KR102685795B1 - RTV System Capable of Transferring Previously Assigned Tasks to Another RTV - Google Patents

Abstract

The present invention relates to an RTV system capable of previously assigning previously assigned tasks. The RTV system capable of previously assigning previously assigned tasks according to an embodiment of the present invention includes a traveling rail, a plurality of conveyor devices arranged along the traveling rail, and , a plurality of RTVs that travel on the running rail and load or unload cargo from the conveyor device, and a job creation unit that creates a new job for the new cargo when new cargo requiring loading on the conveyor device occurs. , and a task allocation unit that allocates a new task to the first RTV, and the task allocation unit can transfer and allocate an already assigned task currently being performed by the first RTV to another RTV. According to the present invention, the work already assigned to an RTV can be transferred to another RTV, and when assigning a new work, the work assigned RTV can be selected for all RTVs, including the RTV with the already assigned work, according to the cargo loading operation. This has the effect of minimizing driving waiting time between RTVs and thereby maximizing cargo volume.

Description

RTV System Capable of Transferring Previously Assigned Tasks to Another RTV}

The present invention relates to an RTV system capable of transferring and assigning previously assigned tasks, and more specifically, to an RTV system capable of transferring tasks previously assigned to an RTV to another RTV, so that when assigning a new task, all RTVs including the RTV on which the previously assigned tasks exist. By selecting the RTV for task assignment, the waiting time between RTVs due to cargo loading is minimized. In addition, cargo loaded on an RTV can be delivered to another RTV, and unloading tasks already assigned to an RTV can be transferred to another RTV. This relates to an RTV system that can maximize cargo volume by shortening the transport route until the loaded cargo is unloaded at the unloading point.

In the modern society we live in, the technology to quickly distribute manufactured goods has become a key competitive advantage for companies engaged in the logistics industry.

To increase competitiveness, we are introducing an unmanned automation system and expanding the use of robots in places where it is difficult to work with humans, saving labor costs and increasing work efficiency and productivity.

One of the equipment commonly used in these automated systems is the Robotic Transfer Vehicle (RTV). Recently, unmanned transfer vehicles have been adopted and widely used in places that handle large quantities of products, such as logistics centers.

Figure 1 is a diagram conceptually showing a conventional RTV system. Referring to FIG. 1, looking at the RTV system, which is an automatic warehouse loading and unloading system to which RTV is applied, the RTV system includes a traveling rail 1 that forms a predetermined path so that the RTV travels in a determined direction, and a traveling rail 1. It is equipped with a plurality of conveyor devices (2) arranged along, and the RTV (R1, R2) running along the traveling rail (1) is configured to load the cargo of one conveyor device, travel to another conveyor device, and then unload it. do.

Typically, the RTV system is configured to transfer cargo when multiple RTVs travel on the same traveling rail (1) to improve throughput. When a new task for cargo transfer is created, the task is not assigned to multiple RTVs. Select one of the RTVs and assign the task.

However, in the work allocation method in the conventional RTV system, the task at a position (G1) close to the front RTV (R1) is assigned to the rear RTV (R2), and the task at a position (G2) farther than the work position of the front RTV (R2) is assigned to the rear RTV (R2). It often happens that work is assigned, and in this case, depending on the separation distance between the front RTV (R1) and the rear RTV (R2), the front RTV (R1) performs the task (for example, loading cargo) while the rear RTV (R1) performs the task. There is a problem that work efficiency is reduced because a situation may occur in which the RTV (R2) cannot run and waits.

Republic of Korea Patent No. 10-2141807 Republic of Korea Patent No. 10-2285295

The present invention is intended to solve the problems of the prior art mentioned above. The purpose of the present invention is to transfer the work already assigned to an RTV to another RTV, and to allow the RTV where the already assigned work exists when assigning a new work. The purpose is to provide an RTV system that minimizes driving waiting time between RTVs according to cargo loading and unloading operations by selecting the task allocation RTV for all RTVs, including.

In addition, another object to be achieved by the present invention is to be able to deliver cargo loaded on an RTV to another RTV and to transfer the unloading task previously assigned to an RTV to another RTV, thereby providing a transfer path for unloading the loaded cargo at the unloading point. The goal is to provide an RTV system that can shorten .

An RTV system capable of previously assigning previously assigned tasks according to an embodiment of the present invention includes a traveling rail, a plurality of conveyor devices arranged along the traveling rail, and a conveyor device that travels on the traveling rail to load or unload cargo from the conveyor device. It includes a plurality of RTVs that unload cargo, a task creation unit that creates a new task for the new cargo when new cargo requiring loading on the conveyor device occurs, and a task allocation unit that allocates the new task to the first RTV; , the work allocation unit can transfer and allocate the already assigned work currently being performed by the first RTV to another RTV.

At this time, the work allocation unit includes a first RTV selection unit that selects the RTV that can arrive at the new loading point for the new work in the shortest time among all RTVs as the first RTV, and a first RTV selection unit that selects the first RTV that can arrive at the new loading point in the shortest time among the unassigned RTVs. 2 A second RTV selection unit for selecting the RTV, a first operation information determination unit for determining and comparing the operation information of the first RTV and the second RTV, and a first RTV based on the judgment result of the first operation information determination unit. It may include a new task allocation unit that allocates a new task, and a first transfer allocation unit that transfers the previously allocated task to the second RTV if a previously allocated task exists when the new task is allocated to the first RTV.

Additionally, the first driving information determination unit determines whether a task already assigned to the first RTV exists, and the new task allocation unit may assign a new task to the first RTV if there is no task already assigned to the first RTV.

In addition, the first operation information determination unit determines whether the first RTV has performed cargo loading according to the previously assigned task, and the first RTV selection unit determines whether the first RTV has performed cargo loading according to the previously assigned task, and the first RTV selection unit determines whether the first RTV has performed cargo loading according to the previously assigned task. You can exclude from the target and reselect the first RTV.

In addition, the first operation information determination unit determines the first arrival time required for the first RTV to arrive at the previously assigned loading point of the previously assigned task, and the second arrival time required for the first RTV to arrive at the new loading point. , and if the second arrival time is shorter than the first arrival time, the first RTV selection unit may exclude the current first RTV from the target and reselect the first RTV.

In addition, the first operation information determination unit predicts and determines the third arrival time required for the second RTV to arrive at the previously assigned loading point and the loading time required for the first RTV to perform the loading operation, and the new task allocation unit predicts and determines the third arrival time required for the second RTV to arrive at the previously assigned loading point. If the combined arrival time and loading time is more than the third arrival time, a new task can be assigned to the first RTV.

In addition, the running rail includes a first proximity section and a second proximity section in which the longitudinal direction is horizontal to each other and the separation distance between the side ends is within a predetermined distance, and the RTV on the first proximity section and the RTV on the second proximity section are connected to each other. It may be possible to deliver cargo while facing side to side.

In addition, the work allocation unit selects a third RTV that can receive cargo from the first RTV among the work-unassigned RTVs running on the unloading path from the current location of the first RTV, where loading has been completed, to the unloading point of the loaded cargo. 3 RTV selection unit, a second operation information determination unit that judges and compares the operation information of the first RTV and the third RTV, and selects the unloading operation being performed by the first RTV based on the judgment result of the second operation information determination unit. 3 It may include a second transfer allocation unit for transfer allocation to RTV.

Additionally, the third RTV selector may select, as the third RTV, the RTV that can first face the first RTV laterally in the first or second proximity section among the work-unassigned RTVs running on the unloading route.

In addition, based on the judgment and comparison results of the operation information determination unit, the second transfer assignment unit transfers the unloading task being performed by the first RTV to the third RTV, and if the time is shortened compared to when no transfer assignment is made, the second transfer assignment unit transfers the unloading task being performed by the first RTV to the third RTV. The unloading task being performed can be transferred and assigned to a third RTV.

In addition, the second operation information determination unit determines the fourth arrival time required for the first RTV to arrive at the drop-off point, the fifth arrival time required for the side meeting between the first RTV and the third RTV, and the cargo transfer operation between RTVs. Predict and determine the delivery time required for and the sixth arrival time required for the third RTV to arrive at the drop-off point from the lateral facing point,

If the combined time of the fifth arrival time, delivery time, and fifth arrival time is shorter than the fourth arrival time, the second transfer assignment unit may transfer and assign the unloading task being performed by the first RTV to the third RTV.

According to the present invention, the work already assigned to an RTV can be transferred to another RTV, and when assigning a new work, the work assigned RTV can be selected for all RTVs, including the RTV with the already assigned work, according to the cargo loading operation. This has the effect of minimizing driving waiting time between RTVs and thereby maximizing cargo volume.

In addition, the present invention allows cargo loaded on an RTV to be transferred to another RTV and the unloading task already assigned to an RTV can be transferred to another RTV, thereby maximizing the volume of cargo by shortening the transfer route until the loaded cargo is unloaded at the unloading point. There is an effect that can be done.

Figure 1 is a diagram conceptually showing a conventional RTV system.
Figure 2 is a diagram conceptually illustrating an RTV system capable of pre-assigning previously assigned tasks according to an embodiment of the present invention.
Figure 3 is a diagram illustrating a running rail and an RTV in more detail according to an embodiment of the present invention.
Figure 4 is a functional block diagram of a control device according to an embodiment of the present invention.
Figure 5 is a flowchart showing the process from creating a new task to performing an unloading task in the RTV system according to an embodiment of the present invention.
Figure 6 is a functional block diagram of a task allocation unit according to an embodiment of the present invention.
Figures 7 and 8 are diagrams showing an example of a driving situation of an RTV system according to an embodiment of the present invention.
Figure 9 is a flowchart showing a new task allocation process of the task allocation unit according to an embodiment of the present invention.
Figure 10 is a diagram illustrating an example of conditions for reselecting the first RTV according to an embodiment of the present invention.
Figures 11 (a) and (b) are diagrams illustrating an example of results depending on whether or not the previously assigned task of the first RTV is transferred according to an embodiment.
Figure 12 is a flow chart illustrating the process of allocating the unloading task of the task allocation unit and performing the unloading task of the RTV according to an embodiment of the present invention.
Figure 13 is a diagram showing an example of a result according to allocation before unloading work according to an embodiment of the present invention.

It should be noted that the technical terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. In addition, the technical terms used in the present invention, unless specifically defined in a different sense in the present invention, should be interpreted as meanings generally understood by those skilled in the art in the technical field to which the present invention pertains, and are not overly comprehensive. It should not be interpreted in a literal or excessively reduced sense. Additionally, if the technical term used in the present invention is an incorrect technical term that does not accurately express the idea of the present invention, it should be replaced with a technical term that can be correctly understood by a person skilled in the art.

Additionally, as used in the present invention, singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as “consists of” or “comprises” should not be construed as necessarily including all of the various components or steps described in the invention, and some of the components or steps are included. It may not be possible, or it should be interpreted as including additional components or steps.

In addition, it should be noted that the attached drawings are only intended to facilitate easy understanding of the spirit of the present invention, and should not be construed as limiting the spirit of the present invention by the attached drawings.

Hereinafter, with reference to the attached drawings, we will look in more detail at the RTV system that can transfer previously assigned tasks according to the present invention.

Figure 2 is a diagram conceptually illustrating an RTV system capable of pre-assigning previously assigned tasks according to an embodiment of the present invention.

The RTV system (hereinafter referred to as “RTV system”) capable of previously assigning previously assigned tasks according to an embodiment of the present invention is designed to minimize the waiting time between RTVs according to cargo loading operations, and also to minimize the waiting time between RTVs for loading cargo. This is to shorten the work time required to unload one cargo.

For this purpose, the RTV system according to an embodiment of the present invention includes a running rail 10, a conveyor device 20 disposed along the traveling rail 10, and a cargo that detects the cargo B of the conveyor device 20. It may be configured to include a detection sensor 30, an RTV 40 traveling on a traveling rail 10, and a control device 50 that controls the RTV 40.

The traveling rail 10 in the RTV system according to this embodiment may be a loop-type traveling rail, and a plurality of conveyor devices 20 may be arranged along the traveling rail 10. At this time, the conveyor device 20 may be configured to include one or more of a loading conveyor device for loading cargo, an unloading conveyor device for unloading cargo, and a loading and unloading conveyor device capable of both loading and unloading cargo.

The cargo detection sensor 30 is individually placed on each conveyor device 20 and can detect cargo B. When placed on a loading conveyor device or a loading and unloading conveyor device, the cargo detection sensor 30 can detect cargo B waiting to be loaded and generate loaded cargo detection information. Additionally, when the cargo detection sensor 30 is placed on the unloading conveyor device or the loading and unloading conveyor device, it can detect the cargo B unloaded from the RTV and generate unloaded cargo detection information.

A plurality of RTVs 40 may be provided, and the plurality of RTVs 40 run on the traveling rail 10 and load cargo (B) from the conveyor device 20 or load cargo (B) into the conveyor device 20. ), you can get off. To this end, the RTV 40 may be equipped with a travel drive module that allows the vehicle to travel on the travel rail 10 and a feeding conveyor that can load and unload the cargo (B). Here, the feeding conveyor is driven to transport the cargo (B) in a direction perpendicular to the traveling direction for loading and unloading of the cargo (B) with the conveyor device (20) disposed on the side of the traveling rail (10). The transfer direction of the feeding conveyor can be configured to operate in both directions so that both loading and unloading is possible.

Each conveyor device 20, cargo detection sensor 30, and RTV 40 can be connected to the control device 50 by wire or wirelessly and provide various information to the control device 50. For example, each cargo detection sensor 30 may provide the generated loaded cargo detection information, unloaded cargo detection information, and sensor identification information (or identification information of the detecting conveyor device) to the control device 50, Each RTV 40 may provide identification information and driving information (encoder values, etc.) to the control device 50.

The control device 50 can determine the driving situation of each RTV 40 based on various information provided, create a new task, and assign the created new task to the RTV 40. The RTV 40 can be operated and controlled to perform tasks.

Specifically, when new cargo requiring loading occurs on the conveyor device 20 based on the provided loading cargo detection information, the control device 50 may create a new task to transfer the new cargo to another conveyor. At this time, the new task may include task information such as loading and unloading points.

When a new task is created, the control device 50 allocates the generated new task information to one of the RTVs 40 in consideration of the task information of the new task and the task efficiency according to the driving situation of each RTV 40. can do. At this time, the control device 50 can assign a new task even to the RTV 40 to which a task has already been assigned, and if a new task is assigned to the RTV 40 to which an already assigned task exists, the control device 50 can control The device 50 may transfer previously assigned tasks to another RTV 40 .

The new task assigned by the control device 50 to the RTV 40 includes both cargo loading and unloading, and the previously assigned task by the control device 50 includes cargo loading and unloading depending on the progress of the task. All operations may be included, or only unloading operations may be included. Specifically, the control device 50 can transfer and assign the entire previously assigned task (loading and unloading task) to another RTV 40 if the RTV 40 has not performed the cargo loading task according to the previously assigned task at the time of transfer. , if the cargo loading task according to the previously assigned task has been performed (cargo is being loaded or the cargo has been loaded), the unloading task among the previously assigned task can be transferred and assigned to another RTV 40.

Here, transferring and assigning the unloading task among the previously assigned tasks of the RTV (40) to another RTV (40) means that the cargo being loaded or unloaded on the RTV (40) is transported to the destination conveyor on behalf of the other RTV (40) and unloaded. Therefore, for this purpose, the RTV system according to this embodiment can be configured to transfer cargo loaded on the RTV (40) to another RTV (40).

Figure 3 is a diagram illustrating a running rail and an RTV in more detail according to an embodiment of the present invention.

Hereinafter, with reference to FIG. 3, we will look at the configuration for cargo transfer between RTVs in the RTV system according to this embodiment.

The running rail 10 may be configured as a loop type, and among the entire sections of the running rail 10, there is a first adjacent section 11 that is horizontal to each other in the longitudinal direction and the separation distance L1 between the side ends is within a predetermined distance. and a second proximity section 12 may be included.

At this time, the RTV (40-1) located in the first proximity section 11 and the RTV (40-2) located in the second proximity section 12 may be able to deliver the cargo (B) while facing each other laterally. there is. Specifically, the two RTVs (40-1, 40-2) facing each other laterally in the first proximity section 11 or the second proximity section 12 are connected to each other when delivering cargo (B) to each other. -1, 40-2), the cargo (B) may be placed close enough to not fall between them, so that the cargo (B) can be delivered between them. Preferably, in the middle of the space between the first proximity section 11 and the second proximity section 12, it is disposed parallel to the first proximity section 11 or the second proximity section 12, and the two RTVs 40-1 , 40-2) is provided with a roller that can rotate in the cargo delivery direction, and the roller moves in the space between the two RTVs (40-1, 40-2) when delivering the cargo (B) between the two RTVs (40-1, 40-2). You can prevent it from falling when delivering cargo (B) or make it possible to deliver even small cargo (B).

Figure 4 is a functional block diagram of a control device according to an embodiment of the present invention.

As described above, the control device 50 according to an embodiment of the present invention can determine the driving situation of each RTV 40 based on various information provided, create a new task, and execute the created new task. It can be assigned to the RTV 40, and the RTV 40 can be controlled to perform the assigned task.

To this end, the control device 50 according to an embodiment of the present invention includes a communication unit 51 that communicates with each cargo detection sensor 30 and the RTV 40, a job creation unit 53 that creates a new job, and , a task allocation unit 55 that allocates the created task, and an RTV control unit 57 that controls the operation of the RTV 40 according to the assigned task.

The communication unit 51 is connected to communication with each cargo detection sensor 30 and the RTV 40, and can receive loaded cargo detection information, unloaded cargo detection information, and sensor identification information from each cargo detection sensor 30, RTV identification information and driving information can be received from each RTV 40.

The job creation unit 53 may create a new job to transfer new cargo requiring loading onto the conveyor device 20 to another conveyor. Specifically, the job creation unit 53 receives loaded cargo detection information and sensor identification information received from the communication unit 51, determines the occurrence of new cargo based on the provided loaded cargo detection information, and based on the sensor identification information. By determining the cargo loading point, you can create a new job for new cargo. At this time, the job creation unit 53 may determine the unloading point of the new cargo based on cargo information generated by a separate cargo information scanning device placed on the conveyor device 20, etc., but the RTV system determines the unloading point of the new cargo. Since the technology for creating a new task is a known technology, detailed description will be omitted.

When a new task is created in the task creation unit 53, the task allocation unit 55 considers the task information of the created new task and the work efficiency according to the driving situation of each RTV 40, and assigns the new task to one of the tasks. It can be assigned to RTV (40). At this time, if an already assigned task exists in the RTV 40 to which the new task has been assigned, the task allocation unit 55 may transfer and assign the already assigned task to another RTV 40.

In addition, when the task allocation unit 55 completes the loading operation at the RTV 40 to which the new task has been assigned, the work time can be reduced and whether cargo can be delivered between RTVs according to the unloading point of the cargo and the driving situation of each RTV 40. Taking this into account, the unloading task being performed by the RTV 40 can be transferred and assigned to another RTV 40.

Based on the driving information of each RTV 40 and the task information assigned to each RTV 40, the RTV control unit 57 allows the RTV 40 to which the task is assigned to perform the assigned task or to determine whether the RTV 40 to which the task is assigned performs the assigned task. Each RTV (40) can be controlled to operate so that the RTV (40) travels on the traveling rail (10) and waits for task assignment. Here, in the RTV system, the technology for controlling the operation of the RTV to perform an assigned task or to drive while waiting for task allocation is a known technology, so detailed description will be omitted.

Figure 5 is a flowchart showing the process from creating a new task to performing an unloading task in the RTV system according to an embodiment of the present invention.

Hereinafter, with reference to FIG. 5, we will look at the process from new task creation to task completion in the RTV system according to an embodiment of the present invention.

In the RTV system according to this embodiment, when loaded cargo detection information is received through the communication unit 51, the task creation unit may create a new task for the detected new cargo (S10).

When a new task is created, the task allocation unit 55 may assign the new task by selecting one RTV 40 among the plurality of RTVs 40 on the traveling rail (S30). At this time, the task allocation unit 55 can allocate a new task to the RTV 40 performing an already assigned task. When assigning a new task to the RTV 40 performing an already assigned task, the task allocation unit 55 can assign a new task to the RTV 40 performing an already assigned task. Can be previously assigned to another RTV (40).

When a new task is assigned or a previously assigned task is previously assigned, the RTV control unit 57 may control the operation of the RTV 40 to perform cargo loading according to the new assigned task or the previously assigned task ( S50).

When the RTV (40) completes the loading operation according to the new or previously assigned task, the task allocation unit (55) transfers the loaded cargo to another RTV (40) to perform the unloading operation, thereby reducing the work time. The RTV control unit 57 may control the RTV 40 to perform the unloading operation according to the determination result of the assignment before the unloading operation (S70).

FIG. 6 is a functional block diagram of a task allocation unit according to an embodiment of the present invention, and FIGS. 7 and 8 are diagrams showing an example of a driving situation of an RTV system according to an embodiment of the present invention.

As described above, the task allocation unit 55 may allocate a newly created task to one RTV 40 or transfer an already assigned task to another RTV 40 .

To this end, as shown in FIG. 6, the task allocation unit 55 includes a first RTV selection unit 551 for selecting the first RTV, a second RTV selection unit 552 for selecting the second RTV, and a new A first operation information determination unit 553 that determines various information for task allocation, a new task allocation unit 554 that allocates a new task to the first RTV 41, and an already assigned task to another RTV 40. It may be configured to include a first transfer allocation unit 555 that transfers to .

When a new job is created in the job creation unit 53, the first RTV selection unit 551 predicts and predicts the arrival time from the time of new job creation to the new loading point for each new job in the entire RTV 40. By comparing each arrival time, the RTV that can arrive at the new loading point in the shortest time can be selected as the first RTV (41). At this time, the first RTV selection unit 551 may select the first RTV 41 from both unassigned RTVs and already assigned RTVs.

When a new job is created in the job creation unit 53, the second RTV selection unit 552 predicts the arrival time from the time of new job creation to the new loading point of each RTV to which the job has not been assigned, and each predicted By comparing the arrival times, the RTV that can arrive at the new loading point in the shortest time can be selected as the second RTV 42. At this time, since the second RTV selection unit 552 selects the second RTV 42 only among RTVs to which tasks have not been assigned among all RTVs, the second RTV 42 may be an RTV to which tasks have not been assigned.

When the first RTV 41 and the second RTV 42 are selected, the first driving information determination unit 553 determines and compares various driving information for the selected first RTV 41 and the second RTV 42. You can.

The operation information of the first RTV 41 and the second RTV 42 determined by the first operation information determination unit 553 includes work information already assigned to the selected first RTV 41, and the first RTV 41. progress status information for the assigned task (new task or already assigned task), the time required for the first RTV 41 or the second RTV 42 to arrive at a characteristic point on the running rail 10 from the current position. Information, information on the time required for the RTV 40 to load cargo, etc. may be included.

Specifically, the first driving information determination unit 553 determines the first RTV based on the task allocation information provided from the new task allocation unit 554, the first previous allocation unit 555, and the second previous allocation unit to be described later. It is possible to determine whether a task previously assigned to (41) exists, and can be determined using a control signal provided from the RTV control unit 57, driving information provided from the first RTV (41), or a loading vehicle separately provided in the RTV (40). Based on the detection information of the cargo detection sensor, it can be determined whether the first RTV 41 has performed loading or unloading of cargo according to the previously assigned task.

Referring to FIG. 7, the first operation information determination unit 553 determines whether the first RTV 41 is already assigned a task based on the loading point information of the previously assigned task information and the driving information of the first RTV 41. The first arrival time (t ₁ ) required to arrive at the loading point (A1) can be predicted and determined. In addition, the first operation information determination unit 553 determines the information until the first RTV 41 arrives at the new loading point A2 based on the loading point information of the new work information and the driving information of the first RTV 41. The required second arrival time (t ₂ ) can be predicted and determined. Additionally, the first operation information determination unit 553 may predict and determine the third arrival time (t ₁ ) required for the second RTV 42 to arrive at the previously allocated loading point A1.

Additionally, the first operation information determination unit 553 can predict and determine the loading time required for the first RTV 41 to perform the loading operation. Here, the loading time required for the loading operation of the first RTV (41) is from the time when the first RTV (41) stops at the loading point to the time when cargo is received from the conveyor device 20 and loading is completed and ready for departure. It is a time of , and may be a time value averaged by measuring the time required for the loading operation of several RTVs 40 in advance.

The new task allocation unit 554 may allocate a new task to the selected first RTV 41 based on the determination result of the first driving information determination unit 553. For example, if the first RTV 41 and the second RTV 42 are the same RTV, the new task allocation unit 554 may assign the new task to the first RTV 41. In addition, a more detailed description of the conditions under which the new task allocation unit 554 allocates a new task to the first RTV that already has an assigned task will be described later with reference to FIG. 9 .

When a new task is assigned to the first RTV 41, the first transfer assignment unit 555 determines whether a previously assigned task exists in the first RTV 41 based on the judgment information determined by the first driving information determination unit 553. If it is determined that a pre-allocated task exists, the pre-allocated task can be transferred to the second RTV 42.

Meanwhile, the work allocation unit 55 selects the third RTV as shown in FIG. 6 in order to minimize the time required to complete the work by shortening the work time to unload the cargo loaded on the RTV. 3 RTV selection unit 556, a second operation information determination unit 557 that determines various information for transfer assignment of the unloading task, and a second transfer assignment unit 558 that transfers the unloading task to another RTV 40 ) may be configured to include.

The third RTV selection unit 556 determines whether loading of the first RTV 41 has been completed based on the judgment of the first operation information determination unit 553, and if loading of the first RTV 41 has been completed, the third RTV selection unit 556 determines whether loading of the first RTV 41 has been completed. You can select the third RTV (43) to receive the cargo of the RTV (41).

The third RTV selection unit 556 determines the unloading path from the current location of the first RTV 41 where unloading has been completed to the unloading point of the loaded cargo based on the work information assigned to the first RTV 41, and unloads the cargo. Among the unassigned RTVs traveling on the route, the third RTV (43) that can receive cargo from the first RTV (41) can be selected. Here, the ability to receive cargo from the first RTV (41) means that each RTV can face the first RTV (41) sideways in the first proximity section (11) or the second proximity section (12) when driving normally. It could mean something.

At this time, depending on the situation, there may be no RTVs that can receive cargo from the first RTV 41 among the unassigned RTVs traveling on the unloading route, or there may be multiple RTVs. The third RTV selection unit 556 does not select the third RTV 43 if there is no RTV that can receive the cargo, and if there are multiple RTVs that can receive the cargo, the third RTV selector 556 drives on the unloading route. Among the RTVs that are not assigned to work in progress, the RTV that can first face the first RTV (41) in the first or second proximity section may be selected as the third RTV (43).

When the third RTV 43 is selected, the second driving information determination unit 557 may determine and compare various driving information of the first RTV 41 and the third RTV 43.

The driving information of the first RTV (41) and the third RTV (43) determined by the second driving information determination unit 557 indicates that the first RTV (41) or the third RTV (43) is moving from one point to another. Information on the time required to arrive at the point and information on the time required for cargo delivery between the first RTV 41 and the third RTV 43 may be included.

Referring to FIG. 8, the second driving information determination unit 557 determines the first RTV 41 based on the drop-off point information of the work information assigned to the first RTV 41 and the driving information of the first RTV 41. It is possible to predict and determine the fourth arrival time required to arrive at the drop-off point (A3) of the work being performed.

In addition, the second driving information determination unit 557 determines the first RTV 41 and the third RTV 43 based on the driving information of the first RTV 41 and the third RTV 43 and the pre-stored section information of the traveling rail 10. Determine the lateral facing point A4 between the 3 RTVs 43, and determine the time at which the first RTV 41 arrives at the lateral facing point A4, or the time at which the second RTV 42 arrives at the lateral facing point A4. The fifth arrival time required to do so can be determined. At this time, the lateral facing point (A4) can be determined by the third RTV selection unit 556, and when the third RTV selection unit 556 determines the lateral facing point (A4), the second driving information determination unit 557 ) can receive information from the third RTV selection unit 556 without going through a separate lateral facing point determination process.

And the second operation information determination unit 557 determines from the disembarkation point information and the lateral facing point information of the task information allocated to the first RTV 41 until the third RTV 43 arrives at the disembarkation point from the lateral facing point. The sixth arrival time required can be determined, and the delivery time required for cargo delivery between RTVs can be predicted. Here, the delivery time required for the cargo transfer operation between the RTVs (40) is from the time when both the first RTV (41) and the third RTV (43) stop at the lateral facing point until the cargo (B) is transferred to each other and can depart. This is the time until the state is reached, and may be an average of the time required to deliver cargo to several RTVs 40 in advance.

The second transfer assignment unit 558 may transfer the unloading task being performed by the first RTV to the third RTV 43 based on the determination result of the second travel information determination unit 557. At this time, the second transfer assignment unit 558 performs the unloading operation of the first RTV 41 depending on whether the time required for the operation is shortened when transferring the unloading operation of the first RTV 41 to the third RTV 43. It can be previously assigned to the third RTV 43, and a more detailed explanation regarding this will be described later with reference to FIG. 12.

Here, the task allocation unit 55 not only performs the unloading task of the first RTV 41 that has been assigned a new task, but also performs the unloading task of the second RTV 42 that has previously been assigned the task from the first RTV 41. Previous allocation to the RTV (43) is possible, and the selection process or previous allocation process of the third RTV (43) for allocation before the unloading operation of the second RTV (42) also replaces the information about the first RTV (41) with the second RTV (41). Since they are the same with the only difference being that information about the RTV 42 is used, a description of this will be omitted.

Figure 9 is a flowchart showing a new task allocation process of the task allocation unit according to an embodiment of the present invention, and Figure 10 is a diagram showing an example of conditions for reselecting the first RTV according to an embodiment of the present invention. Figures 11 (a) and (b) are diagrams illustrating an example of results depending on whether or not the previously assigned task of the first RTV is transferred according to an embodiment.

Looking at the new task allocation process of the task allocation unit 55 according to an embodiment of the present invention with reference to FIG. 9, first, when a new task is created, the first RTV selection unit 551 selects the new task among all RTVs. The first RTV 41 closest to the point is selected (S31), and the second RTV selection unit 552 selects the second RTV 42 closest to the loading point of the new task from among the standby RTVs to which no task has been assigned. (S32).

The first driving information determination unit 553 may determine whether a task is already assigned to the first RTV 41 (S33), and if there is no task already assigned to the first RTV 41 (S33- N), the new task allocation unit 554 may allocate a new task to the selected first RTV 41 (S39).

On the other hand, if a pre-assigned task exists in the first RTV 41 (S33-Y), the first operation information determination unit 553 determines whether the first RTV 41 has already started a loading task according to the previously allocated task or You can determine whether it has been completed (S34). If the first RTV (41) has started or completed the loading operation (S34-Y), the first RTV selection unit (551) selects the first RTV (41) among all RTVs (40) except the current first RTV (41). ) can be reselected (S35). This means that if the first RTV (41) has already started or completed the loading operation, the loading operation of the first RTV (41) cannot be transferred to the second RTV (42), or even if transfer assignment is possible, the loading operation at the time of transfer assignment is not possible. This is because efficiency decreases.

When the first RTV 41 is reselected, the first driving information determination unit 553 may determine whether a task has already been assigned to the first RTV 41, as when the first RTV 41 was initially selected ( S33).

Meanwhile, if it is before the first RTV 41 starts the loading operation (S34-N), the first operation information determination unit 553 determines the amount of time it takes for the first RTV 41 to arrive at the already assigned loading point of the assigned work. By comparing the first arrival time (t ₁ ) and the second arrival time (t ₂ ) required for the first RTV to arrive at the new loading point, the second arrival time (t ₂ ) is greater than the first arrival time (t ₁ ). ) can be determined whether is shorter (S36). If the second arrival time (t ₂ ) is shorter than the first arrival time (t ₁ ) (S36-Y), the first RTV selection unit 551 selects all RTVs (40) except the current first RTV (41). ), the first RTV 41 can be reselected (S35). The reason for this reselection is that the second arrival time (t ₂ ) is shorter than the first arrival time (t ₁ ), which means that the new loading point is closer than the existing loading point based on the first RTV 41. In this case, if a new task is assigned to the first RTV (41) and the previously assigned task is transferred to the second RTV (42), the waiting for the second RTV (42) to stop due to the loading operation of the first RTV (41) will occur. This is because the likelihood of it occurring increases.

Meanwhile, if the second arrival time (t ₂ ) is not shorter than the first arrival time (t ₁ ) (S36-N), the first operation information determination unit 553 determines that the first RTV 41 is required for loading work. Determine whether the combined loading time (t _L ) and the first arrival time (t ₁ ) is shorter than the third arrival time (t ₃ ) required for the second RTV 42 to arrive at the assigned loading point. And (S37), if the combined time of the loading time (t _L ) and the first arrival time (t ₁ ) is shorter than the third arrival time (t ₃ ) (S37-Y), the first RTV selection unit 551 Currently, the first RTV (41) can be reselected among all RTVs (40) except the first RTV (41) (S35). If the combined time of the loading time (t _L ) and the first arrival time (t ₁ ) is shorter than the third arrival time (t ₃ ), as shown in FIG. 10, the first RTV 41 is connected to the already allocated loading point ( Since the second RTV 42 arrives at the previously assigned loading point (A1) of the first RTV after arriving at A1 and completing the loading operation, the process of re-assigning the already assigned operation of the first RTV 41 This is because the waiting for the second RTV (42) to stop due to the loading operation of the first RTV (41) does not occur without going through .

On the other hand, if the combined time of the loading time (t _L ) and the first arrival time (t ₁ ) is longer than or equal to the third arrival time (t ₃ ) (S37-N), the first transfer allocation unit 555 The previously assigned task of 1 RTV 41 may be transferred to the second RTV 42, and the new task allocation unit 554 may allocate a new task to the first RTV 41 (S39). In this way, if the first RTV 41 performs the already assigned task under the condition that the combined time of the loading time (t _L ) and the first arrival time (t ₁ ) is longer than the third arrival time (t ₃ ), As shown in (a) of 11, while the first RTV (41) arrives at the already assigned loading point (A1) and performs loading, the second RTV (42) moves to the loading point of the first RTV (41). Upon arrival at (A1), a waiting period for the second RTV 42 to stop occurs occurs, which reduces the operation efficiency of the RTV system. In addition, if the combined time of the loading time (t _L ) and the first arrival time (t ₁ ) is equal to the third arrival time (t ₃ ), at the point when the first RTV (41) completes the loading operation, the second RTV ( 42) arrives at the loading point A1 of the first RTV, and since it takes a predetermined time for the first RTV 41 to depart and reach a predetermined speed, the second RTV 42 is temporarily stopped. However, under the condition that the combined time of the loading time (t _L ) and the first arrival time (t ₁ ) is longer than (or the same as) the third arrival time (t ₃ ), a new task is assigned to the first RTV 41, When transferring the existing task of the first RTV to the second RTV (42), as shown in (b) of FIG. 11, the first RTV (41) passes the already assigned loading point (A1) and is transferred to the later stage. Since the loading operation is performed at the new arranged loading point (A2), and the second RTV 42 performs the loading operation at the previously assigned loading point (A1), stop waiting due to the loading operation may not occur. Therefore, there is an effect of minimizing the driving waiting time between RTVs due to cargo loading and thereby maximizing cargo volume.

Figure 12 is a flowchart showing the process of assigning the unloading task of the work allocation unit and performing the unloading task of the RTV according to an embodiment of the present invention, and Figure 13 is an example of the results of allocation before the unloading task according to an embodiment of the present invention. This is a drawing.

Referring to FIG. 12, looking at the process of assigning the unloading task of the task allocation unit 55 and performing the unloading task of the RTV 40 according to the present embodiment, when the first RTV 41 completes the unloading task, a third RTV is selected. The unit 556 may select, as the third RTV 43, the RTV that can first face the first RTV in the first or second proximity section among the work-unassigned RTVs running on the unloading route (S71). .

The third RTV selection unit 552 determines whether the third RTV 43 exists (S72), and if the third RTV 43 does not exist (S72-N), selects the third RTV 43. You can end the task for . In this case, the first RTV 41 performs the assigned unloading task (S73).

On the other hand, when the third RTV 43 exists (S72-Y), the second driving information determination unit 557 transfers the unloading operation of the first RTV 41 to the third RTV 43, It can be determined whether the time required is shortened compared to if the first RTV 41 performs the unloading operation as is (S74).

To be described in detail with reference to FIG. 13, the second operation information determination unit 557 determines the fourth arrival time (t ₄ ) required for the first RTV to arrive at the drop-off point between the first RTV and the third RTV. The fifth arrival time (t ₅ ) required to reach the lateral face, the delivery time (t _t ) required for cargo transfer between RTVs, and the 6th arrival time required for the 3rd RTV to arrive at the drop-off point from the lateral face-to-face point ( By comparing with the combined time (t ₆ ), it can be determined whether the time required is shortened compared to if the first RTV 41 performs the unloading operation as is.

If the time required is not shortened (S74-N), the task related to the assignment prior to the unloading task is terminated, and accordingly, the task for selecting the third RTV 43 can be terminated. In this case, the first RTV 41 performs the assigned unloading task as is (S73).

On the other hand, if the required time is shortened (S74-Y), the second transfer assignment unit 558 transfers the unloading task being performed by the first RTV 41 to the third RTV 43 (S76) and unloads. When work transfer assignment occurs, the RTV control unit 57 operates and controls the first RTV 41 and the third RTV 43 to move and stop at each lateral facing point, and after stopping, the cargo of the first RTV 41 The first RTV 41 and the third RTV 43 can be controlled to transmit the signal to the third RTV 43 (S77).

When cargo delivery is completed, the first RTV 41 returns to the unassigned task state, and the RTV control unit 57 can control the third RTV 43 to perform the previously assigned unloading task (S78).

In this way, if the sum of the fifth arrival time (t ₅ ), delivery time (t _t ), and sixth arrival time (t ₆ ) is shorter than the fourth arrival time (t ₄ ), and the unloading task is previously assigned, As shown in Figure 13, the time corresponding to the difference is shortened, so the operation efficiency of the RTV system can be improved and the volume of goods can be maximized.

The above description is merely an illustrative explanation of the technical idea of the present invention, and those skilled in the art will be able to make various modifications and changes without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

10: Running rail
11: First proximity section
12: Second proximity section
20: Conveyor device
30: Cargo detection sensor
40:RTV
41: 1st RTV
42: 2nd RTV
43: 3rd RTV
50: control device
51: Department of Communications
53: Task creation unit
55: Work allocation unit
551: first RTV selection unit
552: second RTV selection unit
553: First operation information determination unit
554: New task allocation unit
555: First transfer allotment
556: Third RTV selection unit
557: Second operation information determination unit
558: Second transfer assignment
57: RTV control unit

Claims (11)

running rails;
A plurality of conveyor devices arranged along the traveling rail;
a plurality of RTVs traveling on the traveling rail and loading or unloading cargo from the conveyor device;
a job creation unit that creates a new job for the new cargo when new cargo requiring loading on the conveyor device occurs; and
a task allocation unit that allocates the new task to a first RTV and transfers an already assigned task currently being performed by the first RTV to another RTV;
The work allocation unit is
a first RTV selection unit that selects, as the first RTV, an RTV that can arrive at a new loading point for the new job in the shortest time among all RTVs;
a second RTV selection unit that selects a second RTV that can arrive at the new loading point in the shortest time among the unassigned RTVs;
a first driving information determination unit that determines and compares driving information of the first RTV and the second RTV;
a new task allocation unit that allocates the new task to the first RTV based on the determination result of the first driving information determination unit; and
When assigning the new task to the first RTV, if the previously allocated task exists, a first transfer allocation unit that transfers the previously allocated task to the second RTV,
The first operation information determination unit determines whether the first RTV has performed cargo loading according to the previously assigned task,
The RTV system, wherein the first RTV selection unit excludes the current first RTV from the target and reselects the first RTV when the first RTV has performed cargo loading according to a previously assigned task.
delete According to claim 1,
The first driving information determination unit determines whether a task previously assigned to the first RTV exists,
The RTV system, wherein the new task allocation unit allocates the new task to the first RTV if there is no task already assigned to the first RTV.
delete running rails;
A plurality of conveyor devices arranged along the traveling rail;
a plurality of RTVs traveling on the traveling rail and loading or unloading cargo from the conveyor device;
a job creation unit that creates a new job for the new cargo when new cargo requiring loading on the conveyor device occurs; and
a task allocation unit that allocates the new task to a first RTV and transfers an already assigned task currently being performed by the first RTV to another RTV;
The work allocation unit is
a first RTV selection unit that selects, as the first RTV, an RTV that can arrive at a new loading point for the new job in the shortest time among all RTVs;
a second RTV selection unit that selects a second RTV that can arrive at the new loading point in the shortest time among the unassigned RTVs;
a first driving information determination unit that determines and compares driving information of the first RTV and the second RTV;
a new task allocation unit that allocates the new task to the first RTV based on the determination result of the first driving information determination unit; and
When assigning the new task to the first RTV, if the previously allocated task exists, a first transfer allocation unit that transfers the previously allocated task to the second RTV,
The first operation information determination unit determines a first arrival time required for the first RTV to arrive at the previously assigned loading point of the previously assigned task, and a first arrival time required for the first RTV to arrive at the new loading point. 2 Predict the arrival time,
The first RTV selector excludes the current first RTV from the target and reselects the first RTV if the second arrival time is shorter than the first arrival time.
According to claim 5,
The first operation information determination unit predicts and determines a third arrival time required for the second RTV to arrive at the allocated loading point and a loading time required for the first RTV to perform a loading operation,
The RTV system, wherein the new task allocation unit allocates the new task to the first RTV if the combined time of the first arrival time and the loading time is greater than or equal to the third arrival time.
delete A running rail including a first proximity section and a second proximity section, the longitudinal directions of which are horizontal to each other and the separation distance between side ends being within a predetermined distance;
A plurality of conveyor devices arranged along the traveling rail;
a plurality of RTVs traveling on the traveling rail and loading or unloading cargo from the conveyor device;
a job creation unit that creates a new job for the new cargo when new cargo requiring loading on the conveyor device occurs; and
a task allocation unit that allocates the new task to a first RTV and transfers an already assigned task currently being performed by the first RTV to another RTV;
The RTV on the first proximity section and the RTV on the second proximity section can deliver cargo while facing each other laterally,
The work allocation unit selects a third RTV that can receive cargo from the first RTV among the work-unassigned RTVs running on the unloading path from the current location of the first RTV, where loading has been completed, to the unloading point of the loaded cargo. a third RTV selection unit;
a second driving information determination unit that determines and compares driving information of the first RTV and the third RTV; and
An RTV system comprising a second transfer assignment unit that transfers the unloading task being performed by the first RTV to the third RTV based on the determination result of the second travel information determination unit.
According to claim 8,
The third RTV selection unit selects, as the third RTV, the RTV that can first face the first RTV in the first or second proximity section among the work-unassigned RTVs running on the unloading route. RTV system that does.
According to claim 8,
When the second transfer assignment unit transfers the unloading task being performed by the first RTV to the third RTV based on the judgment and comparison results of the driving information determination unit, if the time is shortened compared to when no transfer assignment is made, the second transfer assignment unit transfers the unloading task being performed by the first RTV to the third RTV. An RTV system, characterized in that the unloading task being performed by the first RTV is transferred to the third RTV.
According to claim 10,
The second operation information determination unit determines a fourth arrival time required for the first RTV to arrive at the drop-off point, a fifth arrival time required for the side confrontation between the first RTV and the third RTV, and cargo between the RTVs. Predict and determine the delivery time required for the delivery operation and the sixth arrival time required for the third RTV to arrive at the drop-off point from the side facing point,
The second transfer allocator transfers and assigns the unloading task being performed by the first RTV to the third RTV if the combined time of the fifth arrival time, the delivery time, and the fifth arrival time is shorter than the fourth arrival time. RTV system characterized in that.