Guided Vehicle Travel Schedule Generation for Interference Elimination
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Solution Overview
Problem
Existing guided vehicle systems face challenges in precisely estimating the positions and arrival times of guided vehicles due to interference on traveling routes, leading to difficulties in controlling the movement of vehicles and managing power consumption efficiently.
Innovation Solution
A guided vehicle system that creates separate traveling schedules for each vehicle, including velocity control points, detects interference between vehicles, and modifies schedules to eliminate interference, while ensuring power consumption constraints are met, by adding deceleration and re-acceleration points as needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the ground controller assigns traveling routes to each guided vehicle to avoid jamming, then the guided vehicles can travel to their destinations, but it is difficult to precisely estimate the position and arrival time of each guided vehicle due to interference on the traveling route
Solution Approach 1:
The system creates a traveling schedule in advance that specifies the position and time at which each guided vehicle should accelerate or decelerate. By predetermined velocity control points in the schedule, the system can accurately predict and control the position and arrival time of each vehicle, eliminating the uncertainty caused by dynamic route assignment and interference avoidance maneuvers.
2Reliability
If the ground controller regularly transmits position instructions to guided vehicles at short time intervals, then the positions of the guided vehicles can be controlled, but it results in a great burden on the ground controller and high communication load
Solution Approach 1:
Instead of continuously transmitting position instructions, the system predetermines a traveling schedule with velocity control points and transmits it to the guided vehicles in advance. The vehicles then autonomously control their velocity based on these predetermined points, significantly reducing the frequency of ground controller transmissions and communication load while maintaining reliable position control.
Solution Approach 2:
The guided vehicles autonomously generate velocity instructions based on the received traveling schedule and their own state, rather than requiring continuous ground controller commands. This self-service capability reduces the communication burden on the ground controller while ensuring reliable position control through the predetermined velocity control points.
3Productivity
If the ground controller assigns traveling routes to control future traveling amount, then rough control of traveling amount can be achieved, but it is difficult to perform control as to what guided vehicle travels at what position on the traveling route at what time
Solution Approach 1:
The system creates a comprehensive traveling schedule in advance that specifies for each guided vehicle the exact position and time at which it should accelerate or decelerate. This predetermined schedule enables both efficient control of overall traveling amount and precise control of each vehicle's position and arrival time, resolving the contradiction between rough efficiency control and precise position-time control.
Data Source
AI summary
A traveling schedule of a guided vehicle is generated for use in a guided vehicle system for transporting articles between load ports by a plurality of guided vehicles traveling with articles carried thereon along a predetermined traveling route. A traveling schedule is created separately for each guided vehicle, disregarding interferences with other guided vehicles, the traveling schedules including a string of velocity control points representing positions and times at which guided vehicles accelerate or decelerate on the traveling route. For both newly created traveling schedules and traveling schedules from which interferences have been eliminated, interferences between the guided vehicles are detected from relative positions between the guided vehicles at the velocity control points. The traveling schedules of following guided vehicles are modified to eliminate the detected interferences, and the schedules are stored.