JP2513696B2 - Control method for overhead traveling crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a method for controlling an overhead traveling crane, in particular, dividing a storage yard into a plurality of sections and assigning an address to each section to check the stock status of the storage. The present invention relates to a control method for an overhead traveling crane of a computer system that manages each address and controls an overhead crane for transporting stored goods.

[Conventional technology]

Conventionally, the control method of this type of overhead crane is that the load to be transported is hoisted to an absolutely safe height to avoid obstacles on the way of the transportation, too much of the importance of safety, and then the vehicle travels and traverses arbitrarily, Since it is transported to the target compartment, the operating efficiency and energy saving are not taken into consideration, the duty cycle is long, and the power consumption is wasteful. Japanese Patent Application Laid-Open No. 62-76087 has filed a control method for efficiently transporting a load along a straight path to a transport target section.

[Problems to be solved by the invention]

The control method according to the above-mentioned Japanese Patent Application No. 62-76087 is such that if the height of the stored goods in the middle of the straight path is:
If there is something higher than the height of the stored goods in the transportation start area and the target area of transportation, and if there is a route where the stored goods height is lower than the height of the stored goods of the straight route in another route, that route was selected. In some cases, there is a drawback in that extra power is consumed for winding and lowering the load.

[Means for solving problems]

The control method for an overhead traveling crane according to the present invention uses an overhead traveling crane to load a load from an arbitrary address A to another arbitrary address B.
First, in a storage yard that has a strip-shaped area that directly connects the sections of address A and B and a section of both addresses A and B in diagonal positions in the storage yard. Of the rectangular area of No. A, it reaches the section diagonally at the end of the section area arranged in the longitudinal direction of the storage yard from the section of address A, and then the section area arranged in the width direction of the storage yard from the section. Through the detour area to the section of address B, and from the section of address A to the section at the diagonal position at the end of the section area arranged in the width direction of the storage yard, and then from the section in the longitudinal direction of the storage yard A detour area reaching the section of the address B through the defined section area is defined, and the strip-shaped areas other than the address A and the address B and all the addresses where all or part of the section overlaps these detour areas are detected. , Stacked at the address belonging to the strip area Those best among the height of the lower was貯品and h _c, a of the highest among the height of貯品piled to the address belonging to each of the two bypass area, respectively and h _d and h _e , Street A and Street B
The height of the stored items, excluding the transportation materials stacked on the
_Let h _a and h _b be the heights of these stores h _a , h _b , h _c ,
h _d, compare h _e, and h _c> h _a and h _b, when h _c> h _d and h _e, when the height h _d and height h _e is different bypass any lower regions, also the height h _d and height h _e is one detour area or is equal, then selected as haul route of the load, then, among the selected the detour region, a pair of the other end from the address a The area reaching the address F at the corner position and the address F on the extension of the area
Assuming that the area from address B is arranged in a straight line,
At the height of the stored goods piled up at each address, the division line on the side closer to the address A among the division lines of the address is the address A.
The positive or negative elevation angle from the horizontal plane of the surface seen from the division line on the movement direction side among the division lines at the height of the stored items excluding the transportation material of No.
Then, the height of the stored goods at the address G is h _g , and the difference h (= h _g −h _a ) from the height h _a is the time t _h required to wind the load or the load _h The time t _l required for hoisting is calculated from the maximum hoisting or hoisting speed and their acceleration / deceleration, while the time required for the crane to move or traverse from address A to rise to the maximum speed is calculated. However, when this time is used and when the address G is in the area between the address F and the address B, the load of the address G is reduced in consideration of deceleration, stop and subsequent acceleration of the load at the address F. Time to reach the zoning line t _g1 or time to reach the load inside the parcel at address G t
_{After obtaining g2} , first, start the hoisting of the load and set a constant hoisting correction amount Δh.
Perform winding only, then, holding the height h _g is the height h is equal to _a while maintaining the height of the load is also height h _g is the height of the load is equal to the height h _a As it is, the height h _g is the height h _a
If it is larger than the above, and if t _h ≤t _g1 , the crane starts traveling or traverses while continuing to hoist, and at the end of hoisting the height difference h, holds the height of the load at that height. As it is, the load is moved to the upper part of the compartment of the address G at the maximum speed, and when t _h > t _g1 , the start of traveling or traverse of the crane is delayed by the difference between the time t _h and t _g1 from the above point. Is to move the load in the same way as when t _h ≧ t _g1 above, and when the height h _g is smaller than the height h _a , and when t _l ≧ t _g2 , the crane starts to be unwound. starts moving the crane as well as, when the t _l> t _g2, the height of the load starts to travel or traverse the crane while holding h _a + Delta] h, delayed by a difference t _g2 -t _l time It starts lowering, even when one is moved into compartment top of address G while reducing only the take-difference h _a -h _g high a load of Next, the same calculation is performed between the section of the address G and the section of the address B, and other hoisting or hoisting operations except the hoisting operation of the first hoisting correction amount Δh are repeated to set the load as the next target. When moving or traversing the crane, calculate the traveling or traversing distance of the crane during the time until the movement of the load is stopped from the moving speed, and the load is only that distance from the address F. When the crane starts decelerating from the point before reaching, and when the load reaches the section of address F, the crane stops moving, immediately traverses and travels, and again loads the load at maximum speed in the direction of address B. The crane starts to decelerate from the point where the same load has reached the above distance from address B, and when the load reaches the section of address B, the crane stops moving and finally ,load By lowering the first correction amount Δh, the transportation of the load is completed.

[Action]

In this way, when the maximum height of the stored goods in the middle of the strip area is higher than the height of the stored goods at the transportation start address and the transportation target address, the maximum height of the stored goods in the strip area and the two detours Comparing the maximum height of the storage of the street addresses in the middle of the area,
The detour area with the lowest maximum storage height is selected as the transportation route, and from the height of the storage at the address where the transportation starts, Finding the first compartment where there is a stored item with a height that projects above the line of sight, and adding a correction amount sufficient for safety to the height difference from the compartment, and carrying it while hoisting or lowering it. Before moving to the lane marking (when winding) or above (when unwinding) the cargo along the line, the same calculation is repeated again, and all the obstructive stored goods in the above-mentioned transportation route. You can move the load at the maximum possible speed while avoiding the piles of.

〔Example〕

 Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view showing a ban district drawing (address is not entered) of a storage yard to which an embodiment of the method for controlling an overhead traveling crane of the present invention is applied, and FIG. 2 is a section of an address A according to this embodiment. To the section of address B, the storage yard plan view showing the strip-shaped area 1 (range indicated by dots) connecting both sections, which is used in the calculation when transporting the storage, FIG. 3 shows the section of address A A storage yard plan view showing the detour areas 2 and 3 (range surrounded by double lines) along the periphery of a rectangular area having the section of the address B in a diagonal position, and FIG. 4 is the detour area of FIG. on the extension of the partition region extending to the address F ₁ diagonal line from the address a for 2, regions arranged partition region extending from address F ₁ to the address B in a straight line diagram, FIG. 5 and FIG. 6, it 6 is an explanatory view of a hoisting method for different heights of stored goods at address D. FIG.

The storage yard is divided into a grid pattern with a constant length a and a constant width b in the longitudinal direction and the direction perpendicular to the longitudinal direction, and each division is given an address. Inventory management is performed for each address by a computer system (not shown) that is stacked in each compartment and is separately installed. At the same time, the overhead traveling crane for transporting the stored goods installed in the storage yard is also controlled by this computer system. That is, the specifications such as the identification code and size of each stored item in each section and the stacking height thereof are constantly input to the computer system and managed for each address. It is optionally used for crane control if necessary. The piled-up height of the stored items in these information can be easily corrected automatically by detecting the landing of the transported load or by monitoring it with a CRT or the like and obtaining it.

Next, in the storage yard shown in FIG. 1, the operation when the storage product is laterally held by using this embodiment will be described.

Now, when transporting one貯品designated from the top of貯品which is pile height h _a in the compartment at the address A to the top of貯品that are piled in a compartment at the address B, first, Address A,
Assuming a straight strip-shaped area 1 formed by connecting the corresponding corners of each section of B with a straight line, all addresses where this strip-shaped area 1 and all or part of the section overlap are selected. Next, as shown in FIG. 3, among the rectangular areas in the storage yard that have both the sections of address A and address B at diagonal positions,
From the section of the address A to the section of the address F ₁ diagonally at the end of the section area arranged in the longitudinal direction of the storage yard, and then from the section through the section area arranged in the width direction of the storage yard The detour area 2 reaching the section B and the section F ₂ at the diagonal position of the end of the section area arranged in the width direction of the storage yard from the section of the address A, and then the length of the storage yard from the section. The detour area 3 reaching the section of the address B through the section areas arranged in the direction is defined, and all or part of the section is overlapped with the strip-shaped areas 1 other than the addresses A and B and these detour areas 2 and 3. Detects the addresses of all parcels.

Next, among the addresses belonging to the strip-shaped area 1, the height of the stored goods at the address C, which has the highest height of the stacked components, is h _c, and among the addresses belonging to each of the two detour areas 2 and 3, , Addresses D and E where the height of the stored goods is the highest
Let the heights of the stored items be h _d and h _e , respectively, and address A and address B
The height of the stored items, excluding the transportation materials stacked on the
_Let h _a and h _b be the heights of these stores h _a , h _b , h _c ,
h _d, compare h _e, and h _c> h _a and h _b, when h _c> h _d and h _e, when the height h _d and height h _e is different bypass any lower region and the height h _d and height h _e is one detour area or is equal, to elect as conveying path of the load. In the present case, h _c > h _a , h _b , and
It is assumed that the detour area 2 is selected as h _c > h _d , h _e and h _e > h _d .

Next, as shown in FIG. 4, in the detour area 2, the address A
From the diagonally opposite address F ₁ to the address B,
As an extension of this area, the areas from address F ₁ to address B are arranged in a straight line in the direction of load transportation, and the height of the stored goods in each compartment is searched and the movement of the load is started. From the lane markings on the moving direction side of the lane markings at the pile height h _a excluding the transportation material at the street A, the lane markings near the street A among the lane markings at the pile height of each searched address were viewed. The elevation angle (positive or negative) from the horizontal plane is calculated, and the address having the maximum angle is determined.
For example, the pile height in the address D in FIG. 3 and h _d, the elevation theta _d is It is easy to understand. In the present case, it is assumed that the elevation angle θ _d (positive) of the address D is the maximum among these calculated angles.

Next, the time required for the traveling speed of the crane from address A to address D to reach the maximum speed that can be reached is calculated, and taking this into account, the load of the crane (assumed to be length a, width b) is in the area of address D. _Find the time t _d1 before entering. On the other hand, the difference h _d -h _a winding amount h of pile height address D and address A, the maximum speed of the winding and the value h and its acceleration and deceleration, determining the time t _h required for the winding.

Therefore, after first hoisting the crane and hoisting the load by the set correction amount Δh, (1) If t _h ≤ t _d1 , from address A, continue hoisting the load and set the acceleration and speed. Start traveling of the crane according to the above. Fig. 5 shows the case of t _h = t _d1 . When the load is transported while being rolled up, after the time t _h , the load arrives at the lane marking at address D, and It is possible to clear the height h _d by the correction amount Δh, and the load is allowed to enter the pile above the address D as a constant height. t _h
In the case of <t _d1, the winding is finished until the load reaches the division line of the address D, and the load is advanced into the division of the address D at that height.

(2) When t _h > t _d1 If the operation as in the case of (1) described above is performed, the load will collide with the pile of the address D before the hoisting amount h is hoisted, so in this case, As shown in FIG. 6, the load can clear the address D by first continuing the hoisting and then starting the traveling of the crane with the time delayed by t _h -t _d1 .

Next, by the same method as in the first case, the maximum elevation angle is obtained for each address in the detour area 2 as seen from address D in FIG. 4 until the load enters the section of address D. 5 and 6 show the case where the elevation angle (negative) at the end point B is the only maximum, and the address B at the end point is selected and the traveling of the crane is continued while keeping the load at that height.

On the other hand, calculates the travel distance of the crane in time to stop the running speed of the crane, the load starts to decelerate the crane from the point it reaches the front by the distance from the address F _1, load the address F ₁ When the inside of the compartment is reached, the crane is stopped, the traverse of the crane is immediately started in the direction of the address B, and the load is again transported at the maximum speed. At the starting point of the unwinding, the hoisting amount is obtained from the difference between the height h _b of the pile of addresses B at the end point and the height h _d of the pile of addresses D, and the hoisting is performed in exactly the same way as the previous calculation. Calculate the time required for
It can be calculated by calculating the distance to traverse until the crane stops moving during this time. Further, the point where the traverse speed deceleration is started can be easily calculated from the remaining traverse distance between the current position of the load and the address B, the traverse speed and the deceleration thereof.

In this way, the traverse speed of the crane is reduced and the load is lowered, and when the load reaches the section of the address B, the load can be lowered by the correction value Δh and placed.

In the above example, the pile D which becomes an obstacle on the way is address D.
However, if there is an address having a pile of obstacles before or after the address D, the purpose can be achieved by repeating the same calculation.

In actual operation, it is necessary to correct the driving method and calculation for the following reasons. For example, referring to FIG. 3, in order to prevent the materials from rubbing against each other, the area D may be lifted a little higher than the height h _d to clear it. It is necessary to drive on the pile of house number B,
The calculation of the height to be cleared is made possible by introducing the correction term Δh. That is, the correction term Δh is
It represents a correction amount that includes all the measurement errors of the load height, safety for avoiding collision, and deflection of the suspended load.

〔The invention's effect〕

As described above, when the load is carried from the arbitrary address A in the storage yard to another arbitrary address B by the overhead crane, the maximum height of the stored goods at the addresses belonging to the strip-shaped area is When the height of the stored goods at the addresses A and B is higher than the maximum height of the stored goods of at least one of the detour areas, and when it is higher than the maximum height of the stored goods of the detour area, the detour Select an area as the transportation route for the load, look at address B from address A, select the section of the pile that is protruding from the line of sight, and load it at the height of the load that clears that height. Each time the load is moved along the detour area and the load is cleared so as to hold and pass through the section, the load and the amount of winding and the timing are calculated and controlled, and By repeating the calculation of The in comparison with the case of carrying the load from address A to address B, winding, and there is an effect that it is possible to save energy required for lowering.

[Brief description of drawings]

FIG. 1 is a plan view showing a block diagram of a storage yard to which an embodiment of a method for controlling an overhead traveling crane of the present invention is applied, and FIG. 2 is a block from a block of address A to a block of block B according to this embodiment. A plan view of a storage yard showing a strip-shaped area 1 (a range indicated by a dot) connecting both sections, which is used for calculation when transporting a storage item, and FIG. 3 shows a section of address A and a section of address B as a pair. Detour areas 2, 3 along the periphery of a rectangular area at a corner position
A plan view of the storage yard showing (the area surrounded by the double line), and FIG. 4 shows the detour area 2 in FIG. 3 on the extension of the section area from the address A to the diagonal address F ₁ . The area diagrams in which the divided areas from the address F ₁ to the address B are arranged in a straight line, and FIGS. 5 and 6 are explanatory views of the hoisting method for different heights of the stored goods at the address D, respectively. 1 ... band area, 2, 3 ... detour area, A, B, C, D, E, F ₁ ,
F ₂ …… The address of the section, a …… The length of one section in the longitudinal direction, b
…… Length of one section in the width direction, h _a …… Height of piles of storage at address A, h _b …… Height of piles of storage at address B, h _d …… Height of piles of storage at address D, Δh ...... Winding correction amount, θ _d ...... Partition line of address A (moving side) to partition line of address D (address A side)
Elevation looking at.

Claims (2)

(57) [Claims] 1. A plurality of grid-shaped sections are formed by dividing the longitudinal direction of the storage yard and the width direction at right angles to the longitudinal direction into constant lengths, and each section has an address indicating the section. Is attached, the specifications such as the types and dimensions of the individual savings piled up in each number area and the height of those piles are recorded, and the inventory of these savings is managed at the same time. A control method for an overhead traveling crane of a computer system for constantly inputting and controlling the current position of an overhead traveling crane for transporting stored goods, which is installed in a storage yard, wherein: When transporting from address A to another arbitrary address B, first of all, in the storage yard, a strip-shaped area that directly connects both addresses A and B and an area A and address B respectively. Stored goods in a diagonal position Of the rectangular area in the yard, the section from the section of the address A reaches the section diagonally at the end of the section area arranged in the longitudinal direction of the storage yard, and then the section arranged in the width direction of the storage yard from the section. Detour area through the area to the section of the address B, and from the section of the address A to the section diagonally at the end of the section area arranged in the width direction of the storage yard, and then from the section in the longitudinal direction of the storage yard The detour area reaching the section of the address B through the section areas arranged in is determined, and the strip-shaped areas other than the address A and the address B and all the addresses where all or part of the section overlaps these detour areas are detected. , Next, let h _c be the highest height of the stored goods in the addresses belonging to the strip-shaped area, and let the highest height of the stored goods in the addresses belonging to each of the two detour areas. The ones h _d and h _e respectively And the height of the stored goods excluding the transportation materials piled up at address A and address B, respectively.
_Let h _a and h _b be the heights of these stores h _a , h _b , h _c ,
h _d, compare h _e, and h _c> h _a and h _b, when h _c> h _d and h _e, when the height h _d and height h _e is different bypass any lower Area, height h _d and height
The h _e is one detour area or is equal, then selected as haul route of the load, then, among the selected the detour region, a region extending to the address F of the diagonal positions of the other end than the address A, the As the areas extending from the address F to the address B are arranged in a straight line on the extension of the area, the dividing line on the side close to the address A among the dividing lines of the addresses piled up at the respective addresses is arranged. , The address having the maximum elevation angle among them by calculating the positive or negative elevation angle from the horizontal plane of the surface viewed from the division line on the moving direction side among the division lines at the height of the stored goods excluding the transportation material G is selected, and then the height of the stored goods at the address G is h _g , and the difference from the height h _a is h
The time t _h required to wind up the load (= h _g − h _a ) or the time t _l required to wind down the load is obtained from the maximum speed of hoisting or lowering and their acceleration / deceleration. on the other hand,
Calculate the time to rise to the maximum speed after starting traveling or traversing of the crane from address A, and using this time, and when address G is in the area between address F and address B, the address is After determining the time t _{g1 for the} load to reach the lane marking at address G or the time t _g2 for the load to reach the lane marking at address G in consideration of deceleration, stop and subsequent acceleration of the load at F , First, start the hoisting of the load and hoist it by a certain hoisting correction amount Δh, and then, if the height h _g is equal to the height h _a , hold the height of the load and hold it again. _{If g} is greater than height h _a , then t _h ≤
When t _g1, the crane starts traveling or traverses while hoisting, and at the end of hoisting with a height difference h, the height of the load is kept at that height and the upper part of the compartment at address G is held. When the load is moved at the maximum speed and t _h > t _g1 , the crane starts traveling or traverses at time t _h
And t _g1 except that the load is moved in the same manner as in the case of t _h ≤t _g1 above, and the height h _g is smaller than the height h _a , then t _l ≥t _g2 starts moving the crane starts the lowering of the crane when the, when the t _l <t _g2, the height of the load starts to travel or traverse the crane while holding h _a + Delta] h, of time difference
The lowering is started by delaying t _g2 −t _l , and at any time, the load is moved by the height difference h _a −h _g while moving to the upper part of the compartment of the address G, and then the address G The same calculation is performed between the section and the section of the address B, and the other hoisting or unwinding operations except the operation of hoisting the first hoisting correction amount Δh are repeated, and the load is placed within the section of the next target address. On the other hand, for traveling or traversing of the crane, the traveling or traversing distance of the crane during the time until the movement of the load is stopped from the moving speed is calculated, and from the point where the load reaches the address F before that distance. When deceleration of the crane is started and the load reaches the section of address F, the movement of the crane is stopped, traverse or travel is immediately started, and the load is again moved at the maximum speed in the direction of address B. The load is the above distance from address B An overhead traveling crane that starts decelerating the crane from the point reached before, stops the movement of the crane when the load reaches the section of address B, and finally lowers the load by the first correction amount Δh. Control method. 2. The correction amount Δh is an error in the stacking height of the stored goods, safety for avoiding friction and collision between the stored goods, or the crane and the load when the load is hung on the crane. The control method for an overhead traveling crane according to claim 1, wherein the value is set in consideration of the amount of bending.