車の走行制御システム。 - 現実の走行エリア内で複数の実搬送車を互いに交差する複数の走行ルートに沿って走行させるための実制御プログラムを備えた実搬送車走行コントローラと、
前記実搬送車走行コントローラで用いられる実制御プログラムに含まれる走行制御データを、複数の仮想搬送車を前記実搬送車の形状と動きを模して仮想の搬送エリア内で走行させるためのシミュレーション用の情報として外部に出力する走行制御データ出力部と、
前記情報を利用してシミュレーションされた結果に基づき作成された更新データを外部から受け取り当該更新データを最終的に前記実制御プログラムに反映させる更新データ入力部とを具備してなる無人搬送車の走行制御システム。 - 前記仮想搬送車走行コントローラが、前記実搬送車走行コントローラに並設されている請求項1記載の無人搬送車の走行制御システム。
- 前記仮想制御プログラムにおけるルーチン実行用のサイクルタイムが、前記実制御プログラムの同サイクルタイムよりも短く実行可能である請求項1、2又は4記載の無人搬送車の走行制御システム。
- 前記仮想制御プログラムに制御されて前記仮想の搬送エリア内を前記複数の仮想搬送車が走行する様子を外部から視認し得る態様で表示すると共に、仮想搬送車走行監視部に記録された異常事象を表示する表示部を備えている請求項1、2、4又は5記載の無人搬送車の走行制御システム。
- 前記仮想搬送車走行監視部に記録される情報には、異常事象が発生した時点のタイムスタンプ情報、該当する仮想搬送車の自己位置情報、及びその仮想搬送車の走行ルート情報が含まれている請求項1、2、4、5又は6記載の無人搬送車の走行制御システム。
Priority Applications (7)
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JP2020070411A JP2021168012A (ja) | 2020-04-09 | 2020-04-09 | 無人搬送車の走行制御システム |
CN202180027443.8A CN115362424A (zh) | 2020-04-09 | 2021-02-03 | 无人运送车的行驶控制*** |
KR1020227034670A KR20220150374A (ko) | 2020-04-09 | 2021-02-03 | 무인 반송차의 주행 제어 시스템 |
PCT/JP2021/003908 WO2021205730A1 (ja) | 2020-04-09 | 2021-02-03 | 無人搬送車の走行制御システム |
EP21783990.1A EP4134771A1 (en) | 2020-04-09 | 2021-02-03 | Automated guided vehicle travel control system |
US17/917,288 US20230195138A1 (en) | 2020-04-09 | 2021-02-03 | Travel control system of automated guided vehicle |
TW110106643A TW202138947A (zh) | 2020-04-09 | 2021-02-25 | 無人搬運車之行走控制系統 |
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EP (1) | EP4134771A1 (ja) |
JP (1) | JP2021168012A (ja) |
KR (1) | KR20220150374A (ja) |
CN (1) | CN115362424A (ja) |
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EP3696637A1 (en) * | 2019-02-18 | 2020-08-19 | Maschinenfabrik Rieter AG | Textile machine management system and method |
KR20240014292A (ko) * | 2022-07-25 | 2024-02-01 | 주식회사 파블로항공 | 비행체 운행 제어 방법 및 그 장치 |
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JPH05210652A (ja) * | 1992-01-30 | 1993-08-20 | Tsubakimoto Chain Co | 運行管理システムのシミュレーション方法 |
JPH09201746A (ja) * | 1996-01-25 | 1997-08-05 | Denso Corp | 生産システム設計支援装置 |
JPH11259131A (ja) | 1998-03-13 | 1999-09-24 | Nippon Steel Corp | 無人搬送台車の干渉防止制御システムおよび方法、記録媒体 |
JP2003264216A (ja) * | 2002-03-08 | 2003-09-19 | Murata Mach Ltd | 搬送システム |
JP2004133650A (ja) * | 2002-10-10 | 2004-04-30 | Mitsubishi Heavy Ind Ltd | 制御用ロジックのシミュレーション検証方法及びシミュレーション検証用パソコン |
JP2009265907A (ja) * | 2008-04-24 | 2009-11-12 | Toyota Industries Corp | 台車制御ユニットのシミュレート装置 |
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- 2021-02-03 EP EP21783990.1A patent/EP4134771A1/en active Pending
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CN115362424A (zh) | 2022-11-18 |
US20230195138A1 (en) | 2023-06-22 |
WO2021205730A1 (ja) | 2021-10-14 |
TW202138947A (zh) | 2021-10-16 |
KR20220150374A (ko) | 2022-11-10 |
EP4134771A1 (en) | 2023-02-15 |
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