JP4014559B2 - A program for causing a computer to execute and a program for causing a computer to execute cargo placement when transporting cargo to space - Google Patents

Description

  The present invention relates to a program for causing a computer to execute a determination of a suitable arrangement position for a plurality of objects when the plurality of objects are arranged so as to satisfy a requirement from a user, and to carry a cargo to space. The present invention relates to a program for causing a computer to execute the arrangement of cargo.

  Along with the recent activation of space development, many materials used in space are carried on transport aircraft and transported to spacecraft. In this case, the goods are mounted in the cargo compartment of the transport aircraft so that the center of gravity of the transport aircraft approaches the optimal center of gravity position. Then, the astronaut carries the materials of the transport aircraft into the spacecraft and uses them in the spacecraft, and after using the materials, reloads the used materials on the transport aircraft. The transport aircraft loaded with goods is disconnected from the spacecraft and burned in space or dropped to a predetermined location on the earth.

  FIG. 30 is a perspective view of a transport aircraft that transports goods to the spacecraft. The transport machine 100 has a cylindrical shape, and includes a transport unit 110 and a propulsion unit 120. The transport unit 110 includes a cargo loading unit 111, a docking unit 112, and an entrance / exit 113. A plurality of supplies are loaded on the cargo loading unit 111.

  The transport aircraft 100 launched from the earth is propelled by the propulsion unit 120 and reaches the spacecraft. Then, the transport aircraft 100 is docked with the spacecraft by the docking unit 112, and the astronaut enters the cargo loading unit 111 of the transport aircraft 100 from the entrance 113 and carries the loaded materials into the spacecraft.

  Then, the astronaut loads again the used goods from the entrance 113 to the cargo loading section 111, and the transport aircraft 100 is separated from the spacecraft. The transport aircraft 100 separated from the spacecraft is burned in the space or dropped into a predetermined place in the earth after entering the atmosphere.

  In this case, the position of the center of gravity of the transport device 100 on which the goods are loaded and the transport device are used in order to cause the transport device 100 loaded with the used materials to burn in space or to drop to a predetermined place in the earth. It is necessary to mount the goods on the transport aircraft 100 so that the deviation from the original center of gravity of 100 is within several centimeters. If the center of gravity position of the transport aircraft 100 loaded with goods greatly deviates from the original center of gravity position of the transport aircraft 100, the transport aircraft 100 separated from the spacecraft becomes uncontrollable due to the shift of the center of gravity position, and the normal orbit This is because it falls from the predetermined location and falls to a location different from the predetermined location.

  Similarly, when the transporter 100 loaded with used goods is completely burned in space, the transporter 100 is also used so that the deviation of the center of gravity when the goods are loaded is within several centimeters. It is necessary to mount on.

  As described above, when a material is mounted on the transport device 100, it is necessary to mount the material on the transport device 100 so that the center of gravity of the transport device 100 after the material is mounted does not greatly deviate from the center of gravity of the transport device 100 alone. There is.

  However, when a plurality of materials having different sizes and different weights are mounted on a transport aircraft so that the center of gravity of the transport aircraft is not greatly displaced, the following problems occur.

  First, when a material is loaded on a transport aircraft by an operator on the ground on the outbound route, since humans control the loading of the material, there is a high possibility that a mistake will occur and the cost will increase.

  In addition, since the loading / unloading of materials on the spacecraft is performed by an astronaut, there is a problem that an excessive burden is placed on the astronaut if there are many changes in the arrangement position due to changes in the materials.

  Furthermore, in a space system consisting of a spacecraft and a transport aircraft, it is necessary to quickly find a solution that satisfies the user's setting conditions, and in particular, some of the materials to be mounted on the transport aircraft have been changed. Even in such a case, it is necessary to immediately respond to the change of the goods and determine the arrangement position of the goods so that the position of the center of gravity of the transport aircraft does not greatly deviate. For this reason, if humans have determined the location of goods, they cannot respond to changes in the materials mounted on the transport aircraft, and quickly determine the location of the supplies so that the center of gravity of the transport aircraft does not deviate significantly. The problem arises that this is difficult.

As a method of solving these problems, the transport device 100 when a plurality of materials belonging to each type is mounted on the transport device 100 in the order of the types having a large influence on the position of the center of gravity of the transport device 100 among the plurality of types of materials. The entire transportation device 100 when a plurality of types of goods are mounted on the transportation device 100 by determining the positions of the plurality of materials belonging to each type so that the center of gravity position of the transportation device 100 does not greatly deviate from the original gravity center position of the transportation device 100. There is known a method for determining a suitable arrangement position in which the center of gravity position of the transport device 100 is not greatly deviated from the original center of gravity position of the transport aircraft 100 (Patent Document 1).
JP 2003-160100 A

  However, the method disclosed in Patent Document 1 does not consider the degree to which the transport unit and the engine unit of the transport aircraft affect the position of the center of gravity of the transport aircraft. There is a problem that it is difficult to bring the center of gravity position of the transport aircraft deviated from the center of gravity position closer to the original center of gravity position by mounting a plurality of goods on the transport aircraft.

  Further, in the method disclosed in Patent Document 1, since a plurality of goods are freely arranged in each cargo compartment, when each cargo compartment is partitioned into a plurality of regions, a transport machine equipped with a plurality of goods There is a problem that it is difficult to bring the center of gravity position close to the original center of gravity position.

  Furthermore, in the method disclosed in Patent Document 1, since the shape of each cargo compartment is the same, if some of the cargo compartments are different from the shape of the other cargo compartment, There is a problem that it is difficult to bring the center of gravity of the mounted transport aircraft closer to the original center of gravity.

  Furthermore, the above-described problem is not limited to a transport aircraft that transports goods to the universe, but also occurs when a plurality of types of luggage are carried on a truck.

  Therefore, the present invention has been made to solve such a problem, and the object thereof is to arrange a plurality of objects in a predetermined area and thereby set a plurality of objects when an evaluation value is set as a target value. A program for causing a computer to execute determination of a suitable arrangement position is provided.

  Another object of the present invention is to provide suitable arrangement positions for a plurality of objects when the evaluation values are set to the target values by arranging the plurality of objects in a predetermined region where the evaluation values are shifted from the target values. It is to provide a program for causing a computer to execute a decision.

  According to this invention, the program determines a suitable arrangement position for a plurality of objects when the evaluation value is set as a target value by arranging a plurality of objects classified into a plurality of types in a predetermined region. A first step for receiving a target value, a second step for receiving a plurality of types and the number of objects belonging to each of the plurality of types, and an evaluation value In order of the type having the greatest degree of influence on the approach to the target value, the suitable placement position is determined by determining the placement position of the object belonging to each type for each type so that the evaluation value approaches the target value. 3 is executed by the computer. In the third step, a suitable arrangement position for the objects belonging to each type is determined by changing the position of the object alone and changing the position in units of blocks obtained by collecting a predetermined number of objects of a predetermined type.

  Preferably, the program further causes the computer to execute a fourth step of stopping determination of a suitable arrangement position when a deviation amount between the suitable arrangement position and the optimum arrangement position for a plurality of objects falls within a predetermined range. Let

  Preferably, in the third step, a suitable arrangement position for the object belonging to each type is to change the position of the object in a vacant area within a predetermined area before arranging the object to be determined. Determined by.

  Preferably, the position of the object alone is changed by autonomously changing the position of the object so that the evaluation value approaches the target value. Further, the change of the position in units of blocks is performed by the block autonomously changing its position so that the evaluation value approaches the target value.

  Preferably, the change of the position of the single object is performed by moving the positions of the objects to each other and moving to the empty area. Further, the change of the position in units of blocks is performed by switching the positions of the blocks.

  Preferably, the program is a program for causing a computer to execute arrangement of cargo when transporting cargo to space. The object is a cargo box having a certain weight and size for transporting goods to space. The plurality of objects classified into the plurality of types are a plurality of cargo boxes having different weights and sizes. The predetermined area is a spacecraft for mounting a plurality of cargo boxes. The evaluation value is the center of gravity position of the spacecraft when the cargo boxes are mounted on the spacecraft. The initial evaluation value is the initial center of gravity position of the spacecraft before mounting a plurality of cargo boxes on the spacecraft. The target value is a suitable cargo-mounted center-of-gravity position where the amount of deviation from the optimum center-of-gravity position where the spacecraft can fly along a desired trajectory is equal to or less than a predetermined value. A type of object having a large degree of influence on bringing the evaluation value close to the target value is a cargo box having a large cargo box weight.

  Preferably, the spacecraft includes a cargo loading unit that mounts a plurality of cargo boxes and a propulsion unit that propels the spacecraft. The cargo loading section includes a plurality of cargo loading chambers each loading a plurality of cargo boxes. Each of the plurality of cargo loading rooms includes a cargo rack or a luggage rack arbitrarily selected from a plurality of types of cargo racks in which a plurality of cargo boxes are arranged, and a luggage rack in which luggage other than a plurality of cargo boxes is arranged. Become. The plurality of cargo boxes are arranged on at least one cargo rack arranged in at least one cargo loading chamber. Then, the program causes the computer to further execute a fifth step of calculating the initial center-of-gravity position using the weights of the propulsion unit, the cargo rack, and the luggage rack. Then, the third step is executed after the fifth step.

  Preferably, the cargo rack is divided into a plurality of cargo areas partitioned from each other. The third step of the program is a first sub-step in which the cargo box moves to an empty area so that the cargo loading center of gravity position approaches the optimum center of gravity position, and the cargo box so that the cargo loading center of gravity position approaches the optimum center of gravity position. It consists of at least one sub-step of a second sub-step in which the positions of the same type are switched and a third sub-step in which the position of the cargo box is switched in units of blocks so that the cargo-mounted center of gravity position approaches the optimum center of gravity position. The block unit is a unit in which a plurality of cargo boxes that can be arranged in each of a plurality of cargo areas among a plurality of types of cargo boxes are collected.

  Preferably, the number of cargo boxes constituting the block is determined according to the size of each of the plurality of cargo areas.

  Preferably, the plurality of cargo boxes are classified into a first size, a second size, a third size, a fourth size, a fifth size, and a sixth size in descending order of size. The cargo rack can store a first cargo rack that can store cargo boxes belonging to the second to sixth sizes, a cargo box that belongs to the second to sixth sizes, and the first to sixth And a second cargo rack in which a cargo box belonging to the size can be arranged on the front surface. The cargo boxes belonging to the first size change positions between the front surfaces of the plurality of second cargo racks. The cargo boxes belonging to the second to sixth sizes are the front surface of the second cargo rack, the inside of the first and second cargo racks, the front surface of the plurality of second cargo racks, and the front surface of the second cargo rack. Between the interiors of the first and second cargo racks, between the interiors of the plurality of first cargo racks, between the interiors of the plurality of second cargo racks, and between the interior of the first cargo rack and the second cargo. Change position with the inside of the rack.

  Preferably, when each of the plurality of cargo loading chambers comprises a first cargo rack, the first sub-step of the program moves the cargo boxes belonging to the first to sixth sizes to an empty area, and The sub-step replaces the positions of the cargo boxes belonging to the first to sixth sizes with the same type for each type, and the third sub-step replaces the cargo boxes belonging to the first to sixth sizes with the same type or Swap positions between different types.

  Preferably, the second size is a size obtained by collecting the fifth sizes i (i is a natural number of 4 or more), and the third size is the fifth size j (j is 3 ≦ j). <Natural number satisfying i) is the size collected, the fourth size is the size of collecting the fifth size k (k is a natural number satisfying 2 ≦ k <j), and the fifth size is , A size obtained by collecting k pieces of the sixth size. Then, the third sub-step of the program uses the same type of cargo boxes belonging to the fourth to sixth sizes in the first block unit of the fourth size so that the cargo loaded gravity center position approaches the optimum gravity center position. Steps A in which positions are exchanged with each other or between different types, and cargo boxes belonging to the third to sixth sizes in the second block unit of the third size so that the cargo loaded center of gravity position approaches the optimum center of gravity position. Cargo belonging to the second to sixth sizes in the third block unit consisting of the second size so that the position B is switched between the same type or between different types, and the cargo loaded center of gravity position approaches the optimum center of gravity position. And step C for exchanging the positions of the same type or different types of boxes. Then, at least one of step A, step B, and step C is executed.

  Preferably, step C is executed when the number of cargo boxes belonging to the second size is a predetermined number or more.

  Preferably, step A is performed when the first block is filled with cargo boxes. Step B is executed when the second block is filled with cargo boxes. Step C is performed when the third block is filled with cargo boxes.

  Preferably, in step A, the cargo boxes belonging to the fourth to sixth sizes are replaced with all positions that can be exchanged between the same type or different types, and the optimum center of gravity is determined from a plurality of cargo-mounted center positions. The cargo loading center of gravity position closest to the position is determined as a suitable center of gravity position for the replaced cargo box, and step B can replace the cargo boxes belonging to the third to sixth sizes between the same type or between different types. It replaces with all the positions, determines the cargo loaded center of gravity closest to the optimum center of gravity position from the plurality of cargo loaded center of gravity positions at the time of the replacement as a suitable center of gravity position for the replaced cargo box, The cargo boxes belonging to the sixth size are exchanged at all positions that can be exchanged between the same type or between different types, and a plurality of cargo loading centers of gravity at the time of the exchange. Nearest cargo mounted centroid position to the optimum center of gravity position, it determines a suitable center-of-gravity position with respect to replacement cargo box from.

  Preferably, in step A, the cargo loading center of gravity position when the cargo boxes belonging to the fourth to sixth sizes are exchanged between the same type or different types and the cargo loading center of gravity position is set to a suitable cargo loading center of gravity position is set. Is determined as a suitable center of gravity position for the replaced cargo box, and Step B replaces the cargo boxes belonging to the third to sixth sizes between the same type or different types, and the cargo loading center of gravity position is suitable. The cargo loaded center of gravity position when set to the center of gravity position is determined as a suitable center of gravity position for the replaced cargo box, and step C is used to determine whether the cargo boxes belonging to the second to sixth sizes are of the same type or different types. The cargo loading center of gravity position when the previous cargo loading center of gravity position is set to a suitable cargo loading center of gravity position is determined as a suitable center of gravity position for the replaced cargo box.

  Preferably, when a plurality of cargo loading chambers include the first and second cargo racks, the first sub-step of the program moves the cargo boxes belonging to the first to sixth sizes to an empty area, and The second sub-step replaces the positions of the cargo boxes belonging to the first to sixth sizes with the same type for each type, and the third sub-step replaces the cargo boxes belonging to the first to sixth sizes with the same type. Swap positions between each other or between different types.

  Preferably, the first size is a size obtained by collecting the fifth sizes h (h is a natural number of 6 or more), and the second size is the fifth size i (i is 4 ≦ i <Natural number satisfying h) is the size collected, and the third size is the size of collecting the fifth size j (j is a natural number satisfying 3 ≦ j <i), and the fourth size is , The fifth size is a size obtained by collecting k (k is a natural number satisfying 2 ≦ k <j), the fifth size is a size obtained by collecting k sixth sizes, and the third sub The step sets the positions of the cargo boxes belonging to the fourth to sixth sizes in the first block unit of the fourth size between the same type or different types so that the cargo loaded center of gravity position approaches the optimum center of gravity position. Step A to be replaced, and the third size so that the cargo loaded center of gravity position approaches the optimum center of gravity position. Step B for switching the positions of cargo boxes belonging to the third to sixth sizes in the second block unit consisting of the same type or between different types, and the second so that the cargo loaded center of gravity position approaches the optimum center of gravity position. Step C for changing the position of the cargo boxes belonging to the second to sixth sizes in the third block unit of the same size between the same type or different types, so that the cargo loaded center of gravity position approaches the optimum center of gravity position, And a step D in which the positions of the cargo boxes belonging to the first to sixth sizes are exchanged between the same type or different types in a fourth block unit of the first size. Then, at least one of step A, step B, step C, and step D is executed.

  Preferably, step C is executed when the number of cargo boxes belonging to the second size is equal to or greater than a first predetermined number, and step D is performed when the number of cargo boxes belonging to the first size is a second predetermined number. It is executed when above.

  Preferably, step A is performed when the first block is filled with cargo boxes. Step B is executed when the second block is filled with cargo boxes. Step C is performed when the third block is filled with cargo boxes. Step D is executed when the fourth block is filled with cargo boxes.

  Preferably, in step A, the cargo boxes belonging to the fourth to sixth sizes are replaced with all positions that can be exchanged between the same type or different types, and the optimum center of gravity is determined from a plurality of cargo-mounted center positions. The cargo loading center of gravity position closest to the position is determined as a suitable center of gravity position for the replaced cargo box, and step B can replace the cargo boxes belonging to the third to sixth sizes between the same type or between different types. It replaces with all the positions, determines the cargo loaded center of gravity closest to the optimum center of gravity position from the plurality of cargo loaded center of gravity positions at the time of the replacement as a suitable center of gravity position for the replaced cargo box, The cargo boxes belonging to the sixth size are exchanged at all positions that can be exchanged between the same type or between different types, and a plurality of cargo loading centers of gravity at the time of the exchange. The cargo center of gravity position closest to the optimum center of gravity position is determined as a suitable center of gravity position for the replaced cargo box, and step D is performed for the same or different types of cargo boxes belonging to the first to sixth sizes. It replaces with all the positions which can be replaced | exchanged, and determines the cargo center of gravity position nearest to the optimal center of gravity position from the plurality of cargo center of gravity positions at the time of the replacement as a suitable center of gravity position for the replaced cargo box.

  Preferably, in step A, the cargo loading center of gravity position when the cargo boxes belonging to the fourth to sixth sizes are exchanged between the same type or different types and the cargo loading center of gravity position is set to a suitable cargo loading center of gravity position is set. Is determined as a suitable center of gravity position for the replaced cargo box, and Step B replaces the cargo boxes belonging to the third to sixth sizes between the same type or different types, and the cargo loading center of gravity position is suitable. The cargo loaded center of gravity position when set to the center of gravity position is determined as a suitable center of gravity position for the replaced cargo box, and step C is used to determine whether the cargo boxes belonging to the second to sixth sizes are of the same type or different types. In step D, the cargo loading gravity center position when the cargo loading gravity center position is set to a suitable cargo loading gravity center position is determined as a suitable gravity center position with respect to the replaced cargo box. The cargo boxes belonging to the first to sixth sizes are exchanged between the same type or different types, and the cargo loading center of gravity position when the cargo loading center of gravity position is set to a suitable cargo loading center of gravity position is A suitable center of gravity position is determined.

  According to this invention, a suitable arrangement position of a plurality of objects is determined for each type so that an evaluation value in the predetermined area approaches a target value by arranging a plurality of types of objects in the predetermined area for each type. The In this case, suitable arrangement positions for a plurality of types of objects are determined in the order of the types having the greatest degree of influence on bringing the evaluation value closer to the target value. And the suitable arrangement position of the target object which belongs to each kind is determined by the position change in a single object, and the position change in the block unit which collected a predetermined number of objects of a predetermined kind.

  Therefore, according to the present invention, the arrangement position of the object can be quickly determined so that the evaluation value is set to the target value.

  Embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.

  A description will be given of the transportation of a cargo box, which is an object for which the program according to the present invention determines an arrangement position, to space. FIG. 1 is a perspective view showing a state in which a transport aircraft 10 carrying a plurality of cargo boxes is docked to a spacecraft 20. The details of the spacecraft 20 are irrelevant to the present invention, and thus the description thereof is omitted. However, the spacecraft 20 is a spacecraft that performs various observations in space.

  The transport aircraft 10 has a cylindrical shape, and includes a cargo mounting portion 11 and a propulsion portion 12. The cargo mounting portion 11 has a bottom surface diameter of 4.5 m and a height direction (in the direction of arrow 13) of 2.3 m. And the weight of the transport aircraft 10 is about 10 t with no cargo box mounted. The propulsion unit 12 is equipped with an engine, various exposure pallets that may be exposed to space radiation, water, fuel, and the like. As a result, the transport aircraft 10 is deviated from the optimum center of gravity position when the cargo box is not mounted. The engine propels the transport aircraft 10 until the transport aircraft 10 is launched from the ground and arrives at the spacecraft 20.

  By arranging the cargo boxes at the arrangement positions determined by the program according to the present invention, a plurality of cargo boxes are mounted on the cargo mounting section 11. The transport aircraft 10 loaded with a plurality of cargo boxes is launched from the ground and propelled by the engine mounted on the propulsion unit 12 and docked to the spacecraft 20.

  An astronaut working in the spacecraft 20 uses many cargo boxes loaded in the cargo loading section 11 of the transport aircraft 10 into the spacecraft 20 for use. Then, the astronaut loads the used cargo box again on the transport aircraft 10 by returning it to the position determined by the program according to the present invention. The transport aircraft 10 loaded with used cargo boxes is disconnected from the spacecraft 20 and burns in space or falls to a predetermined location on the earth.

  FIG. 2 is a perspective view for explaining the cargo mounting portion 11 of the transport aircraft 10 in detail. The cargo loading unit 11 has two cargo loading chambers 21 and 22. Each of the cargo loading chambers 21 and 22 has a structure in which a space 35 is provided at the center, and cargo chambers 31 to 34 are arranged around the space 35. Thus, by arranging the space 35 in the center, the astronaut can easily put the cargo box into and out of the cargo compartments 31-34. In each of the cargo chambers 31 to 34, a plurality of cargo boxes are arranged at the arrangement positions determined by the method described later.

  FIG. 3 is a diagram showing the types and sizes of cargo boxes mounted in the cargo compartments 31-34. The cargo boxes mounted in the cargo compartments 31 to 34 are composed of cargo boxes 40, 50, 60, 70, 80 and 90. The cargo box 40 has a width of 425 mm, a height of 248 mm, and a depth of 251 mm. The cargo box 50 has a width of 425 mm, a height of 248 mm, and a depth of 502 mm. The cargo box 50 has a depth twice that of the cargo box 40.

  The cargo box 60 has a width of 425 mm, a height of 496 mm, and a depth of 502 mm. The cargo box 60 has a height twice that of the cargo box 50 and a height and depth twice that of the cargo box 40. The cargo box 70 has a width of 425 mm, a height of 744 mm, and a depth of 502 mm. The cargo box 70 is three times as high and twice as deep as the cargo box 40, three times as high as the cargo box 50, and 1.5 times as high as the cargo box 60. Has a height of

  The cargo box 80 has a width of 850 mm, a height of 496 mm, and a depth of 502 mm. The cargo box 80 is twice as wide as the cargo box 60 and twice as wide and high as the cargo box 50. Accordingly, the cargo box 80 has a size in which four cargo boxes 50 are collected.

  The cargo box 90 has a width of 850 mm, a height of 744 mm, and a depth of 502 mm. The cargo box 90 is twice as wide as the cargo box 70, twice as wide and three times as high as the cargo box 50. Accordingly, the cargo box 80 has a size in which six cargo boxes 50 are collected.

  The cargo box 40 has an average weight of 7.1 kg (allowable range: 0.9 to 13 kg). The cargo box 50 has an average weight of 18.6 kg (acceptable range: 1.6 to 27 kg). The cargo box 60 has an average weight of 29.6 kg (acceptable range: 1.9 to 54 kg). The cargo box 70 has an average weight of 32.1 kg (allowable range: 2.6 to 81 kg). The cargo box 80 has an average weight of 79 kg (acceptable range: 4.8 to 90 kg). The cargo box 90 has an average weight of 108.7 kg (acceptable range: 3.1 to 136 kg).

  Thus, the cargo boxes 40, 50, 60, and 70 are cargo boxes having the same width and different heights, depths, and weights. The cargo boxes 80 and 90 are cargo boxes having the same width and depth and different heights. The cargo boxes 40, 50, 60, and 70 are referred to as “half-size cargo box”, “single-size cargo box”, “double-size cargo box”, and “triple-size cargo box”, respectively. Further, since the cargo boxes 80 and 90 are originally bags into which the cargo boxes 40, 50, 60, and 70 are placed, the cargo boxes 80 and 90 are referred to as “M02 bag” and “M01 bag”, respectively.

  FIG. 4 is a perspective view of a rack constituting the cargo compartments 31-34. The racks constituting the cargo compartments 31 to 34 include cargo racks RK1 and RK2 and a luggage rack RK3. The cargo rack RK1 is partitioned into three regions 41 to 43. And each of the area | regions 41-43 can accommodate the six cargo boxes 50 shown in FIG.

  The cargo rack RK2 includes a cargo rack RK1 and cargo racks RK4 and RK5. That is, the cargo rack RK2 has a structure in which the cargo racks RK4 and RK5 are arranged in front of the cargo rack RK1. Each of the cargo racks RK4, RK5 can store the cargo boxes 40, 50, 60, 70, 80 shown in FIG. The cargo box 90 shown in FIG. 3 can be stored in both the cargo rack RK4 and the cargo rack RK5. The luggage rack RK3 is a single luggage as a whole, and cannot store any of the cargo boxes 40, 50, 60, 70, 80, and 90 shown in FIG. Further, the cargo racks RK3 and RK5 cannot be arranged on the front surface of the cargo rack RK3 like the cargo rack RK2.

  The cargo rack RK1 can store the cargo boxes 40, 50, 60, 70, and 80. The cargo rack RK2 can store the cargo boxes 40, 50, 60, 70, and 80 in the cargo rack RK1, and can store the cargo boxes 40, 50, 60, 70, and 80 in each of the cargo racks RK4 and RK5. The cargo box 90 can be stored in the entire cargo rack RK4 and cargo rack RK5. Therefore, the cargo box 90 is not disposed on the cargo rack RK1. In the cargo rack RK2, the cargo boxes 40, 50, 60, 70, and 80 are taken into and out of the cargo rack RK1, with the cargo racks RK4 and RK5 removed.

  Each of the cargo compartments 31 to 34 includes one of the cargo racks RK1 and RK2 and the luggage rack RK3. Accordingly, there are 81 combinations of the cargo racks RK1, RK2 and the cargo rack RK3 constituting the cargo chambers 31-34.

  As described above, the program according to the present invention has six types of different sizes and weights when each of the cargo compartments 31 to 34 is configured by any one of the different cargo racks RK1, RK2 and the luggage rack RK3. The cargo box 40 is set so that the deviation amount between the center of gravity of the transport aircraft 10 and the optimum center of gravity when the cargo boxes 40, 50, 60, 70, 80, 90 are mounted on the cargo mounting portion 11 is within 2.5 cm. , 50, 60, 70, 80, 90 are determined.

  Hereinafter, the cargo box 40 when the cargo boxes 40, 50, 60, 70, 80, 90 are mounted in the four cargo chambers 31 to 34 while the deviation amount of the center of gravity of the transport machine 10 is kept within 2.5 cm. , 50, 60, 70, 80, 90 will be described.

  FIG. 5 is a flowchart of the program according to the embodiment of the present invention. In the following description, it is assumed that the combination of the cargo racks RK1 and RK2 and the cargo rack RK3 constituting the cargo compartments 31 to 34 is determined before the flowchart shown in FIG. 5 is started.

  When the operation of determining the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 is started, the weight of the empty transport aircraft 10 is input, and the center of gravity position of the transport aircraft 10 is calculated (step S1). ). And the weight of the fuel and water mounted in the propulsion part 12 is input, and the gravity center position of the transport aircraft 10 and the fuel and water is calculated (step S2). Further, the weight of the exposed pallet is input, and the center of gravity of the transport aircraft 10, fuel, water and the exposed pallet is calculated (step S3). Further, the weights of the cargo racks (comprising a combination of the cargo racks RK1, RK2 and the cargo rack RK3) constituting the cargo chambers 31 to 34 are input, and the gravity center positions of the transport aircraft 10, fuel, water, the exposed pallet and the cargo rack are Calculation is performed (step S4).

  Thus, in steps S1 to S4, the initial center-of-gravity position of the transport aircraft 10 before the cargo boxes 40, 50, 60, 70, 80, 90 are mounted on the transport aircraft 10 is calculated. Then, using the calculated initial center of gravity position, the center of gravity position of the transport aircraft 10 when the cargo boxes 40, 50, 60, 70, 80, 90 are arranged in the cargo compartments 31 to 34 is 2.5 cm from the optimum center of gravity position. The arrangement positions of the cargo boxes 40, 50, 60, 70, 80, and 90 are determined so as to fall within the range.

  When the initial center-of-gravity position of the transport aircraft 10 is calculated, the type of cargo box (CTB: Cargo Transfer Bag and M01, M02) to be mounted in the cargo compartments 31-34 is input (step S5). Specifically, the sizes and weights of six types of cargo boxes 40, 50, 60, 70, 80, and 90 are input as the types of cargo boxes.

  And the arrangement | positioning position of the cargo box 90 (M01 bag) with the largest size (weight) is determined among the types of the input cargo box (step S6). Next, the arrangement position of the cargo box 80 (M02 bag) having the second largest size (weight) is determined (step S7). Further, the arrangement position of the triple-size cargo box 70 having the third largest size (weight) is determined (step S8). Hereinafter, the double-size cargo box 60, the single-size cargo box 50, and the half-size cargo box. Arrangement positions are determined in the order of 40 (steps S9 to S11). And the operation | movement which determines the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 in the cargo compartments 31-34 is complete | finished.

  Thus, in the operation | movement which determines the arrangement position of a cargo box, the arrangement position in the cargo chambers 31-34 is determined in order with a size (weight). This is due to the following reason.

  Six types of cargo boxes 40, 50, 60, 70, 80, and 90 having different sizes (weights) are arranged in the cargo chambers 31 to 34 while maintaining the displacement amount of the center of gravity of the transport aircraft 10 within 2.5 cm. In this case, the degree of the influence on the user's requirement that “the amount of deviation of the center of gravity position is kept within 2.5 cm” is as follows: cargo box 90, cargo box 80, triple size cargo box 70, double size cargo box 60, single-size cargo box 50, and half-size cargo box 40 in this order. Accordingly, if the arrangement positions are determined in ascending order of the degree of influence on the requirements from the user, the degree of freedom for arranging the cargo box 90 is reduced, and when the arrangement position of the cargo box 90 is determined, the half-half already determined is determined. There is a need to determine the arrangement position including the size cargo box 40, the single size cargo box 50, the double size cargo box 60, the triple size cargo box 70, and the cargo box 80. This is because a situation may occur in which the arrangement positions of the cargo boxes 40, 50, 60, 70, 80, 90 are determined again.

  In step S6, the operation of determining the arrangement position of the cargo box 90 (M01 bag) is executed by means B and means C described later. More specifically, the means B + C includes means B1 + C, means B2 + C, and means B3 + C. In steps S7 to S11, the arrangement positions of the cargo box 80 (M02 bag), the triple size cargo box 70, the double size cargo box 60, the single size cargo box 50, and the half size cargo box 40 are respectively determined. The operation is also executed by the same means B + C as the operation for determining the arrangement position of the cargo box 90 (M01 bag).

  FIG. 6 is a flowchart for explaining the operation performed by means B shown in FIG. In the following, the operation of the means B will be described by taking the cargo box 90 (M01 bag) as an example. When the operation of the means B is started, the total number MaxCTB of the cargo box 90 (M01 bag) is input (step S21). Then, the position change flag SameLoc [CTB] is set to “No” for all the cargo boxes 90 (numbers 1 to Max CTB cargo boxes 90) for which the arrangement positions are determined, and the positions of the cargo boxes 90 are changed. The number NoChange not to be moved / exchanged is set to “0” (step S22).

  The position change flag SameLoc [CTB] being set to “No” means that the position of the cargo box 90 for determining the arrangement position is different from the previous position (that is, moving from the previous position). ) And the position change flag SameLoc [CTB] is set to “Yes” means that the position of the cargo box 90 for determining the arrangement position is the same as the previous position (that is, the movement) Means not). In step S22, the position change flag SameLoc [CTB] is set to “No” for all cargo boxes 90 because the position of the target cargo box 90 is the previous one at the beginning of the operation of determining the arrangement position. This is because the cargo box 90 has been moved from the position, that is, the cargo box 90 is set in a movable state. The number of positions not moved / replaced is set to “0” because the positions of all the cargo boxes 90 are moved / replaced at the beginning of the operation of determining the positions to determine the positions of the cargo boxes 90. Because it is necessary to do.

  After step S22, the cargo boxes 90 whose total number is MaxCTB are randomly arranged, and initial placement of the cargo boxes 90 is performed (step S23). Then, the number CTB of the cargo box 90 is set to the initial value “1” (step S24), and the arrangement position of the cargo box 90 with the number CTB “1” is moved to an empty place (area) and moved. The center of gravity position at each location is calculated (step S25). In this case, the cargo box 90 with the number CTB “1” is not limited to the adjacent vacant place, and is moved to any place as long as it is vacant.

  Thereafter, the cargo box 90 having the number CTB “1” is randomly exchanged with the cargo box 90 having another number CTB, and the center-of-gravity position at the exchange location is calculated (step S26).

  Then, the positions are exchanged in units of blocks in which a predetermined number of single-size cargo boxes 50 are collected, and the position of the center of gravity at the exchanged place is calculated (step S27). Although details of the block replacement in step S27 will be described later, the number of single-size cargo boxes 50 constituting the block is determined according to the type of cargo box to be subjected to block replacement.

  When step S27 is completed, the number CTB is moved to the position where the shift amount of the center of gravity is minimized by moving the position of the cargo box 90 in step S25, exchanging the position of the cargo box 90 in step S26, and replacing the block in step S27. The cargo box 90 which is 1 ″ is moved / exchanged. That is, in step S25 to step S27, when the position of the cargo box 90 with the number CTB “1” is changed by movement and exchange, the position where the deviation amount of the center of gravity position is minimized is determined. The cargo box 90 with the number CTB “1” is moved and exchanged to the position.

Then, the number CTB of the next cargo box 90 whose position is to be changed by movement and exchange is determined (step S28). Specifically, the next number CTB is:
Next number CTB = mod (CTB, MaxCTB) +1 (1)
Determined by.

  According to equation (1), the next number CTB is sequentially determined from the smallest CTB number to the largest CTB number.

  Next, when the number of the cargo box 90 whose position is to be moved and replaced is determined, it is determined whether or not the number NoChange whose position is not moved / replaced is equal to the total number MaxCTB of the cargo boxes 90 set in step S21. (Step S29). When the number NoChange whose position is not moved / exchanged is not equal to the total number MaxCTB of the cargo boxes 90, Steps S25 to S29 are repeated until the number NoChange where the position is not moved / exchanged = the total number CTCT of the cargo boxes 90 is reached. That is, the position where the deviation amount of the center of gravity position is minimized is determined for each of the cargo boxes 90 having the numbers: 1,..., Max CTB, and the cargo boxes 90 having the respective numbers CTB are moved to the determined positions. / Steps S25 to S29 are repeatedly executed until they are exchanged.

  When the number NoChange whose position is not moved / replaced becomes equal to the total number MaxCTB of the cargo boxes 90, since there is no cargo box 90 whose position is to be changed by movement / replacement, the operation for determining the placement position ends.

  The flowchart shown in FIG. 6 is also executed when determining the arrangement positions of the cargo boxes 80, 70, 60, 50, and 40 in steps S7 to S11 shown in FIG.

  In the above description, it has been described that the determination of the next number CTB in step S28 is performed sequentially from the smallest CTB number to the largest CTB number. However, in the present invention, the next number CTB is determined by other methods. CTB may be determined.

  That is, the next number CTB may be sequentially determined from a larger CTB number to a smaller CTB number. Further, the next number CTB may be sequentially determined in even CTB numbers after being sequentially determined in even CTB numbers. Further, the next number CTB may be sequentially determined at odd CTB numbers and then sequentially determined at even CTB numbers. Further, the next number CTB may be determined randomly regardless of the CTB number.

  Further, steps S25, S26, and S27 do not have to be executed, and at least one of steps S25, S26, and S27 may be executed.

  FIG. 7 is a flowchart for explaining in detail the operation in step S25 of the flowchart shown in FIG. After step S24 in the flowchart shown in FIG. 6, the current position L of the cargo box 90 having the number CTB “1” is stored (step S251). Then, the center of gravity position G at the current position L is calculated (step S252).

  After that, the cargo box 90 with the number CTB “1” is moved to all vacant places, the position L ′ whose center of gravity is closest to the target is searched, the searched position L ′ is stored, and the position The calculation of the center of gravity G ′ at L ′ is performed (step S253). Specifically, the target cargo box 90 is moved to an empty area, the position L1 of the empty place is stored, and the center of gravity G1 at the position L1 is calculated. Then, the target cargo box 90 is moved to another vacant place L2, the position L2 of the vacant place is stored, and the center of gravity G2 at the position L2 is calculated. This is repeated for all vacant places Ln, and the center of gravity Gn at the place Ln is calculated.

  Then, the center of gravity G ′ closest to the target is detected from the calculated centers of gravity G1 to Gn, the position L ′ when the center of gravity G ′ is calculated is detected from the positions L1 to Ln, and the position L ′ and the center of gravity G ′ are stored. To do.

  In step S253, if the cargo box 90 is moved to one vacant place without moving the target cargo box 90 to all vacant places, if the center of gravity approaches the target, You may make it perform the memory | storage of the position of one empty place, and the calculation of the gravity center in the position.

  After step S253, the center of gravity G ′ is compared with the center of gravity G. If the center of gravity G ′ is closer to the target than the center of gravity G, the target cargo box 90 is moved to the position L ′. If it is far from the target, the target cargo box 90 is returned to the original position L (step S254). And the detailed operation | movement of step S25 shown in FIG. 6 is complete | finished.

  FIG. 8 is a flowchart for explaining in detail the operation in step S26 of the flowchart shown in FIG. After step S25 of the flowchart shown in FIG. 6, the current position L of the cargo box 90 with the number CTB “1” is stored (step S261). Then, the center of gravity G at the current position L is calculated (step S262). Thereafter, as the position of the cargo box having another number CTB to be exchanged with the target cargo box 90, the position L1 of the cargo box 90 having the CTB number immediately before the CTB number of the target cargo box 90, the target The position L2 of the cargo box 90 having the CTB number one after the CTB number of the cargo box 90 to be selected and the position L3 of the cargo box 90 having the CTB number selected at random are selected, and the selected position L1, L2 and L3 are stored (step S263).

  Then, of the three positions L1, L2, and L3, the position L ′ where the center of gravity after replacement is closest to the target is stored, and the center of gravity G ′ at the position L ′ is calculated (step S264). After step S264, the center of gravity G ′ is compared with the center of gravity G. If the center of gravity G ′ is closer to the target than the center of gravity G, the target cargo box 90 is moved to the position L ′. If it is far from the target, the target cargo box 90 is returned to the original position L (step S265). And the detailed operation | movement of step S26 shown in FIG. 6 is complete | finished.

  FIG. 9 is a flowchart showing the block replacement operation in step S27 of the flowchart shown in FIG. FIG. 10 is another flowchart showing the block replacement operation in step S27 of the flowchart shown in FIG. FIG. 11 is another flowchart showing the block replacement operation in step S27 of the flowchart shown in FIG.

  First, the flowchart shown in FIG. 9 will be described. After step S26 in the flowchart shown in FIG. 6, the positions are exchanged in units of blocks (two single units) corresponding to two single-size cargo boxes 50 (step S271). Then, the position is exchanged in block units (three single units) corresponding to three single-size cargo boxes 50 (step S272). Thereafter, step S28 of the flowchart shown in FIG. 6 is executed.

  FIG. 12 is a conceptual diagram of block exchange in steps S271 and S272 of the flowchart shown in FIG.

  Step S27 of the flowchart shown in FIG. 6 is executed in steps S6 to S11 of the flowchart shown in FIG. That is, step S27 of the flowchart shown in FIG. 6 determines the arrangement position of the cargo box 90 (M01 bag), the arrangement position of the cargo box 80 (M02 bag), and the arrangement position of the triple-size cargo box 70. The determination, the determination of the arrangement position of the double-size cargo box 60, the determination of the arrangement position of the single-size cargo box 50, and the determination of the arrangement position of the half-size cargo box 40 are executed.

  Since the cargo boxes 90 and 80 are bags capable of storing six and four single-size cargo boxes 50, respectively, a block unit corresponding to two single-size cargo boxes 50 or three. It is also possible to exchange in units of blocks corresponding to a single-size cargo box 50 minutes.

  Accordingly, in step S271 of the flowchart shown in FIG. 9, the block BLK1 arranged in the region 41 of the cargo rack RK1, the block BLK2 arranged in the region 42 of the cargo rack RK1, and the region 41 of the cargo rack RK2 shown in FIG. Position exchange is performed between the arranged block BLK3 and the block BLK4 arranged in the cargo rack RK4.

  Further, in step S272 of the flowchart shown in FIG. 9, the position is exchanged between the block BLK5 arranged in the region 42 of the cargo rack RK1 and the block BLK6 arranged in the region 43 of the cargo rack RK2.

  In this case, since the areas 41 to 43 are partitioned from each other in the direction of the arrow 14, the blocks BLK 1 to BLK 4 are arranged in the direction of the arrow 15 perpendicular to the direction of the arrow 14, the half-size cargo box 40, It is constituted by a single size cargo box 50 and a double size cargo box 60 and is not constituted by the cargo boxes 40, 50, 60 arranged in the direction of the arrow 14. The blocks BLK5 and BLK6 include a half-size cargo box 40, a single-size cargo box 50, a double-size cargo box 60, and a triple-size cargo box 70 arranged in the direction of the arrow 15 orthogonal to the direction of the arrow 14. Is not constituted by the cargo boxes 40, 50, 60, 70 arranged in the direction of the arrow 14.

  Since the cargo boxes 40, 50, 60, and 70 are also arranged on the back side of the page of FIG. 12, the block replacement in steps S271 and S272 is performed in units of two single units existing on the back side of the blocks BLK1 to BLK4. It is also possible to exchange with blocks, and to exchange blocks BLK5 and BLK6 with blocks of 3 single units existing on the back side of the sheet.

  Further, at least one of the steps S271 and S272 illustrated in FIG. 9 may be executed.

  Next, the flowchart shown in FIG. 10 will be described. After step S26 in the flowchart shown in FIG. 6, the above-described steps S271 and S272 are executed. Then, the positions are exchanged in units of blocks (four single units) corresponding to four single-size cargo boxes 50 (step S273). Thereafter, step S28 of the flowchart shown in FIG. 6 is executed.

  FIG. 13 is a conceptual diagram of block exchange in step S273 of the flowchart shown in FIG.

  The cargo boxes 90 and 80 are bags capable of storing six and four single-size cargo boxes 50, respectively, and can be exchanged in units of blocks corresponding to four single-size cargo boxes 50. It is.

  Accordingly, in step S273 of the flowchart shown in FIG. 10, the block BLK7 arranged in the region 41 of the cargo rack RK1, the block BLK8 arranged in the region 41 of the cargo rack RK2, and the cargo rack RK4 shown in FIG. The positions of the blocks BLK9 are exchanged.

  Since the regions 41 to 43 are partitioned from each other in the direction of the arrow 14, the blocks BLK 7 to BLK 9 are arranged in the directions of the arrows 15 and 16 orthogonal to the direction of the arrow 14 even in the block replacement in units of 4 singles. Half-size cargo box 40, single-size cargo box 50, double-size cargo box 60, triple-size cargo box 70 and cargo box 80 (M02 bag) arranged in the direction of arrow 14 It is not constituted by the cargo boxes 40, 50, 60, 70, 80.

  Note that at least one of the steps S271, S272, and S273 shown in FIG.

  Finally, the flowchart shown in FIG. 11 will be described. After step S26 in the flowchart shown in FIG. 6, the above-described steps S271 to S273 are executed. Then, position exchange is performed in block units (6 single units) corresponding to six single-size cargo boxes 50 (step S274). Thereafter, step S28 of the flowchart shown in FIG. 6 is executed.

  FIG. 14 is a conceptual diagram of block exchange in step S274 of the flowchart shown in FIG.

  The cargo boxes 90 and 80 are bags that can store six and four single-size cargo boxes 50, respectively, and can be exchanged in units of blocks corresponding to the single-size cargo boxes 50 for six. It is. This is because the cargo box 80 constitutes a block of 6 single units in combination with any one of the four half-size cargo boxes 40, the two single-size cargo boxes 50, and the single double-size cargo box 60.

  In step S274 of the flowchart shown in FIG. 11, the block BLK10 arranged in the region 41 of the cargo rack RK1 shown in FIG. 14, the block BLK11 arranged in the region 41 of the cargo rack RK2, and the block arranged in the cargo rack RK4. The position exchange between the BLKs 12 is performed.

  Since the regions 41 to 43 are partitioned from each other in the direction of the arrow 14, the blocks BLK <b> 10 to BLK <b> 12 are arranged in the directions of the arrows 15 and 16 orthogonal to the direction of the arrow 14 even in the block replacement in 6 single units. Half size cargo box 40, single size cargo box 50, double size cargo box 60, triple size cargo box 70, cargo box 80 (M02 bag) and cargo box 90 (M01 bag). The cargo boxes 40, 50, 60, 70, 80, 90 arranged in the direction of the arrow 14 are not configured.

  In addition, at least one step should just be performed among step S271, S272, S273, and S274 shown in FIG.

[Block exchange of 2 single units and 3 single units]
When the flowchart shown in FIG. 9 is selected as step S27 of the flowchart shown in FIG. 6, step S271 shown in FIG. 9 is executed in steps S6, S7, S9 to S11 shown in FIG. 5, and step S272 shown in FIG. Are executed in steps S6 to S11 shown in FIG. That is, step S271 (block exchange in units of two singles) shown in FIG. 9 is not executed in step S8 shown in FIG. This is because the triple-size cargo box 70 cannot constitute a block of 2 single units by itself.

  In step S6 shown in FIG. 5, only the cargo box 90 (M01 bag) is placed in the cargo compartments 31 to 34, but the cargo box 90 can store six single-size cargo boxes 50. Since it has a size, a plurality of cargo boxes 40, 50, 60, 70 stored in a certain cargo box 90 (a cargo box 40 that can be arranged in an area having a size that can arrange six cargo boxes 50, A block of 2 single units or a block of 3 single units composed of a part of (a combination of any combination of 50, 60, 70) and a cargo box 40, 50, 60, 70 stored in another cargo box 90 2 single-unit blocks or 3 thins composed of a part of (composed of any combination of cargo boxes 40, 50, 60, 70 that can be arranged in an area having six cargo boxes 50) Exchange with the block is made of Le units.

  Further, in step S7 shown in FIG. 5, the cargo box 90 (M01 bag) and the cargo box 80 (M02 bag) are arranged in the cargo chambers 31-34. Since the cargo boxes 90 and 80 can store six and four single-size cargo boxes 50, respectively, the following three types of block replacement are possible.

  In the first block replacement, a plurality of cargo boxes 40, 50, 60, 70 stored in a certain cargo box 90 (cargo that can be arranged in an area having a size that can arrange six cargo boxes 50) A plurality of cargo boxes 40 housed in another cargo box 90 and a block of 2 single units or a block of 3 single units composed of a part of a combination of boxes 40, 50, 60, 70. 2 singles composed of a part of 50, 60, 70 (consisting of any combination of cargo boxes 40, 50, 60, 70 that can be arranged in an area having a size capable of arranging six cargo boxes 50) Block exchange between a unit block or a block of 3 single units. In the second block replacement, a plurality of cargo boxes 40, 50, 60 (four cargo boxes 50 that can be placed in an area having a size that can be placed) are stored in one cargo box 80. , 50, 60, or a combination of two single unit blocks or three single unit blocks, and a plurality of cargo boxes 40, 50, 60 (contained in separate cargo boxes 80). 2 single unit blocks or 3 single unit blocks composed of a part of cargo boxes 40, 50, 60 which can be arranged in an area having a size that can arrange four cargo boxes 50 Block exchange with a block. In the third block replacement, a plurality of cargo boxes 40, 50, 60 and 70 (six pieces of cargo boxes 50 which can be placed in an area having a size that can be placed) are stored in one cargo box 90. A block of 2 single units or a block of 3 single units composed of a part of an arbitrary combination of boxes 40, 50, 60, and 70, and a plurality of cargo boxes 40, 50, A block of 2 single units or 3 singles composed of a part of 60 (consisting of any combination of cargo boxes 40, 50, 60 that can be arranged in an area having a size capable of arranging four cargo boxes 50) This is a block exchange with a unit block.

  Further, in step S8 shown in FIG. 5, the cargo box 90 (M01 bag), the cargo box 80 (M02 bag), and the triple size cargo box 70 are arranged in the cargo chambers 31-34. In this state, block exchange is performed in units of 3 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 3 single units as described above, in the block replacement in units of 3 single units executed in step S8 shown in FIG. Cargo boxes 70, 50, 60 included in cargo boxes 80 arranged in cargo boxes 70, RK 2, RK 2, cargo boxes 80, 90, cargo boxes 80, 90 arranged in cargo racks RK 4, RK 5 Block exchange of 3 single units is possible between the boxes 40, 50, 60 and the cargo boxes 70 included in the cargo boxes 90 arranged in the cargo racks RK4, RK5.

  Further, in step S9 shown in FIG. 5, the cargo box 90 (M01 bag), the cargo box 80 (M02 bag), the triple size cargo box 70, and the double size cargo box 60 are arranged in the cargo chambers 31-34. It is the state that was done. In this state, block exchange in units of 2 singles and block exchange in units of 3 singles are performed. Further, since the cargo boxes 90 and 80 are subject to block exchange in units of 2 singles and block exchange in units of 3 singles as described above, the blocks in units of 2 singles executed in step S9 shown in FIG. In exchange and block exchange in 3 single units, cargo boxes 60, 50, 60 included in cargo boxes 60 arranged in cargo racks RK1, RK2, cargo boxes 80 arranged in cargo racks RK1, RK2, and cargo Two single-unit blocks can be exchanged between the cargo boxes 40, 50, 60 included in the cargo boxes 80, 90 arranged in the racks RK4, RK5, and the cargo box 60 arranged in the cargo racks RK1, RK2. , 70, cargo boxes 40, 50, 60 included in the cargo box 80 arranged in the cargo racks RK 1, RK 2, cargo racks RK 4, R Block exchange of 3 single units between the cargo boxes 40, 50, 60 included in the cargo boxes 80, 90 arranged in 5 and the cargo boxes 70 contained in the cargo boxes 90 arranged in the cargo racks RK4, RK5 Is possible.

  Further, in step S10 shown in FIG. 5, a cargo box 90 (M01 bag), a cargo box 80 (M02 bag), a triple size cargo box 70, a double size cargo box 60, and a single size cargo box 50 are provided. It is the state arrange | positioned in the cargo compartments 31-34. In this state, block exchange in units of 2 singles and block exchange in units of 3 singles are performed. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 2 singles and block replacement in units of 3 singles as described above, the blocks in units of 2 singles executed in step S10 shown in FIG. In the exchange and the block exchange in 3 single units, the cargo boxes 50, 60 arranged in the cargo racks RK1, RK2, and the cargo boxes 40, 50, 60 included in the cargo box 80 arranged in the cargo racks RK1, RK2, The cargo boxes 40, 50, 60 included in the cargo boxes 80, 90 arranged in the cargo racks RK4, RK5 can be exchanged in blocks of two single units, and the cargo arranged in the cargo racks RK1, RK2. Cargo boxes 40, 50, 60, cargo boxes included in cargo boxes 80, 60, 70, cargo racks RK1, RK2 3 single units between the cargo boxes 40, 50, 60 included in the cargo boxes 80, 90 arranged in the racks RK4, RK5 and the cargo box 70 contained in the cargo box 90 arranged in the cargo racks RK4, RK5 Block exchange is possible.

  Further, in step S11 shown in FIG. 5, a cargo box 90 (M01 bag), a cargo box 80 (M02 bag), a triple size cargo box 70, a double size cargo box 60, a single size cargo box 50, and The half-size cargo box 40 is in a state of being arranged in the cargo compartments 31 to 34. In this state, block exchange in units of 2 singles and block exchange in units of 3 singles are performed. Since the cargo boxes 90 and 80 are subject to block replacement in units of 2 single units and block replacement in units of 3 single units as described above, the blocks in units of 2 single units executed in step S11 shown in FIG. In exchange and block exchange in units of three single units, cargo boxes 40, 50, 60 arranged in cargo racks RK1, RK2, cargo boxes 40, 50, included in cargo boxes 80 arranged in cargo racks RK1, RK2, 60 and two single unit blocks can be exchanged between the cargo boxes 40, 50, 60 included in the cargo boxes 80, 90 arranged in the cargo racks RK4, RK5, and arranged in the cargo racks RK1, RK2. Freight boxes 40, 50, 60, freight boxes 40, 50, 60 included in freight boxes 80 arranged in freight racks RK1, RK2, 3 singles between the cargo boxes 40, 50, 60 included in the cargo boxes 80, 90 arranged in the cargo racks RK4, RK5 and the cargo box 70 contained in the cargo box 90 arranged in the cargo racks RK4, RK5 Unit block exchange is possible.

  Further, the block exchange of two single units is performed for the cargo boxes 40, 50, 60, 80, 90 by exchanging positions of the same type of cargo boxes and / or positions of different types of cargo boxes. .

  Since four cargo boxes 40 form a block of two single units, position exchange in two single units is performed by changing the number of four cargo boxes 40, one double size cargo box 60, and two single sizes. This corresponds to position exchange with one of the cargo boxes 50 and the four half-size cargo boxes 40. Therefore, for the cargo box 40, block exchange in units of two singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  In addition, since two cargo boxes 50 form a block of two single units, position exchange in two single units is performed by changing two cargo boxes 50, one double-size cargo box 60, and two This corresponds to position exchange with one of the single-size cargo box 50 and the four half-size cargo boxes 40. Therefore, for the cargo box 50, the block exchange in two single units corresponds to the position exchange of the same type of cargo boxes and the position exchange of different types of cargo boxes.

  Furthermore, since one cargo box 60 constitutes a block of two single units, position exchange in two single units is performed by one cargo box 60, one double-size cargo box 60, two pieces. This corresponds to position exchange with one of the single-size cargo box 50 and the four half-size cargo boxes 40. Therefore, for the cargo box 60, the block exchange in two single units corresponds to the position exchange of the same type of cargo boxes and the position exchange of different types of cargo boxes.

  Further, since the cargo box 80 has a size capable of storing four single-size cargo boxes 50, various combinations of the half-size cargo box 40, the single-size cargo box 50, and the double-size cargo box 60 are provided. Storing. Therefore, the block replacement in the unit of 2 single units is performed by replacing the block of 2 single units composed of a combination of the half size cargo box 40, the single size cargo box 50 and the double size cargo box 60 stored in the cargo box 80. Swap position. Therefore, for the cargo box 80, block replacement in units of two singles corresponds to position exchange with different types of cargo boxes.

  Further, since the cargo box 90 has a size that can accommodate six single-size cargo boxes 50, the half-size cargo box 40, the single-size cargo box 50, the double-size cargo box 60, and the triple-size cargo box. Various combinations of 70 are stored. Therefore, the block replacement in the unit of 2 single units is performed by replacing the block of 2 single units composed of the combination of the half size cargo box 40, the single size cargo box 50 and the double size cargo box 60 stored in the cargo box 90. Swap position. Therefore, for the cargo box 90, block replacement in units of two singles corresponds to position exchange with different types of cargo boxes.

  Furthermore, the block exchange of 3 single units is performed for the cargo boxes 40, 50, 60, 70, 80, 90 by exchanging positions of the same type of cargo boxes and / or positions of different types of cargo boxes. become.

  Since the freight box 40 constitutes a block of 3 single units with 6 pieces, the position exchange in 3 single units is performed with 6 cargo boxes 40, [6 × cargo box 40], [3 × cargo box 50]. [1 × cargo box 70], [1 × cargo box 50 + 1 × cargo box 60], [2 × cargo box 40 + 1 × cargo box 60], [2 × cargo box 50 + 2 × cargo box 40], and [1 × cargo] This corresponds to a position exchange with any of the boxes 50 + 4 × cargo box 40].

  [6 × cargo box 40] represents six half-size cargo boxes 40, and [3 × cargo box 50] represents three single-size cargo boxes 50. [1 × cargo box 70] represents one triple-size cargo box 70, and [1 × cargo box 50 + 1 × cargo box 60] represents one single-size cargo box 50 and one double-size cargo box 50. The combination with the size cargo box 60 is shown. Furthermore, [2 × cargo box 40 + 1 × cargo box 60] represents a combination of two half-size cargo boxes 40 and one double-size cargo box 60; [2 × cargo box 50 + 2 × cargo box 40 ] Represents a combination of two single-size cargo boxes 50 and two half-size cargo boxes 40. Furthermore, [1 × cargo box 50 + 4 × cargo box 40] represents a combination of one single-size cargo box 50 and four half-size cargo boxes 40.

  Therefore, for the cargo box 40, block exchange in units of 3 singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  In addition, since the three cargo boxes 50 constitute a block of 3 single units, the position exchange in 3 single units is performed with three cargo boxes 50, [6 × cargo box 40], [3 × cargo box]. 50], [1 × cargo box 70], [1 × cargo box 50 + 1 × cargo box 60], [2 × cargo box 40 + 1 × cargo box 60], [2 × cargo box 50 + 2 × cargo box 40], and [1 Corresponds to position exchange with any one of × cargo box 50 + 4 × cargo box 40]. Therefore, for the cargo box 50, the block exchange in units of three singles corresponds to the position exchange between the same type of cargo boxes and the position exchange with different types of cargo boxes.

  Furthermore, since the cargo box 60 is composed of a block of 3 single units by combining with one single size cargo box 50 or two half size cargo boxes 40, the position exchange in 3 single units is [ 1 × cargo box 60 + 1 × cargo box 50] and [1 × cargo box 60 + 2 × cargo box 40], [6 × cargo box 40], [3 × cargo box 50], [1 × cargo box 70], Any of [1 × cargo box 50 + 1 × cargo box 60], [2 × cargo box 40 + 1 × cargo box 60], [2 × cargo box 50 + 2 × cargo box 40], and [1 × cargo box 50 + 4 × cargo box 40] This is equivalent to exchanging positions with the heel.

  [1 × cargo box 60 + 1 × cargo box 50] represents a combination of one double-size cargo box 60 and one single-size cargo box 50; [1 × cargo box 60 + 2 × cargo box 40 ] Represents a combination of one double-size cargo box 60 and two half-size cargo boxes 40.

  In each position exchange, the arrangement relationship between the cargo box 60 and the cargo box 40 or the arrangement relation between the cargo box 60 and the cargo box 50 may be the same before or after the position exchange. Therefore, for the cargo box 60, the block exchange in units of three singles corresponds to the position exchange of the same type of cargo boxes and the position exchange with different types of cargo boxes.

  Further, since one cargo box 70 constitutes a block of 3 single units, position exchange in 3 single units is performed by one cargo box 70, [6 × cargo box 40], [3 × cargo box]. 50], [1 × cargo box 70], [1 × cargo box 50 + 1 × cargo box 60], [2 × cargo box 40 + 1 × cargo box 60], [2 × cargo box 50 + 2 × cargo box 40], and [1 Corresponds to position exchange with any one of × cargo box 50 + 4 × cargo box 40]. Therefore, for the cargo box 70, block exchange in units of 3 singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  Further, since the cargo box 80 has a size capable of storing four single-size cargo boxes 50, the half-size cargo box 40, the single-size cargo box 50, the double-size cargo box 60, and the triple-size cargo box. Various combinations of 70 are stored. Accordingly, block replacement in units of 3 single units is performed in blocks of 3 single units composed of combinations of a half-size cargo box 40, a single-size cargo box 50, and a double-size cargo box 60 stored in the cargo box 80. Replace the position. Therefore, for the cargo box 80, block replacement in units of 3 singles corresponds to position exchange with different types of cargo boxes.

  Further, since the cargo box 90 has a size that can accommodate six single-size cargo boxes 50, the half-size cargo box 40, the single-size cargo box 50, the double-size cargo box 60, and the triple-size cargo box. Various combinations of 70 are stored. Therefore, the block replacement in the unit of 3 single units is performed by replacing the block of 3 single units composed of a combination of the half size cargo box 40, the single size cargo box 50 and the double size cargo box 60 stored in the cargo box 90. Swap position. Therefore, for the cargo box 90, block replacement in units of 3 singles corresponds to position exchange with different types of cargo boxes.

[Block exchange of 2 single units, 3 single units and 4 single units]
When the flowchart shown in FIG. 10 is selected as step S26 of the flowchart shown in FIG. 6, step S261 shown in FIG. 10 is executed in steps S6, S7, S9 to S11 shown in FIG. 5, and step S262 shown in FIG. And S263 are executed in steps S6 to S11 shown in FIG.

  The block exchange in units of 2 singles and the block exchange in units of 3 singles shown in steps S261 and S262 of FIG. 10 are as described above. Therefore, the block exchange in units of 4 singles in step S263 shown in FIG. 10 will be described below.

  In step S6 shown in FIG. 5, only the cargo box 90 (M01 bag) is placed in the cargo compartments 31 to 34, but the cargo box 90 can store six single-size cargo boxes 50. Since it has a size, a plurality of cargo boxes 40, 50, 60, 70 stored in a certain cargo box 90 (freight boxes 40, 50 that can be arranged in an area having a size capable of arranging six cargo boxes 50) , 60, 70 in any combination) and a plurality of cargo boxes 40, 50, 60, 70 (six cargoes) housed in another cargo box 90 It is exchanged for a block of 4 single units composed of a part of a cargo box 40, 50, 60, 70 that can be arranged in an area having a size in which the box 50 can be arranged.

  Further, in step S7 shown in FIG. 5, the cargo box 90 (M01 bag) and the cargo box 80 (M02 bag) are arranged in the cargo chambers 31-34. Since the cargo boxes 90 and 80 can respectively store six and four single-size cargo boxes 50, the following three types of four single units can be replaced.

  The first block replacement is performed by a plurality of cargo boxes 40, 50, 60, and 70 stored in a certain cargo box 90 (freight boxes that can be arranged in an area having a size that allows six cargo boxes 50 to be arranged). A block of 4 single units composed of a part of 40, 50, 60, 70) and a plurality of cargo boxes 40, 50, 60, 70 (6 A block between four single unit blocks composed of a part of a cargo box 40, 50, 60, 70 which can be arranged in an area having a size in which one cargo box 50 can be arranged) It is an exchange. In the second block replacement, a plurality of cargo boxes 40, 50 and 60 (four cargo boxes 50 which can be arranged in an area having a size capable of arranging four cargo boxes 50, A block of 4 single units composed of a part of a combination of 50 and 60, and a plurality of cargo boxes 40, 50 and 60 (four cargo boxes 50 stored in another cargo box 80). This is a block exchange with a block of 4 single units composed of a part of a cargo box 40, 50, 60 that can be arranged in an area having an arrangementable size. In the third block replacement, a plurality of cargo boxes 40, 50, 60 (six cargo boxes 40 that can be arranged in an area having a size capable of arranging six cargo boxes 50, A block of 4 single units composed of a part of 50, 60) and a plurality of cargo boxes 40, 50, 60 (four cargo boxes 50 accommodated in the cargo box 80 can be arranged) Is a block exchange with a block of 4 single units composed of a part of a cargo box 40, 50, 60 that can be arranged in an area having a certain size).

  Further, in step S8 shown in FIG. 5, the cargo box 90 (M01 bag), the cargo box 80 (M02 bag), and the triple size cargo box 70 are arranged in the cargo chambers 31-34. In this state, block exchange is performed in units of 4 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 4 single units as described above, in the block replacement in units of 4 single units executed in step S8 shown in FIG. Cargo boxes 70, 50, 60 included in cargo boxes 80 arranged in cargo boxes 70, RK 2, RK 2, cargo boxes 80, 90, cargo boxes 80, 90 arranged in cargo racks RK 4, RK 5 Blocks can be exchanged in units of 4 singles between the boxes 40, 50, 60 and the cargo boxes 70 included in the cargo boxes 90 arranged in the cargo racks RK4, RK5.

  Further, in step S9 shown in FIG. 5, the cargo box 90 (M01 bag), the cargo box 80 (M02 bag), the triple size cargo box 70, and the double size cargo box 60 are arranged in the cargo chambers 31-34. It is the state that was done. In this state, block exchange is performed in units of 4 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 4 single units as described above, in the block replacement in units of 4 single units executed in step S9 shown in FIG. Included in cargo boxes 60, 70 arranged in RK2, cargo boxes 40, 50, 60 included in cargo box 80 arranged in cargo racks RK1, RK2, cargo boxes 80, 90 arranged in cargo racks RK4, RK5 4 single-unit blocks can be exchanged between the cargo boxes 40, 50, 60 and the cargo boxes 70 included in the cargo boxes 90 arranged in the cargo racks RK4, RK5.

  Further, in step S10 shown in FIG. 5, a cargo box 90 (M01 bag), a cargo box 80 (M02 bag), a triple size cargo box 70, a double size cargo box 60, and a single size cargo box 50 are provided. It is the state arrange | positioned in the cargo compartments 31-34. In this state, block exchange is performed in units of 4 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 4 single units as described above, in the block replacement in units of 4 single units executed in step S10 shown in FIG. Cargo boxes 50, 60, 70 arranged in RK2, cargo boxes 40, 50, 60 included in cargo box 80 arranged in cargo racks RK1, RK2, cargo boxes 80, 90 arranged in cargo racks RK4, RK5 Can be exchanged between the cargo boxes 40, 50, 60 included in the cargo boxes 70 and the cargo boxes 70 included in the cargo boxes 90 arranged in the cargo racks RK4, RK5.

  Further, in step S11 shown in FIG. 5, a cargo box 90 (M01 bag), a cargo box 80 (M02 bag), a triple size cargo box 70, a double size cargo box 60, a single size cargo box 50, and The half-size cargo box 40 is in a state of being arranged in the cargo compartments 31 to 34. In this state, block exchange is performed in units of 4 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 4 single units as described above, in the block replacement in units of 4 single units executed in step S11 shown in FIG. Cargo boxes 40, 50, 60, 70 arranged in RK2, cargo boxes 40, 50, 60 included in cargo boxes 80 arranged in cargo racks RK1, RK2, cargo boxes 80 arranged in cargo racks RK4, RK5 , 90 and the cargo boxes 70 included in the cargo boxes 90 arranged in the cargo racks RK4, RK5 can be exchanged in blocks of 4 single units.

  Further, the block exchange of 4 single units is performed for the cargo boxes 40, 50, 60, 70, 80, 90 by exchanging the positions of the same type of cargo boxes and the positions of different types of cargo boxes. .

  Since the freight boxes 40 form a block of 4 single units with 8 pieces, the position exchange in 4 single units can be performed with 8 cargo boxes 40, [1 × cargo box 80], [1 × cargo box 70 + 1 × Cargo box 50], [1 x Cargo box 70 + 2 x Cargo box 40], [2 x Cargo box 60], [1 x Cargo box 60 + 2 x Cargo box 50], [1 x Cargo box 60 + 1 x Cargo box 50 + 2 x Cargo box 40], [1 × cargo box 60 + 4 × cargo box 40], [4 × cargo box 50], [3 × cargo box 50 + 2 × cargo box 40], [2 × cargo box 50 + 4 × cargo box 40], [1 × This corresponds to position exchange with one of the cargo box 50 + 6 × cargo box 40] and [8 × cargo box 40].

  [1 × cargo box 80] represents one cargo box 80, and [1 × cargo box 70 + 1 × cargo box 50] represents one triple-size cargo box 70 and one single-size cargo. A combination with the box 50 is represented. [1 × cargo box 70 + 2 × cargo box 40] represents a combination of one triple-size cargo box 70 and two half-size cargo boxes 40, and [2 × cargo box 60] represents 2 A single double-size cargo box 60 is represented. Furthermore, [1 × cargo box 60 + 2 × cargo box 50] represents a combination of one double-size cargo box 60 and two single-size cargo boxes 50; [1 × cargo box 60 + 1 × cargo box 50 + 2 X Cargo box 40] represents a combination of one double-size cargo box 60, one single-size cargo box 50, and two half-size cargo boxes 40. Furthermore, [1 × cargo box 60 + 4 × cargo box 40] represents a combination of one double-size cargo box 60 and four half-size cargo boxes 40, and [4 × cargo box 50] is 4 A single sized cargo box 50 is represented. Further, [3 × cargo box 50 + 2 × cargo box 40] represents a combination of three single-size cargo boxes 50 and two half-size cargo boxes 40; [2 × cargo box 50 + 4 × cargo box 40]. ] Represents a combination of two single-size cargo boxes 50 and four half-size cargo boxes 40. Furthermore, [1 × cargo box 50 + 6 × cargo box 40] represents a combination of one single-size cargo box 50 and six half-size cargo boxes 40, and [8 × cargo box 40] is 8 A half-size cargo box 40 is represented.

  Therefore, for the cargo box 40, block replacement in units of 4 singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  In addition, since the four cargo boxes 50 form a block of four single units, the position exchange in the unit of four singles is performed with four cargo boxes 50, [1 × cargo box 80], [1 × cargo box]. 70 + 1 × cargo box 50], [1 × cargo box 70 + 2 × cargo box 40], [2 × cargo box 60], [1 × cargo box 60 + 2 × cargo box 50], [1 × cargo box 60 + 1 × cargo box 50 + 2 × Cargo box 40], [1 × cargo box 60 + 4 × cargo box 40], [4 × cargo box 50], [3 × cargo box 50 + 2 × cargo box 40], [2 × cargo box 50 + 4 × cargo box 40], [ This corresponds to position exchange with either 1 × cargo box 50 + 6 × cargo box 40] or [8 × cargo box 40]. Therefore, for the cargo box 50, block replacement in units of 4 singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  Further, since the two cargo boxes 60 constitute a block of 4 single units, the position exchange in 4 single units is performed by two cargo boxes 60, [1 × cargo box 80], [1 × cargo box]. 70 + 1 × cargo box 50], [1 × cargo box 70 + 2 × cargo box 40], [2 × cargo box 60], [1 × cargo box 60 + 2 × cargo box 50], [1 × cargo box 60 + 1 × cargo box 50 + 2 × Cargo box 40], [1 × cargo box 60 + 4 × cargo box 40], [4 × cargo box 50], [3 × cargo box 50 + 2 × cargo box 40], [2 × cargo box 50 + 4 × cargo box 40], [ This corresponds to position exchange with either 1 × cargo box 50 + 6 × cargo box 40] or [8 × cargo box 40]. Therefore, for the cargo box 60, block replacement in units of 4 singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  Furthermore, since the cargo box 70 constitutes a block of 4 single units in combination with one single size cargo box 50 or two half size cargo boxes 40, the position exchange in 4 single units is [ 1 × cargo box 70 + 1 × cargo box 50] and [1 × cargo box 70 + 2 × cargo box 40], [1 × cargo box 80], [1 × cargo box 70 + 1 × cargo box 50], [1 × cargo Box 70 + 2 × cargo box 40], [2 × cargo box 60], [1 × cargo box 60 + 2 × cargo box 50], [1 × cargo box 60 + 1 × cargo box 50 + 2 × cargo box 40], [1 × cargo box 60 + 4 X Cargo box 40, [4 x Cargo box 50], [3 x Cargo box 50 + 2 x Cargo box 40], [2 x Cargo box 50 + 4 x Cargo box 40], [1 x Cargo box 50 + 6 x Cargo box 40] and This corresponds to position exchange with any of [8 × cargo box 40].

  [1 × cargo box 70 + 1 × cargo box 50] represents a combination of one triple-size cargo box and one single-size cargo box 50, and [1 × cargo box 70 + 2 × cargo box 40]. Represents a combination of one triple-size cargo box 70 and two half-size cargo boxes 40.

  In each position exchange, the arrangement relationship between the cargo box 70 and the cargo box 40 or the arrangement relation between the cargo box 70 and the cargo box 50 may be the same before or after the position exchange. Therefore, for the cargo box 70, block exchange in units of 4 singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  Further, since the cargo box 80 has a size capable of storing four single-size cargo boxes 50, various combinations of the half-size cargo box 40, the single-size cargo box 50, and the double-size cargo box 60 are provided. Storing. Therefore, the block replacement in 4 single units is a block of 4 single units composed of a combination of a half size cargo box 40, a single size cargo box 50, and a double size cargo box 60 stored in the cargo box 80. Replace the position. Therefore, for the cargo box 80, block exchange in units of 4 singles corresponds to position exchange with different types of cargo boxes.

  Further, since the cargo box 90 has a size that can accommodate six single-size cargo boxes 50, the half-size cargo box 40, the single-size cargo box 50, the double-size cargo box 60, and the triple-size cargo box. Various combinations of 70 are stored. Therefore, block replacement in units of 4 single units is composed of a combination of a half-size cargo box 40, a single-size cargo box 50, a double-size cargo box 60 and a triple-size cargo box 70 stored in the cargo box 90. Exchange the position of 4 single unit blocks. Therefore, for the cargo box 90, block replacement in units of 4 singles corresponds to position exchange with different types of cargo boxes.

[Block exchange of 2 single units, 3 single units, 4 single units and 6 single units]
When the flowchart shown in FIG. 11 is selected as step S27 of the flowchart shown in FIG. 6, step S271 shown in FIG. 11 is executed in steps S6, S7, S9 to S11 shown in FIG. 5, and step S272 shown in FIG. And S273 are executed in steps S6 to S11 shown in FIG. 5, and step S274 shown in FIG. 11 is executed in steps S6 to S11 shown in FIG.

  That is, step S271 shown in FIG. 11 is not executed in step S8 shown in FIG. The reason why step S271 shown in FIG. 11 is not executed in step S8 shown in FIG. 5 is as described above.

  The block exchange in units of 2 singles, the block exchange in units of 3 singles, and the block exchange in units of 4 singles in steps S271 to S273 of the flowchart shown in FIG. 11 are as described above.

  Hereinafter, block replacement in units of 6 singles in step S274 of FIG. 11 will be described.

  In step S6 shown in FIG. 5, only the cargo box 90 (M01 bag) is placed in the cargo compartments 31 to 34, but the cargo box 90 can store six single-size cargo boxes 50. Since it has a size, a plurality of cargo boxes 40, 50, 60, 70 stored in a certain cargo box 90 (freight boxes 40, 50 that can be arranged in an area having a size capable of arranging six cargo boxes 50) , 60, 70), and a plurality of cargo boxes 40, 50, 60, 70 (six cargo boxes 50 are stored in another cargo box 90). Replacement with a block of 6 single units composed of any combination of cargo boxes 40, 50, 60, 70 that can be placed in an area having a size that can be placed.

  Further, in step S8 shown in FIG. 5, the cargo box 90 (M01 bag), the cargo box 80 (M02 bag), and the triple size cargo box 70 are arranged in the cargo chambers 31-34. In this state, block exchange is performed in units of 6 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 6 single units, the block replacement in units of 6 single units executed in step S8 shown in FIG. 5 is arranged in the cargo racks RK1 and RK2. It is possible to exchange blocks in units of 6 single units between the cargo boxes 40, 50, 60, 70 included in the cargo boxes 70, 80 and the cargo boxes 90 arranged in the cargo racks RK4, RK5.

  Further, in step S9 shown in FIG. 5, the cargo box 90 (M01 bag), the cargo box 80 (M02 bag), the triple size cargo box 70, and the double size cargo box 60 are arranged in the cargo chambers 31-34. It is the state that was done. In this state, block exchange is performed in units of 6 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 6 single units, the block replacement in units of 6 single units executed in step S9 shown in FIG. 5 is arranged in the cargo racks RK1 and RK2. 6 single-unit blocks can be exchanged between the cargo boxes 40, 50, 60, 70 included in the cargo boxes 60, 70, 80 and the cargo boxes 90 arranged in the cargo racks RK4, RK5.

  Further, in step S10 shown in FIG. 5, a cargo box 90 (M01 bag), a cargo box 80 (M02 bag), a triple size cargo box 70, a double size cargo box 60, and a single size cargo box 50 are provided. It is the state arrange | positioned in the cargo compartments 31-34. In this state, block exchange is performed in units of 6 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 6 single units, the block replacement in units of 6 single units executed in step S10 shown in FIG. 5 is arranged in the cargo racks RK1 and RK2. 6 single-unit blocks can be exchanged between the cargo boxes 40, 50, 60, 70 included in the cargo boxes 50, 60, 70, 80 and the cargo boxes 90 arranged in the cargo racks RK4, RK5. .

  Further, in step S11 shown in FIG. 5, a cargo box 90 (M01 bag), a cargo box 80 (M02 bag), a triple size cargo box 70, a double size cargo box 60, a single size cargo box 50, and The half-size cargo box 40 is in a state of being arranged in the cargo compartments 31 to 34. In this state, block exchange is performed in units of 6 singles. Further, since the cargo boxes 90 and 80 are subject to block replacement in units of 6 single units, the block replacement in units of 6 single units executed in step S11 shown in FIG. 5 is arranged in the cargo racks RK1 and RK2. Cargo boxes 40, 50, 60, 70, 80, cargo boxes 40, 50, 60 included in cargo boxes 80, 90 arranged in cargo racks RK4, RK5, and cargo boxes arranged in cargo racks RK4, RK5 Block exchange of 6 single units is possible between the cargo boxes 70 included in 90.

  Further, the block exchange of 6 single units is performed for the cargo boxes 40, 50, 60, 70, 80, and 90 to exchange positions of the same type of cargo boxes and positions of cargo boxes of different types. .

  Since the freight box 40 constitutes a block of 6 single units with 12 pieces, the position exchange in 6 single units is performed with 12 freight boxes 40, [1 × cargo box 90], [1 × cargo box 80 + 1 × Cargo box 60], [1 × cargo box 80 + 2 × cargo box 50], [1 × cargo box 80 + 4 × cargo box 40], [1 × cargo box 80 + 1 × cargo box 50 + 2 × cargo box 40], [2 × cargo box] 70], [1 × cargo box 70 + 1 × cargo box 60 + 1 × cargo box 50], [1 × cargo box 70 + 1 × cargo box 60 + 2 × cargo box 40], [1 × cargo box 70 + 3 × cargo box 50], [1 × Cargo box 70 + 2 × cargo box 50 + 2 × cargo box 40], [1 × cargo box 70 + 1 × cargo box 50 + 4 × cargo box 40], [1 × cargo box 70 + 6 × cargo box 40], [3 × cargo box 60], [ 2 × cargo box 60 + 2 × cargo box 50], [2 × cargo box 60 + 1 × cargo box 50 + 2 × Cargo box 40], [2 × cargo box 60 + 4 × cargo box 40], [1 × cargo box 60 + 4 × cargo box 50], [1 × cargo box 60 + 3 × cargo box 50 + 2 × cargo box 40], [1 × cargo box] 60 + 2 × cargo box 50 + 4 × cargo box 40], [1 × cargo box 60 + 1 × cargo box 50 + 6 × cargo box 40], [1 × cargo box 60 + 8 × cargo box 40], [6 × cargo box 50], [5 × Cargo box 50 + 2 × cargo box 40], [4 × cargo box 50 + 4 × cargo box 40], [3 × cargo box 50 + 6 × cargo box 40], [2 × cargo box 50 + 8 × cargo box 40], [1 × cargo box] This corresponds to a position exchange with any one of [50 + 10 × cargo box 40] and [12 × cargo box 40].

  [1 × cargo box 90] represents one cargo box 90, and [1 × cargo box 80 + 1 × cargo box 60] represents one cargo box 80 and one double-size cargo box 60. Represents a combination of [1 × cargo box 80 + 2 × cargo box 50] represents a combination of one cargo box 80 and two single-size cargo boxes 50, and [1 × cargo box 80 + 4 × cargo box 40] is A combination of one cargo box 80 and four half-size cargo boxes 40 is shown.

  Furthermore, [1 × cargo box 80 + 1 × cargo box 50 + 2 × cargo box 40] represents a combination of one cargo box 80, one single-size cargo box 50, and two half-size cargo boxes 40. , [2 × cargo box 70] represents two triple-size cargo boxes 70. Furthermore, [1 × cargo box 70 + 1 × cargo box 60 + 1 × cargo box 50] includes one triple-size cargo box 70, one double-size cargo box 60, and one single-size cargo box 50. [1 × cargo box 70 + 1 × cargo box 60 + 2 × cargo box 40] represents a combination of one triple-size cargo box 70, one double-size cargo box 60, and two half-size cargo boxes 40. Represents a combination with.

  Further, [1 × cargo box 70 + 3 × cargo box 50] represents a combination of one triple size cargo box 70 and three single size cargo boxes 50, [1 × cargo box 70 + 2 × cargo box 50 + 2 X Cargo box 40] represents a combination of one triple-size cargo box 70, two single-size cargo boxes 50, and two half-size cargo boxes 40. Furthermore, [1 × cargo box 70 + 1 × cargo box 50 + 4 × cargo box 40] includes one triple-size cargo box 70, one single-size cargo box 50, and four half-size cargo boxes 40. [1 × cargo box 70 + 6 × cargo box 40] represents a combination of one triple-size cargo box 70 and six half-size cargo boxes 40.

  [3 × cargo box 60] represents three double-size cargo boxes 60, and [2 × cargo box 60 + 2 × cargo box 50] represents two double-size cargo boxes 60 and two singles. The combination with the size cargo box 50 is shown. Furthermore, [2 × cargo box 60 + 1 × cargo box 50 + 2 × cargo box 40] includes two double-size cargo boxes 60, one single-size cargo box 50, and two half-size cargo boxes 40. [2 × cargo box 60 + 4 × cargo box 40] represents a combination of two double-size cargo boxes 60 and four half-size cargo boxes 40.

  Furthermore, [1 × cargo box 60 + 4 × cargo box 50] represents a combination of one double-size cargo box 60 and four single-size cargo boxes 50; [1 × cargo box 60 + 3 × cargo box 50 + 2 × Freight box 40] represents a combination of one double-size cargo box 60, three single-size cargo boxes 50, and two half-size cargo boxes 40. Furthermore, [1 × cargo box 60 + 2 × cargo box 50 + 4 × cargo box 40] includes one double-size cargo box 60, two single-size cargo boxes 50, and four half-size cargo boxes 40. [1 × cargo box 60 + 1 × cargo box 50 + 6 × cargo box 40] represents one combination, one double-size cargo box 60, one single-size cargo box 50, and six half-size cargo boxes 40. Represents a combination with.

  Further, [1 × cargo box 60 + 8 × cargo box 40] represents a combination of one double-size cargo box 60 and eight half-size cargo boxes 40, and [6 × cargo box 50] is 6 A single sized cargo box 50 is represented. Further, [5 × cargo box 50 + 2 × cargo box 40] represents a combination of five single-size cargo boxes 50 and two half-size cargo boxes 40; [4 × cargo box 50 + 4 × cargo box 40]. ] Represents a combination of four single-size cargo boxes 50 and four half-size cargo boxes 40.

  Furthermore, [3 × cargo box 50 + 6 × cargo box 40] represents a combination of three single-size cargo boxes 50 and six half-size cargo boxes 40, and [2 × cargo box 50 + 8 × cargo box 40]. ] Represents a combination of two single-size cargo boxes 50 and eight half-size cargo boxes 40, and [1 × cargo box 50 + 10 × cargo box 40] represents one single-size cargo box 50. And 10 half-size cargo boxes 40. Furthermore, [12 × cargo box 40] represents 12 half-size cargo boxes 40.

  Therefore, for the cargo box 40, block exchange in units of 6 singles corresponds to position exchange of cargo boxes of the same type and position exchange of cargo boxes of different types.

  Further, since six cargo boxes 50 constitute a block of six single units, position exchange in six single units is performed by changing the six cargo boxes 50, [1 × cargo box 90], [1 × cargo box]. 80 + 1 × cargo box 60], [1 × cargo box 80 + 2 × cargo box 50], [1 × cargo box 80 + 4 × cargo box 40], [1 × cargo box 80 + 1 × cargo box 50 + 2 × cargo box 40], [2 × Cargo box 70], [1 × cargo box 70 + 1 × cargo box 60 + 1 × cargo box 50], [1 × cargo box 70 + 1 × cargo box 60 + 2 × cargo box 40], [1 × cargo box 70 + 3 × cargo box 50], [ 1 × cargo box 70 + 2 × cargo box 50 + 2 × cargo box 40], [1 × cargo box 70 + 1 × cargo box 50 + 4 × cargo box 40], [1 × cargo box 70 + 6 × cargo box 40], [3 × cargo box 60] [2 × cargo box 60 + 2 × cargo box 50], [2 × cargo box 60 + 1 × cargo box 50 + 2 X Cargo box 40], [2 x Cargo box 60 + 4 x Cargo box 40], [1 x Cargo box 60 + 4 x Cargo box 50], [1 x Cargo box 60 + 3 x Cargo box 50 + 2 x Cargo box 40], [1 x Cargo Box 60 + 2 × cargo box 50 + 4 × cargo box 40], [1 × cargo box 60 + 1 × cargo box 50 + 6 × cargo box 40], [1 × cargo box 60 + 8 × cargo box 40], [6 × cargo box 50], [5 × Cargo box 50 + 2 × Cargo box 40], [4 × Cargo box 50 + 4 × Cargo box 40], [3 × Cargo box 50 + 6 × Cargo box 40], [2 × Cargo box 50 + 8 × Cargo box 40], [1 × Cargo This corresponds to the position exchange with either one of the boxes 50 + 10 × cargo box 40] and [12 × cargo box 40]. Therefore, for the cargo box 50, block replacement in units of 6 singles corresponds to position exchange between cargo boxes of the same type and position exchange with cargo boxes of different types.

  Further, since the three cargo boxes 60 constitute a block of 6 single units, the position exchange in 6 single units can be performed with three cargo boxes 60, [1 × cargo box 90], [1 × cargo box]. 80 + 1 × cargo box 60], [1 × cargo box 80 + 2 × cargo box 50], [1 × cargo box 80 + 4 × cargo box 40], [1 × cargo box 80 + 1 × cargo box 50 + 2 × cargo box 40], [2 × Cargo box 70], [1 × cargo box 70 + 1 × cargo box 60 + 1 × cargo box 50], [1 × cargo box 70 + 1 × cargo box 60 + 2 × cargo box 40], [1 × cargo box 70 + 3 × cargo box 50], [ 1 × cargo box 70 + 2 × cargo box 50 + 2 × cargo box 40], [1 × cargo box 70 + 1 × cargo box 50 + 4 × cargo box 40], [1 × cargo box 70 + 6 × cargo box 40], [3 × cargo box 60] [2 × cargo box 60 + 2 × cargo box 50], [2 × cargo box 60 + 1 × cargo box 50 + 2 X Cargo box 40], [2 x Cargo box 60 + 4 x Cargo box 40], [1 x Cargo box 60 + 4 x Cargo box 50], [1 x Cargo box 60 + 3 x Cargo box 50 + 2 x Cargo box 40], [1 x Cargo Box 60 + 2 × cargo box 50 + 4 × cargo box 40], [1 × cargo box 60 + 1 × cargo box 50 + 6 × cargo box 40], [1 × cargo box 60 + 8 × cargo box 40], [6 × cargo box 50], [5 × Cargo box 50 + 2 × Cargo box 40], [4 × Cargo box 50 + 4 × Cargo box 40], [3 × Cargo box 50 + 6 × Cargo box 40], [2 × Cargo box 50 + 8 × Cargo box 40], [1 × Cargo This corresponds to the position exchange with either one of the boxes 50 + 10 × cargo box 40] and [12 × cargo box 40]. Therefore, for the cargo box 60, block exchange in units of 6 singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  Furthermore, since two cargo boxes 70 constitute a block of 6 single units, position exchange in 6 single units can be performed with two triple-size cargo boxes 70, [1 × cargo box 90], [1 X Cargo box 80 + 1 x Cargo box 60], [1 x Cargo box 80 + 2 x Cargo box 50], [1 x Cargo box 80 + 4 x Cargo box 40], [1 x Cargo box 80 + 1 x Cargo box 50 + 2 x Cargo box 40], [2 × cargo box 70], [1 × cargo box 70 + 1 × cargo box 60 + 1 × cargo box 50], [1 × cargo box 70 + 1 × cargo box 60 + 2 × cargo box 40], [1 × cargo box 70 + 3 × cargo box 50 ], [1 × cargo box 70 + 2 × cargo box 50 + 2 × cargo box 40], [1 × cargo box 70 + 1 × cargo box 50 + 4 × cargo box 40], [1 × cargo box 70 + 6 × cargo box 40], [3 × cargo Box 60], [2 × cargo box 60 + 2 × cargo box 50], [2 × cargo box 60+ × Cargo box 50 + 2 × Cargo box 40], [2 × Cargo box 60 + 4 × Cargo box 40], [1 × Cargo box 60 + 4 × Cargo box 50], [1 × Cargo box 60 + 3 × Cargo box 50 + 2 × Cargo box 40], [1 × cargo box 60 + 2 × cargo box 50 + 4 × cargo box 40], [1 × cargo box 60 + 1 × cargo box 50 + 6 × cargo box 40], [1 × cargo box 60 + 8 × cargo box 40], [6 × cargo box 50 ], [5 × cargo box 50 + 2 × cargo box 40], [4 × cargo box 50 + 4 × cargo box 40], [3 × cargo box 50 + 6 × cargo box 40], [2 × cargo box 50 + 8 × cargo box 40], This corresponds to the position exchange with any one of [1 × cargo box 50 + 10 × cargo box 40] and [12 × cargo box 40]. Therefore, for the cargo box 70, block replacement in units of 6 singles corresponds to position exchange between cargo boxes of the same type and position exchange with cargo boxes of different types.

  Furthermore, the cargo box 80 has six singles in combination with any one of [1 × cargo box 60], [2 × cargo box 50], [1 × cargo box 50 + 2 × cargo box 40] and [4 × cargo box 40]. Since the unit block is configured, the position exchange in 6 single units is [1 × cargo box 80 + 1 × cargo box 60], [1 × cargo box 80 + 2 × cargo box 50], [1 × cargo box 80 + 1 × cargo box] 50 + 2 × cargo box 40] and [1 × cargo box 80 + 4 × cargo box 40], [1 × cargo box 90], [1 × cargo box 80 + 1 × cargo box 60], [1 × cargo box 80 + 2 × Cargo box 50], [1 × cargo box 80 + 4 × cargo box 40], [1 × cargo box 80 + 1 × cargo box 50 + 2 × cargo box 40], [2 × cargo box 70], [1 × cargo box 70 + 1 × cargo box 60 + 1x cargo box 50], [1x cargo box 70 + 1x cargo box 60 + 2x cargo 40], [1 × cargo box 70 + 3 × cargo box 50], [1 × cargo box 70 + 2 × cargo box 50 + 2 × cargo box 40], [1 × cargo box 70 + 1 × cargo box 50 + 4 × cargo box 40], [1 × Cargo box 70 + 6 × cargo box 40], [3 × cargo box 60], [2 × cargo box 60 + 2 × cargo box 50], [2 × cargo box 60 + 1 × cargo box 50 + 2 × cargo box 40], [2 × cargo box] 60 + 4 × cargo box 40], [1 × cargo box 60 + 4 × cargo box 50], [1 × cargo box 60 + 3 × cargo box 50 + 2 × cargo box 40], [1 × cargo box 60 + 2 × cargo box 50 + 4 × cargo box 40] [1 × cargo box 60 + 1 × cargo box 50 + 6 × cargo box 40], [1 × cargo box 60 + 8 × cargo box 40], [6 × cargo box 50], [5 × cargo box 50 + 2 × cargo box 40], [ 4 x Cargo box 50 + 4 x Cargo box 40], [3 x Cargo box 50 + 6 x Cargo box 40], [2 x Cargo This corresponds to a position exchange with one of the product box 50 + 8 × cargo box 40], [1 × cargo box 50 + 10 × cargo box 40], and [12 × cargo box 40].

  [1 × cargo box 60] represents one double-size cargo box 60, and [2 × cargo box 50] represents two single-size cargo boxes 50. [1 × cargo box 50 + 2 × cargo box 40] represents a combination of one single-size cargo box 50 and two half-size cargo boxes 40, and [4 × cargo box 40] represents 4 A half-size cargo box 40 is represented.

  Furthermore, [1 × cargo box 80 + 1 × cargo box 60] represents a combination of one cargo box 80 and one double-size cargo box 60, and [1 × cargo box 80 + 2 × cargo box 50] A combination of one cargo box 80 and two single-size cargo boxes 50 is shown. Furthermore, [1 × cargo box 80 + 1 × cargo box 50 + 2 × cargo box 40] represents a combination of one cargo box 80, one single-size cargo box 50, and two half-size cargo boxes 40. , [1 × cargo box 80 + 4 × cargo box 40] represents a combination of one cargo box 80 and four half-size cargo boxes 40.

  In each position exchange, the arrangement relationship between the cargo box 80 and the cargo box 40, the arrangement relation between the cargo box 80 and the cargo box 50, and the arrangement relation between the cargo box 80 and the cargo box 60 are the same before and after the position exchange. Or it can change. Therefore, for the cargo box 80, block exchange in units of 6 singles corresponds to position exchange of cargo boxes of the same type and position exchange with cargo boxes of different types.

  Further, since the cargo box 90 has a size that can accommodate six single-size cargo boxes 50, the half-size cargo box 40, the single-size cargo box 50, the double-size cargo box 60, and the triple-size cargo box. Various combinations of 70 are stored. Therefore, the block replacement in 6 single units is composed of a combination of a half-size cargo box 40, a single-size cargo box 50, a double-size cargo box 60 and a triple-size cargo box 70 stored in the cargo box 90. Exchange the position of 6 single-unit blocks. Therefore, for the cargo box 90, block replacement in units of 6 singles is equivalent to position exchange with different types of cargo boxes.

  As described above, the block exchange in step S27 shown in FIG. 6 is performed for each cargo box 40, 50, 60, 70, 80, 90, and the position exchange of the same type of cargo boxes and / or the cargo between different types. This is equivalent to exchanging the position of the box. Since the position of many cargo boxes can be changed at once by this block exchange, the center of gravity position of the transport aircraft 10 carrying the cargo boxes 40, 50, 60, 70, 80, 90 is efficiently set to the optimum center of gravity position. Can be close.

  Then, in step S27 shown in FIG. 6, which of the flowcharts shown in FIGS. 9 to 11 is used for block replacement is determined according to the number of cargo boxes 80 and 90.

  That is, when the number of cargo boxes 80 and 90 is less than the predetermined number, block exchange in units of 2 singles and block exchange in units of 3 singles are performed according to the flowchart shown in FIG. When the number of the cargo boxes 80 and 90 is small, the block exchange in the unit of 4 singles or 6 singles has a degree of influence on bringing the center of gravity of the transport aircraft 10 close to the optimum center of gravity position when the cargo boxes are mounted. Because it is small.

  Further, when the number of cargo boxes 80 is equal to or greater than the predetermined number and the number of cargo boxes 90 is less than the predetermined number, block replacement in 2 single units and block replacement in 3 single units according to the flowchart shown in FIG. And block exchange in units of 4 singles.

  Further, when the number of cargo boxes 80 and 90 is a predetermined number or more, according to the flowchart shown in FIG. 11, block exchange in 2 single units, block exchange in 3 single units, block exchange in 4 single units and 6 single units The block is exchanged at.

  In this way, the block replacement in step S27 of the flowchart shown in FIG. 6 is executed according to a flowchart suitable for the type and number of cargo boxes 40, 50, 60, 70, 80, 90 arranged in the cargo compartments 31-34. .

  It should be noted that which of the flowcharts shown in FIGS. 9 to 11 may be used to determine whether or not to perform block replacement regardless of the number of cargo boxes 80 and 90. That is, block exchange may be performed according to a flowchart arbitrarily selected from the flowcharts shown in FIGS.

  FIG. 15 is a flowchart for explaining the detailed operation of step S271 in the flowcharts shown in FIGS. When block exchange in 2 single units is started, the current position L of the block of 2 single units to be subjected to block exchange is stored (step S2711), and the center of gravity G at the current position L is calculated (step S2712). .

  Then, all the two single-size cargo boxes 50 are extracted as blocks, and the positions of all the extracted blocks are stored (step S2713). After that, among all the blocks extracted in step S2713, the position L ′ where the center of gravity after replacement is closest to the target is stored, and the center of gravity G ′ at the position L ′ is calculated (step S2714). After step S2614, the center of gravity G ′ is compared with the center of gravity G. If the center of gravity G ′ is closer to the target than the center of gravity G, the target 2 single unit block is replaced with the position L ′. If it is farther from the target than G, the target 2 single unit block is returned to the original position L (step S2715). Then, the detailed operation of step S271 shown in FIGS.

  In addition, the block replacement in the unit of 2 singles executed by the flowchart shown in FIG. 15 is a block replacement only when two cargo boxes 50 are filled with cargo boxes 40, 50, 60. It becomes a target.

  Further, in FIG. 15, all the blocks of 2 single units are extracted and the block whose center of gravity is closest to the target is determined. However, in the present invention, not limited to this, block replacement in 2 single units is You may make it complete | finish when the block replacement | exchange which the gravity center approaches a target is performed.

  FIG. 16 is a flowchart for explaining the detailed operation of step S272 in the flowcharts shown in FIGS. When block exchange in 3 single units is started, the current position L of the block of 3 single units to be subjected to block exchange is stored (step S2721), and the center of gravity G at the current position L is calculated (step S2722). .

  Then, all three single-size cargo boxes 50 are extracted as blocks, and the positions of all the extracted blocks are stored (step S2723). After that, among all the blocks extracted in step S2723, the position L ′ where the center of gravity after replacement is closest to the target is stored and the center of gravity G ′ at the position L ′ is calculated (step S2724). After step S2724, the center of gravity G ′ is compared with the center of gravity G, and if the center of gravity G ′ is closer to the target than the center of gravity G, the target 3 single unit block is replaced with the position L ′. If it is farther from the target than G, the target 3 single unit block is returned to the original position L (step S2725). And the detailed operation | movement of step S272 shown in FIGS. 9-11 is complete | finished.

  The block replacement in units of 3 singles executed according to the flowchart shown in FIG. 16 is performed only when the blocks of three cargo boxes 50 are filled with cargo boxes 40, 50, 60, and 70. It becomes the object of.

  In FIG. 16, all the blocks of 3 single units are extracted and the block whose center of gravity is closest to the target is determined. However, in the present invention, not limited to this, block replacement in 3 single units is You may make it complete | finish when the block replacement | exchange which the gravity center approaches a target is performed.

  FIG. 17 is a flowchart for explaining the detailed operation of step S273 in the flowcharts shown in FIGS. When block exchange in units of 4 singles is started, the current position L of the block of units of 4 singles to be subjected to block exchange is stored (step S2731), and the center of gravity G at the current position L is calculated (step S2732). .

  Then, all four single-size cargo boxes 50 are extracted as blocks, and the positions of all the extracted blocks are stored (step S2733). Thereafter, among all the blocks extracted in step S2733, the position L ′ where the center of gravity after replacement is closest to the target is stored, and the center of gravity G ′ at the position L ′ is calculated (step S2734). After step S2734, the center of gravity G ′ is compared with the center of gravity G, and if the center of gravity G ′ is closer to the target than the center of gravity G, the target 4 single unit block is replaced with the position L ′. If it is farther from the target than G, the target 4 single unit block is returned to the original position L (step S2735). Then, the detailed operation of step S273 shown in FIGS. 10 and 11 ends.

  It should be noted that the block replacement in units of 4 singles executed by the flowchart shown in FIG. 17 is performed only when the cargo boxes 50 are filled with the cargo boxes 40, 50, 60, 70, 80. It becomes the object of block exchange.

  In FIG. 17, all the blocks of 4 single units are extracted and the block whose center of gravity is closest to the target is determined. However, in the present invention, block replacement in 4 single units is not limited to this. You may make it complete | finish when the block replacement | exchange which the gravity center approaches a target is performed.

  FIG. 18 is a flowchart for explaining the detailed operation of step S274 of the flowchart shown in FIG. When the block exchange in 6 single units is started, the current position L of the 6 single unit block to be subjected to block exchange is stored (step S2741), and the center of gravity G at the current position L is calculated (step S2742). .

  Then, all six single-size cargo boxes 50 are extracted as blocks, and the positions of all the extracted blocks are stored (step S2743). After that, among all the blocks extracted in step S2743, the position L ′ where the center of gravity after replacement is closest to the target is stored and the center of gravity G ′ at the position L ′ is calculated (step S2744). After step S2744, the center of gravity G ′ is compared with the center of gravity G, and if the center of gravity G ′ is closer to the target than the center of gravity G, the target 6 single unit block is replaced with the position L ′. If it is farther from the target than G, the target 6 single unit block is returned to the original position L (step S2745). And the detailed operation | movement of step S274 shown in FIG. 11 is complete | finished.

  In addition, the block exchange in the unit of 6 singles executed by the flowchart shown in FIG. 18 is when the cargo boxes 50 are filled with the blocks corresponding to 6 cargo boxes 40, 50, 60, 70, 80, 90. Only subject to block exchange.

  In FIG. 18, all the blocks of 6 single units are extracted and the block whose center of gravity is closest to the target is determined. However, in the present invention, block replacement in 6 single units is not limited to this. You may make it complete | finish when the block replacement | exchange which the gravity center approaches a target is performed.

  FIG. 19 is a flowchart for explaining the operation of the means C shown in FIG. That is, FIG. 19 shows step S254 in the flowchart shown in FIG. 7, step S265 in the flowchart shown in FIG. 8, step S2715 in the flowchart shown in FIG. 15, step S2725 in the flowchart shown in FIG. 16, and step S2735 in the flowchart shown in FIG. 19 is a flowchart for explaining in detail the operation in step S2745 of the flowchart shown in FIG.

  When the operation of the means C is started, it is determined whether or not the center of gravity G 'calculated in the above-described cargo box movement, position exchange, and block exchange is closer to the target than the center of gravity G (step S31).

  In step S31, when the center of gravity G ′ is closer to the target than the center of gravity G, that is, when the target cargo box 90 is moved / replaced from the current position to another position, the amount of deviation from the optimum center of gravity position becomes smaller. At this time, the target cargo box 90 is moved / replaced to a position where the center of gravity G ′ is obtained (step S32). Then, whether the position change flag SameLoc [CTB] of the cargo box 90 with the number CTB “1” is “Yes”, that is, whether the position of the target cargo box 90 is the same as the previous position. Is determined (step S33). It is determined whether or not the position of the target cargo box 90 is the same as the previous position in each of the cargo boxes 40, 50, 60, 70, 80, 90. This is for determining whether or not the arrangement has been completed.

  In step S33, when the position change flag SameLoc [CTB] is not “Yes”, that is, when the position of the target cargo box 90 is different from the previous position, step S254 of the flowchart shown in FIG. 7 and the flowchart shown in FIG. The detailed operations in step S265, step S2715 of the flowchart shown in FIG. 15, step S2725 of the flowchart shown in FIG. 16, step S2735 of the flowchart shown in FIG. 17, and step S2745 of the flowchart shown in FIG.

  On the other hand, when the position change flag SameLoc [CTB] is “Yes” in step S33, that is, when the position of the target cargo box 90 is the same as the previous position, the position change flag SameLoc [CTB] is “ “No” is set, and the number NoChange whose position is not moved / exchanged is subtracted by “1” (step S34), step S254 of the flowchart shown in FIG. 7, step S265 of the flowchart shown in FIG. 8, and flowcharts shown in FIG. Detailed operations in step S2715, step S2725 in the flowchart shown in FIG. 16, step S2735 in the flowchart shown in FIG. 17, and step S2745 in the flowchart shown in FIG.

  In step S33, when the position change flag SameLoc [CTB] is “Yes”, the position change flag SameLoc [CTB] is set to “No” in step S34 because the position of the target cargo box 90 is the previous position. This is because there is a possibility that the position of the target cargo box 90 can be further moved. Whether or not the cargo box having the number CTB in which the position change flag SameLoc [CTB] is set to “No” in step S34 is actually movable / exchangeable in steps S25 and S26 shown in FIG. 7, which shows the detailed operation of S25, and steps S263 and S264 of FIG. 8 which show the detailed operation of Step S26. In step S34 shown in FIG. 19, the center of gravity is further increased to the target. The possibility to move / replace the cargo box 90 that is the object of position determination to the approaching position is left. By setting in this way, it is possible to find the position of the cargo box 90 that brings the center of gravity closer to the target.

  In step S31, when the center of gravity G 'is not closer to the target than the center of gravity G, that is, when the center of gravity approaches the target when the target cargo box 90 is held at the current position, the target cargo box 90 is restored. Is moved / exchanged to position L (step S35). Then, it is determined whether or not the position change flag SameLoc [CTB] of the target cargo box 90 is “No”, that is, whether or not the position of the target cargo box 90 is different from the previous position. (Step S36).

  In step S36, when the position change flag SameLoc [CTB] is not “No”, that is, when the position of the target cargo box 90 is the same as the previous position, steps S254 and FIG. 8 of the flowchart shown in FIG. The detailed operation in step S265 of the flowchart shown in FIG. 15, step S2715 of the flowchart shown in FIG. 15, step S2725 of the flowchart shown in FIG. 16, step S2735 of the flowchart shown in FIG. 17, and step S2745 of the flowchart shown in FIG.

  On the other hand, when the position change flag SameLoc [CTB] is “No” in step S36, that is, when the position of the target cargo box 90 is different from the previous position, the position change flag SameLoc [CTB] is “Yes”. The number NoChange whose position is not moved / exchanged is added by “1” (step S37), step S254 in the flowchart shown in FIG. 7, step S265 in the flowchart shown in FIG. 8, and step S2715 in the flowchart shown in FIG. The detailed operation in step S2725 of the flowchart shown in FIG. 16, step S2735 of the flowchart shown in FIG. 17, and step S2745 of the flowchart shown in FIG.

  In step S36, when the position change flag SameLoc [CTB] is “No”, the position change flag SameLoc [CTB] is set to “Yes” in step S37 because the position of the target cargo box 90 is the previous position. This is because there is little possibility that the position of the target cargo box 90 can be moved further.

  For the other cargo boxes 40, 50, 60, 70, 80, the operation of the means C shown in FIG. 5 is executed according to the flowchart shown in FIG.

  An example in which the arrangement positions of the cargo boxes 40, 50, 60, 70, 80, 90 in the cargo compartments 31 to 34 are determined using the program according to the present invention will be described. 20 to 26 are first to seventh examples showing the arrangement positions of the cargo boxes 40, 50, 60, 70, 80, 90 determined by using the program according to the present invention.

  20 to 26 show examples of the arrangement positions of the cargo boxes 40, 50, 60, 70, 80, 90 in the entire cargo loading section 11 shown in FIG. 1, that is, the cargo loading chambers 21, 22. . Therefore, each of the cargo compartments 31 to 34 exists in two upper and lower stages.

  In FIG. 20, in the cargo compartment 31, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. In the cargo compartment 32, the luggage rack RK3 is arranged in the upper stage. Further, in the cargo compartment 33, the luggage rack RK3 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Further, in the cargo compartment 34, the cargo rack RK1 is arranged in the lower stage. A cargo box 90 (M01 bag) is arranged on the front surface of the cargo rack RK2 arranged in the lower stage of the cargo compartment 31.

  In FIG. 21, in the cargo compartment 31, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. In the cargo compartment 32, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Furthermore, in the cargo compartment 33, the luggage rack RK3 is arranged in the upper stage. Further, in the cargo compartment 34, the cargo rack RK1 is arranged in the lower stage. A cargo box 90 (M01 bag) is arranged in front of the cargo rack RK2 arranged in the lower stage of the cargo chamber 31, and eight pieces are arranged in the front of the cargo rack RK2 arranged in the lower stage of the cargo chamber 32. The cargo box 40 is arranged.

  In FIG. 22, in the cargo compartment 31, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. In the cargo compartment 32, the cargo rack RK1 is arranged in the upper stage. Further, in the cargo chamber 33, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Further, in the cargo compartment 34, the cargo rack RK1 is arranged in the lower stage. Then, eight cargo boxes 40 are arranged on the front surface of the cargo rack RK2 arranged in the lower stage of the cargo chamber 31, and the cargo box 90 ( M01 bag) is arranged.

  In FIG. 23, in the cargo compartment 31, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. In the cargo compartment 32, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Further, in the cargo chamber 33, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Further, in the cargo compartment 34, the cargo rack RK1 is arranged in the lower stage. And eight cargo boxes 40 are arranged on the front surface of the cargo rack RK2 arranged in the lower stage of the cargo chamber 31 and the cargo chamber 33, and on the front surface of the cargo rack RK2 arranged in the lower stage of the cargo chamber 32, A cargo box 90 (M01 bag) is arranged.

  In FIG. 24, in the cargo compartment 31, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. In the cargo compartment 32, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Further, in the cargo chamber 33, the cargo rack RK2 is arranged in the lower stage. Further, in the cargo compartment 34, the cargo rack RK2 is arranged in the lower stage. A cargo box 90 (M01 bag) is arranged in front of the cargo rack RK2 arranged in the lower stage of the cargo chamber 31, and eight pieces are arranged in the front of the cargo rack RK2 arranged in the lower stage of the cargo chamber 32. The cargo box 40 is arranged. In addition, one cargo box 80 and four single-size cargo boxes 50 are arranged in front of the cargo rack RK2 arranged in the lower stage of the cargo chamber 33, and the cargo rack arranged in the lower stage of the cargo chamber 34. Eight single-size cargo boxes 50 are arranged on the front surface of the RK2.

  In FIG. 25, in the cargo compartment 31, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. In the cargo compartment 32, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Furthermore, in the cargo compartment 33, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Furthermore, in the cargo compartment 34, the luggage rack RK3 is arranged in the lower stage. And eight cargo boxes 40 are arranged on the front surface of the cargo rack RK2 arranged in the lower stage of the cargo chamber 31 and the cargo chamber 33, and on the front surface of the cargo rack RK2 arranged in the lower stage of the cargo chamber 32, One cargo box 90 (M01 bag) is arranged.

  In FIG. 26, in the cargo compartment 31, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. In the cargo compartment 32, the luggage rack RK3 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Further, in the cargo chamber 33, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Further, in the cargo compartment 34, the cargo rack RK1 is arranged in the upper stage, and the cargo rack RK2 is arranged in the lower stage. Then, eight cargo boxes 40 are arranged on the front surface of the cargo rack RK2 arranged in the lower stage of the cargo compartment 31, the cargo compartment 32, and the cargo compartment 34, and the cargo rack RK2 arranged in the lower stage of the cargo chamber 33 is arranged. One cargo box 90 (M01 bag) is arranged on the front surface.

  FIG. 27 is a diagram showing the center of gravity in the arrangement of the cargo boxes 40, 50, 60, 70, 80, 90 shown in FIGS. In FIG. 27, the horizontal axis represents a case, and cases 1 to 7 show the arrangements of FIGS. 20 to 26, respectively. The vertical axis represents the position of the center of gravity. Numerical value 4220 represents the optimum center-of-gravity position in the longitudinal direction (direction of arrow 13) of transport machine 10 shown in FIG. The numerical value 25 and the numerical value 4220 represent reference values for the amount of deviation between the center of gravity position and the original center of gravity position when the cargo boxes 40, 50, 60, 70, 80, 90 are mounted on the transport aircraft 10. Further, in FIG. 27, Gx represents the position of the center of gravity in the longitudinal direction (direction of arrow 13 shown in FIG. 2) of the transport aircraft 10, and Gy and Gz are orthogonal coordinates orthogonal to the direction of arrow 13 shown in FIG. A center of gravity position in the y-axis direction and a center of gravity position in the z-axis direction on the y-axis-z axis are respectively represented. In addition, the unit of each numerical value in FIG. 27 is [mm].

  The center-of-gravity positions in the y-axis direction and the z-axis direction orthogonal to the longitudinal direction of the transport aircraft 10 are within 25 [mm] in all cases 1-7.

  26, the center of gravity position 1.6 [mm] in the y-axis direction orthogonal to the longitudinal direction of the transport aircraft 10 and the center of gravity position 3.2 [mm] in the z-axis direction orthogonal to the longitudinal direction are obtained. Obtained. In addition, a value of 4226 [mm] was also obtained for the position of the center of gravity in the longitudinal direction of the transport aircraft 10 that is almost determined by the total weight of the cargo boxes mounted on the cargo loading section 11. These barycentric positions sufficiently satisfy the target of an amount of deviation of 25 [mm] or less from the original barycentric position.

  Therefore, the program according to the present invention sets the center of gravity position of the transport aircraft 10 by placing the cargo boxes 40, 50, 60, 70, 80, 90 on the transport aircraft 10 having the center of gravity shifted from the optimal center of gravity position. The cargo boxes 40, 50, 60, 70, 80, 90 can be arranged in the cargo chambers 31-34 so as to approach within a range of 25 [mm] or less.

  When determining the arrangement positions for the above-described six types of cargo boxes 40, 50, 60, 70, 80, 90 using the program according to the present invention, the cargo boxes 40, 50, 60, 70, 80, 90 are artificial Functions as an intelligent agent (autonomous individual). Therefore, in the movement and exchange of the cargo boxes and the block exchange shown in the flowcharts of FIGS. 7 to 11, the cargo boxes 40, 50, 60, 70, 80, and 90 autonomously move up, down, left and right or at random positions. And change positions. The cargo boxes 40, 50, 60, 70, 80, 90 autonomously store the moved position L ′ or the replaced position L ′, and autonomously calculate the center of gravity G ′ at the position L ′. .

  The calculated center of gravity G ′ is displayed at a position where the cargo boxes 40, 50, 60, 70, 80, 90 can be recognized, and the cargo boxes 40, 50, 60, 70, 80, 90 have moved by themselves. It is possible to know whether or not the center of gravity is close to the target by replacing with another cargo box.

  In this way, the cargo boxes 40, 50, 60, 70, 80, 90 move to the vertical and horizontal positions as autonomous individuals, or recognize the position of the center of gravity by replacing other cargo boxes existing at random positions. Finally, the center of gravity moves or switches to a position where it approaches the target. In addition, the movement of the cargo boxes 40, 50, 60, 70, 80, 90 is not only the movement or replacement within one cargo compartment 31, but also the movement between the other cargo compartments 32-34 or Replacement is also included.

  FIG. 28 is a functional block diagram showing functions of a program for determining the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 executed by the flowcharts shown in FIG. 5 to FIG. 11 and FIG. It is. The functional block 130 of the program according to the present invention includes a load type determination unit 131, a load request calculation unit 132, and a load arrangement position local search unit 133. The cargo type determination means 131 determines the type of cargo box to be placed in the cargo compartments 31 to 34 of the transport aircraft 10. Specifically, the cargo type determination means 131 transfers the cargo boxes 40, 50, 60, 70, 80, 90 from the input cargo boxes 40, 50, 60, 70, 80, 90 to the cargo compartments 31-34. The cargo boxes are selected in descending order of the degree of influence on the requirement from the user that the amount of deviation of the center of gravity position when placed is within 25 [mm].

  The load request calculation means 132 sets the deviation amount between the center of gravity position when the cargo boxes 40, 50, 60, 70, 80, and 90 are arranged in the cargo compartments 31 to 34 and the optimum center of gravity position within 25 [mm]. Calculate the requirement.

  The load arrangement position local search means 133 is configured in the order of the cargo box 90, the cargo box 80, the cargo box 70, the cargo box 60, the cargo box 50, and the cargo box 40 selected by the load type determination means 131. , 60, 70, 80, 90 are searched for positions that locally satisfy the requirements from the load request calculation means 132. In this case, the load arrangement position local search means 133 specifically, the cargo box 40 is obtained by local movement of the cargo boxes 40, 50, 60, 70, 80, 90, position exchange between the same types and block exchange. , 50, 60, 70, 80, 90 are searched for positions where the requirements from the load request calculation means 132 are locally satisfied, and the cargo boxes 40, 50, 60, 70, 80, 90 are located at the searched positions. Move or replace.

  FIG. 29 is a functional block diagram of a personal computer that executes the determination of the arrangement positions of the cargo boxes 40, 50, 60, 70, 80, 90 so as to satisfy the user's requirements using the above-described program. The personal computer 140 includes a data bus BS, a CPU (Central Processing Unit) 141, a RAM (Random Access Memory) 142, a ROM (Read Only Memory) 143, a serial interface 144, a terminal 145, and a CD-ROM drive. 146, a display 147, and a keyboard 148.

  The CPU 141 reads out the program stored in the ROM 143 via the data bus BS, and determines the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 described above using the read program. The CPU 141 stores a program acquired via the serial interface 144, the terminal 145, and the Internet network, or a program read from a CD (Compact Disk) 149 via the CD-ROM drive 146 in the ROM 143. Further, the CPU 141 receives an instruction from the user input from the keyboard 148 and displays the arrangement positions of the cargo boxes 40, 50, 60, 70, 80, 90 calculated by the above-described program on the display.

  The RAM 142 is a work memory used when the CPU 141 determines the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 using the above-described program. The ROM 143 stores the above-described program. The serial interface 144 exchanges data between the data bus BS and the terminal 145.

  The terminal 145 is a terminal for connecting the personal computer 140 to a modem (not shown) with a cable. The CD-ROM drive 146 reads a program recorded on the CD 149. The display 147 gives various information as visual information to the user. The keyboard 148 inputs an instruction from the user.

  When the user determines the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 by the personal computer 140 using the program described above, the CPU 141 reads the program from the ROM 143 via the data bus BS. Then, the CPU 141 executes the read program and displays a message for prompting the input of the cargo box type on the display 147.

  The user of the personal computer 140 views the message displayed on the display 147 and inputs the type (weight and size) of the cargo box used for calculation into the personal computer 140 from the keyboard 148. Then, the CPU 141 receives the type of cargo box input from the keyboard 148.

  Thereafter, the CPU 141 determines the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 according to the flowchart described above, and displays the result on the display 147.

  A user can connect the personal computer 140 to a modem (not shown) via the terminal 145 and obtain a program via the Internet. The CPU 141 stores the program acquired via the terminal 145, the serial interface 144, and the data bus BS in the ROM 143. Further, the user inserts the CD 149 into the CD-ROM drive 146 and reads the program recorded on the CD 149 into the personal computer 140. The CPU 141 acquires the program read by the CD-ROM drive 146 via the data bus BS and stores it in the ROM 143. Then, the CPU 141 reads the program stored in the ROM 143 via the data bus BS according to an instruction from the user, and determines the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90.

  Thus, the personal computer 140 can acquire a program for determining the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 by various methods. Therefore, in the present invention, the program for determining the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 includes programs acquired by the various methods described above.

  The ROM 143 corresponds to a computer (CPU) readable recording medium that records a program for causing the computer (CPU) to determine the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90.

  In the above, the cargo boxes 40, 50, 60, 70, 80 are satisfied so as to satisfy the requirements from the user by moving and / or exchanging the six types of cargo boxes 40, 50, 60, 70, 80, 90. , 90 has been described. The program according to the present invention generally determines the arrangement positions of the six types of cargo boxes 40, 50, 60, 70, 80, 90 so as to satisfy the requirements from the user, and generally the cargo boxes 40, 50, 60, 70, What is necessary is just a program which determines the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 by changing the position of 80,90.

  Moreover, in the above, the program which determines the arrangement position of 6 types of cargo boxes was demonstrated, However, In this invention, the type of cargo boxes is not restricted to 6 types, What is necessary is just one or more types. Even if there is only one type of cargo box, since a plurality of cargo boxes are arranged in the cargo compartment, the deviation between the center of gravity position and the optimum center of gravity position when a plurality of cargo boxes are mounted on the transport aircraft 10 is reduced. Thus, it is necessary to arrange a plurality of cargo boxes in the cargo compartments 31-34. Therefore, the program according to the present invention can be applied to the case where the arrangement position of one kind of cargo box is determined.

  Further, the size of the cargo box 90 is a size obtained by collecting six cargo boxes 50, the size of the cargo box 80 is a size obtained by collecting four cargo boxes 50, and the size of the cargo box 70 is determined by the size of the cargo box 50. The size of the cargo box 60 is the size of two cargo boxes 50, and the size of the cargo box 50 is the size of two cargo boxes 40. In the present invention, the size of the cargo box 90 is not limited to this, and the size of the cargo box 90 is a size obtained by collecting h (h is a natural number of 6 or more) cargo boxes 50, and the size of the cargo box 80 is the size of the cargo box 50. i (i is a natural number satisfying 4 ≦ i <h), and the size of the cargo box 70 is the size of j cargo boxes 50 (j is a natural number satisfying 3 ≦ j <i). The size of the cargo box 60 is k for the cargo box 50 (k satisfies 2 ≦ k <j). Is the size that you have a natural number) collected, the size of the cargo box 50 may be any of the cargo box 40 in the k collected size.

  Further, the gravity center position of the spacecraft 20 when the cargo boxes 40, 50, 60, 70, 80, 90 are mounted on the spacecraft 20 constitutes “cargo loading gravity center position” and “evaluation value”.

  Further, the position of the center of gravity of the spacecraft 20 before the cargo boxes 40, 50, 60, 70, 80, 90 are mounted on the spacecraft 20 constitutes an “initial evaluation value”.

  According to the present invention, the program stores the cargo boxes 40, 50, when the center of gravity of the transport aircraft 10 before mounting the cargo boxes 40, 50, 60, 70, 80, 90 deviates from the optimum center of gravity. Cargo boxes 40, 50, 60, 70, 80 are mounted so that the center of gravity of transporter 10 approaches the range within 25 mm from the optimum center of gravity by mounting 60, 70, 80, 90 on transporter 10. , 90 is determined so that the position of the cargo box can be determined so that the position of the center of gravity shifted from the position of the optimal center of gravity approaches the position of the optimal center of gravity.

  Further, according to the present invention, even when the cargo racks constituting the cargo compartments 31 to 34 are of different types RK1 and RK2, the center of gravity of the transport aircraft 10 on which the cargo boxes 40, 50, 60, 70, 80, 90 are mounted. The arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 can be determined so that the position approaches a range within 25 [mm] from the optimum center of gravity position.

  Furthermore, according to the present invention, even when the cargo racks constituting the cargo compartments 31 to 34 are partitioned into a plurality of regions, the transport aircraft 10 equipped with the cargo boxes 40, 50, 60, 70, 80, 90 is provided. The arrangement positions of the cargo boxes 40, 50, 60, 70, 80, and 90 can be determined so that the center of gravity approaches a range within 25 [mm] from the optimum center of gravity.

  As described above, the program according to the present invention mounts the cargo boxes 40, 50, 60, 70, 80, and 90 on the center of gravity of the transport aircraft 10 that deviates from the optimum center of gravity even when various restrictions exist. Thus, the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 can be determined so as to approach the range within 25 [mm] from the optimum center of gravity position.

  Furthermore, the program according to the present invention includes the weights of the cargo loading unit 11 and the propulsion unit 12 of the transport aircraft 10, the weight of the exposed pallet, fuel and water mounted on the propulsion unit 12, and the cargo racks RK1, RK2 / loading rack RK3. Reflecting the weight (see steps S1 to S4 in FIG. 5), the center of gravity position of the transport aircraft 10 when the cargo boxes 40, 50, 60, 70, 80, 90 are mounted is within a range of 2.5 cm from the optimum center of gravity position. Since the arrangement position of the cargo boxes 40, 50, 60, 70, 80, 90 is determined so as to enter, the gravity center position of the transport aircraft 10 when the cargo boxes 40, 50, 60, 70, 80, 90 are mounted is determined. The weight of the cargo loading unit 11 and the propulsion unit 12, the weight of the exposed pallet, fuel and water that can be mounted on the propulsion unit 12, and the cargo rack RK <b> 1 The weight of the K2 / luggage rack RK3 can be determined. That is, the cargo loading unit 11, the propulsion unit 12, the mountable exposure pallet, the cargo racks RK1 and RK2, and the luggage rack RK3 can be designed.

  In the above description, the program for determining the placement position of the cargo box so that the deviation of the center of gravity of the transport aircraft is reduced when a plurality of types of cargo boxes are mounted on the transport aircraft and transported to space, the present invention, The present invention can also be applied to a case where a delivery truck or moving furniture is mounted on a transport truck. In this case, the arrangement positions of a plurality of types of packages mounted on the transport truck are determined by the method described above. Then, the initial center of gravity position is calculated using the weight of the transport truck in a state where no delivery luggage or moving furniture is mounted, and the calculated initial center of gravity position is used to load the luggage etc. The arrangement position of the luggage or the like is determined so that the gravity center position of the transport truck falls within a range within a predetermined value from the optimum gravity center position.

  The program according to the present invention can also be applied to the determination of the arrangement position of each cargo when the cargo is loaded on an airplane.

  Furthermore, the program according to the present invention is not limited to a case where a load or the like is loaded on a transport truck. In general, when the evaluation value deviates from the target value, a plurality of types of objects are set so that the evaluation value is set to the target value. It is applicable when determining the arrangement position of an object.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and is intended to include meanings equivalent to the scope of claims for patent and all modifications within the scope.

  The present invention relates to a program for causing a computer to determine the arrangement position of a plurality of types of objects so that the evaluation value is set to a target value by arranging the plurality of types of objects in a predetermined region, and to the universe. The present invention can be applied to a program for causing a computer to execute the placement of a cargo when carrying the cargo.

It is a perspective view which shows the state which the transport aircraft carrying a some cargo box docked to the spacecraft. It is a perspective view for demonstrating in detail the cargo mounting part of a transport aircraft. It is a figure which shows the kind and size of a cargo box mounted in a cargo compartment. It is a perspective view of the rack which comprises a cargo compartment. It is a flowchart of the program by embodiment of this invention. It is a flowchart for demonstrating the operation | movement which the means B shown in FIG. 5 performs. It is a flowchart for demonstrating in detail the operation | movement in step S25 of the flowchart shown in FIG. It is a flowchart for demonstrating in detail the operation | movement in step S26 of the flowchart shown in FIG. It is a flowchart which shows the operation | movement of block replacement | exchange in step S27 of the flowchart shown in FIG. It is another flowchart which shows the operation | movement of block replacement | exchange in step S27 of the flowchart shown in FIG. FIG. 7 is still another flowchart showing the block replacement operation in step S27 of the flowchart shown in FIG. 6. FIG. FIG. 10 is a conceptual diagram of block exchange in steps S271 and S272 of the flowchart shown in FIG. It is a conceptual diagram of the block exchange in step S273 of the flowchart shown in FIG. It is a conceptual diagram of the block replacement | exchange in step S274 of the flowchart shown in FIG. 12 is a flowchart for explaining a detailed operation of step S271 in the flowcharts shown in FIGS. 12 is a flowchart for explaining a detailed operation of step S272 in the flowcharts shown in FIGS. 12 is a flowchart for explaining a detailed operation of step S273 in the flowcharts shown in FIGS. 10 and 11. 12 is a flowchart for explaining a detailed operation of step S274 of the flowchart shown in FIG. 11. It is a flowchart for demonstrating operation | movement of the means C shown in FIG. It is a 1st example which shows the arrangement position of the cargo box determined using the program by this invention. It is a 2nd example which shows the arrangement position of the cargo box determined using the program by this invention. It is a 3rd example which shows the arrangement position of the cargo box determined using the program by this invention. It is a 4th example which shows the arrangement position of the cargo box determined using the program by this invention. It is a 5th example which shows the arrangement position of the cargo box determined using the program by this invention. It is a 6th example which shows the arrangement position of the cargo box determined using the program by this invention. It is a 7th example which shows the arrangement position of the cargo box determined using the program by this invention. It is a figure which shows the gravity center in arrangement | positioning of the cargo box shown in FIGS. It is a functional block diagram which shows the function of the program which performs the determination of the arrangement position of the cargo box performed by the flowchart shown in FIGS. 5-11 and FIGS. It is a functional block diagram of a personal computer. It is a perspective view of the transport machine which conveys supplies to a spacecraft.

Explanation of symbols

  10,100 transport aircraft, 20 spacecraft, 11,111 cargo loading section, 12,120 propulsion section, 13-16 arrows, 21,22 cargo loading room, 31-34 cargo room, 35 space, 40, 50, 60, 70, 80, 90 Cargo box, 41 to 43 area, 110 transport section, 112 docking section, 113 entrance / exit, 130 functional block, 131 load type determination means, 132 load request calculation means, 133 load arrangement position local search means, 141 CPU 142 RAM, 143 ROM, 144 serial interface, 145 terminal, 146 CD-ROM drive, 147 display, 148 keyboard, 149 CD.

Claims (21)

To perform the determination of suitable positions to the computer for the plurality of objects when setting the goal value commentary value by the placing a plurality of objects that are classified into a plurality of types in a predetermined area A program for
A first step of accepting the target value;
A second step in which a computing means computes an initial evaluation value before arranging the plurality of objects in the predetermined area;
A third step in which the receiving means receives the plurality of types and the number of objects belonging to each of the plurality of types;
The determining means determines the position of the object belonging to one type based on the calculated initial evaluation value and the received plurality of types and the number of objects belonging to each of the plurality of types. A fourth step of changing alone and determining all the arrangement positions of the objects belonging to the one type so that the evaluation value approaches the target value;
Using the object belonging to the one type arranged at the arrangement position determined in the fourth step by the determining means, the object belonging to the one type so that the evaluation value approaches the target value A fifth step of performing a position change of the object belonging to the one type in units of blocks obtained by collecting a predetermined number, and determining a suitable arrangement position of the object belonging to the one type;
The determining means executes the fourth and fifth steps for all of the objects belonging to the plurality of types in the order of the types having the greatest degree of influence on the evaluation value approaching the target value, Causing the computer to execute a sixth step of determining a suitable arrangement position for all of the objects belonging to the plurality of types so that the evaluation value approaches the target value ;
The determination means is a program for causing a computer to execute a position change by the block unit between objects of the same type or between different types of objects in the fifth step . The computer further includes a seventh step of stopping the determination of the preferred arrangement position when the deviation means between the preferred arrangement position and the optimum arrangement position for the plurality of objects falls within a predetermined range. A program for causing a computer according to claim 1 to be executed. It said determining means, in the fourth step, belonging to said one type by changing the position of the object in the free space in the predetermined region before placing the object to be a target of position determination that determine the arrangement position with respect to the object, a program to be executed by the computer according to claim 1 or claim 2. In the fourth step, the determining means replaces the position of the object belonging to the one type and moves the object to the empty area, thereby moving the position of the object belonging to the one type to the object. 4. The position of an object belonging to the one type is changed by exchanging the positions of the objects belonging to the one type in the block unit by mutually changing in the fifth step. A program to be executed by the computer described in 1. The program is a program for causing a computer to execute placement of cargo when transporting cargo to space.
The object is a cargo box having a constant weight and size for transporting goods to space;
The plurality of objects classified into the plurality of types are a plurality of cargo boxes having different weights and sizes,
The predetermined area is a spacecraft for mounting the plurality of cargo boxes;
The evaluation value is a cargo loading center of gravity position of the spacecraft when the plurality of cargo boxes are mounted on the spacecraft.
The initial evaluation value is an initial center of gravity position of the spacecraft before mounting the plurality of cargo boxes on the spacecraft;
The target value is a suitable cargo-mounted center-of-gravity position where the deviation from the optimum center-of-gravity position where the spacecraft can fly along a desired trajectory is a predetermined value or less,
The large degree the kind of object impact the evaluation value for that close to the target value, Ru weight is relatively large cargo box der of the cargo box, any one of claims 1 to 4 A program to be executed by the computer described in 1. The spacecraft
A cargo loading section for loading the plurality of cargo boxes;
A propulsion unit that propels the spacecraft,
The cargo loading section includes a plurality of cargo loading chambers each mounting the plurality of cargo boxes,
Each of the plurality of cargo loading chambers includes the cargo rack arbitrarily selected from a plurality of types of cargo racks in which the plurality of cargo boxes are arranged and a luggage rack in which packages other than the plurality of cargo boxes are arranged. Or the luggage rack,
The plurality of cargo boxes are disposed in at least one cargo rack disposed in at least one cargo loading chamber;
The calculating means, in the second step, the propulsion unit, the calculate the initial center-of-gravity position using the weight of the cargo rack and the luggage rack, to be executed by the computer according to 請 Motomeko 5 program. The cargo rack is divided into a plurality of cargo areas partitioned from each other,
In the fourth step, the determination means moves the cargo box to the empty area so that the cargo loading gravity center position approaches the optimum gravity center position, and the cargo loading gravity center position approaches the optimum gravity center position. In the fifth step, the positions of the cargo boxes are replaced in units of blocks so that the cargo-mounted center of gravity position approaches the optimum center of gravity position.
It said block units, a plurality positionable cargo box to each of the plurality of the cargo area of the plurality of types of cargo box, Ru units der collected plurality, to be executed by a computer according to claim 6 Program. The number of cargo box constituting the block, the Ru is determined according to the size of each of the plurality of the cargo area, a program to be executed by the computer according to claim 7. The plurality of cargo boxes are classified into a first size, a second size, a third size, a fourth size, a fifth size, and a sixth size in descending order of size,
The cargo rack is
A first cargo rack capable of storing cargo boxes belonging to the second to sixth sizes;
A second cargo rack capable of storing cargo boxes belonging to the second to sixth sizes and capable of arranging cargo boxes belonging to the first to sixth sizes on the front surface;
The position of the cargo box belonging to the first size is changed between the front surfaces of the plurality of second cargo racks,
The cargo boxes belonging to the second to sixth sizes include a front surface of the second cargo rack, an inside of the first and second cargo racks, a front surface of the plurality of second cargo racks, and the second cargo rack. Between the front of the cargo rack and the inside of the first and second cargo racks, between the interiors of the plurality of first cargo racks, between the interiors of the plurality of second cargo racks, and the first The program for causing a computer to execute the program according to claim 7 , wherein the position is changed between the inside of the cargo rack and the inside of the second cargo rack . The determining means moves the cargo boxes belonging to the first to sixth sizes to the empty area in the fourth step when each of the plurality of cargo loading chambers is composed of the first cargo rack. In addition, the positions of the cargo boxes belonging to the first to sixth sizes are replaced with the same type of cargo boxes for each type, and in the fifth step, the cargo boxes belonging to the first to sixth sizes are replaced with the same type. The program for making the computer of Claim 9 perform the exchange of the position by the said cargo unit or the said different kind cargo box, and the said block unit . The second size is a size obtained by collecting the fifth sizes i (i is a natural number of 4 or more),
The third size is a size obtained by collecting j of the fifth sizes (j is a natural number satisfying 3 ≦ j <i),
The fourth size is a size obtained by collecting the fifth sizes k (k is a natural number satisfying 2 ≦ k <j),
The fifth size is a size obtained by collecting the k pieces of the sixth size,
The fifth step includes
The determination means is configured to store the cargo boxes belonging to the fourth to sixth sizes in the same type of cargo in the first block unit having the fourth size so that the cargo loading gravity center position approaches the optimum gravity center position. A first sub-step of exchanging positions with a box or said different kind of cargo box ;
The determination means is configured to store the cargo boxes belonging to the third to sixth sizes in the second block unit having the third size so that the cargo mounting gravity center position approaches the optimum gravity center position. A second sub-step of exchanging positions with a box or said different kind of cargo box ;
The determination means is configured to store the cargo boxes belonging to the second to sixth sizes in the third block unit having the second size so that the cargo mounting gravity center position approaches the optimum gravity center position. A third sub-step of exchanging positions with the box or the different type of cargo box ,
Said determining means, in the fifth step, from said first to run at least one sub-step of the third sub-step, a program to be executed by the computer according to claim 10. Said determining means, said number of cargo boxes belonging to the second size to run the third sub-step when a predetermined number or more, a program to be executed by a computer according to claim 11. The determining means executes the first sub-step when the first block is filled with the cargo box, and the second block when the second block is filled with the cargo box. the running sub-step, the third block is to run the third sub-step when they are filled by the cargo box, a program to be executed by the computer according to claim 11. The determining means includes
In the first sub-step, the cargo boxes belonging to the fourth to sixth sizes are replaced with all positions where the cargo boxes of the same type or the different types of cargo boxes can be replaced, The cargo loading center of gravity position closest to the optimum center of gravity position from the cargo loading center of gravity position is determined as a suitable center of gravity position for the replaced cargo box,
In the second sub-step, the cargo boxes belonging to the third to sixth sizes are replaced with all positions where the cargo boxes of the same type or the different types of cargo boxes can be replaced, The cargo loading center of gravity position closest to the optimum center of gravity position from the cargo loading center of gravity position is determined as a suitable center of gravity position for the replaced cargo box,
In the third sub-step, the cargo boxes belonging to the second to sixth sizes are replaced at all positions where the cargo boxes of the same type or the different types of cargo boxes can be replaced, computer from the cargo mounting centroid position closest cargo mounted gravity center position to the optimum position of the center of gravity that determine a suitable center-of-gravity position with respect to the replacement cargo box, according to claims 11 to any one of claims 13 A program to make it run. The determining means includes
In the first sub-step, the cargo boxes belonging to the fourth to sixth sizes are replaced with the same type of cargo boxes or the different types of cargo boxes, and the cargo loading center of gravity position is the preferred cargo loading center of gravity position. The cargo loading center of gravity position when set to is determined as a suitable center of gravity position for the replaced cargo box,
In the second sub-step, the cargo boxes belonging to the third to sixth sizes are replaced with the same type of cargo boxes or the different types of cargo boxes, and the cargo loading center of gravity position is the preferred cargo loading center of gravity position. The cargo loading center of gravity position when set to is determined as a suitable center of gravity position for the replaced cargo box,
In the third sub-step, the cargo boxes belonging to the second to sixth sizes are replaced with the same type of cargo boxes or the different types of cargo boxes, and the cargo loading center of gravity position is the preferred cargo loading center of gravity position. a program for a cargo mounting gravity center position when set, to determine a suitable center-of-gravity position with respect to the replacement cargo boxes, to execute claims 11 to computer according to any one of claims 13 to. When the plurality of cargo loading chambers include the first and second cargo racks, the determining means moves the cargo boxes belonging to the first to sixth sizes to the empty area in the fourth step. In addition, in the fifth step, the cargo boxes belonging to the first to sixth sizes are replaced with the cargo boxes belonging to the first to sixth sizes in the fifth step. The program for making the computer of Claim 9 perform the replacement | exchange of the position by the said block unit with the said same kind cargo box or the said different kind cargo box . The first size is a size obtained by collecting the fifth sizes h (h is a natural number of 6 or more),
The second size is a size obtained by collecting the fifth sizes i (i is a natural number satisfying 4 ≦ i <h),
The third size is a size obtained by collecting j of the fifth sizes (j is a natural number satisfying 3 ≦ j <i),
The fourth size is a size obtained by collecting the fifth sizes k (k is a natural number satisfying 2 ≦ k <j),
The fifth size is a size obtained by collecting the k pieces of the sixth size,
The fifth step includes
The determination means is configured to store the cargo boxes belonging to the fourth to sixth sizes in the same type of cargo in the first block unit of the fourth size so that the cargo loading gravity center position approaches the optimum gravity center position. A first sub-step of exchanging positions with a box or said different kind of cargo box ;
The determination means is configured to store the cargo boxes belonging to the third to sixth sizes in the second block unit having the third size so that the cargo mounting gravity center position approaches the optimum gravity center position. A second sub-step of exchanging positions with a box or said different kind of cargo box ;
The determination means is configured to store the cargo boxes belonging to the second to sixth sizes in the third block unit having the second size so that the cargo mounting gravity center position approaches the optimum gravity center position. A third sub-step of exchanging positions with the box or the different type of cargo box ;
The determination means is configured to store the cargo boxes belonging to the first to sixth sizes in the fourth block unit having the first size so that the cargo mounting gravity center position approaches the optimum gravity center position. A fourth sub-step of exchanging positions with the box or the different type of cargo box ,
Said determining means, in the fifth step, from said first to run at least one sub-step of the fourth sub-step, the program to be executed by a computer according to claim 16. The determining means executes the third sub-step when the number of cargo boxes belonging to the second size is equal to or greater than a first predetermined number, and the number of cargo boxes belonging to the first size is second. of that perform the fourth sub-step when a predetermined number or more, a program to be executed by a computer according to claim 17. The determining means executes the first sub-step when the first block is filled with the cargo box, and the second block when the second block is filled with the cargo box. And when the third block is filled with the cargo box, execute the third substep, and when the fourth block is filled with the cargo box, to run a fourth sub-step, a program to be executed by the computer according to claim 17. The determining means includes
In the first sub-step, the cargo boxes belonging to the fourth to sixth sizes are replaced with all positions where the cargo boxes of the same type or the different types of cargo boxes can be replaced, The cargo loading center of gravity position closest to the optimum center of gravity position from the cargo loading center of gravity position is determined as a suitable center of gravity position for the replaced cargo box,
In the second sub-step, the cargo boxes belonging to the third to sixth sizes are replaced at all positions where the cargo boxes of the same type or the different types of cargo boxes can be replaced, The cargo loading center of gravity position closest to the optimum center of gravity position from the cargo loading center of gravity position is determined as a suitable center of gravity position for the replaced cargo box,
In the third sub-step, the cargo boxes belonging to the second to sixth sizes are replaced at all positions where the cargo boxes of the same type or the different types of cargo boxes can be replaced, The cargo loading center of gravity position closest to the optimum center of gravity position from the cargo loading center of gravity position is determined as a suitable center of gravity position for the replaced cargo box,
In the fourth sub-step, the cargo boxes belonging to the first to sixth sizes are replaced at all positions where the cargo boxes of the same type or the different types of cargo boxes can be replaced, computer from the cargo mounting centroid position closest cargo mounted gravity center position to the optimum position of the center of gravity that determine a suitable center-of-gravity position with respect to the replacement cargo box, according to any one of claims 19 to claim 17 A program to make it run. The determining means includes
In the first sub-step, the cargo boxes belonging to the fourth to sixth sizes are replaced with the same type of cargo boxes or the different types of cargo boxes, and the cargo loading center of gravity position is the preferred cargo loading center of gravity position. The cargo loading center of gravity position when set to is determined as a suitable center of gravity position for the replaced cargo box,
In the second sub-step, the cargo boxes belonging to the third to sixth sizes are replaced with the same type of cargo boxes or the different types of cargo boxes, and the cargo loading center of gravity position is the preferred cargo loading center of gravity position. The cargo loading center of gravity position when set to is determined as a suitable center of gravity position for the replaced cargo box,
In the third sub-step, the cargo boxes belonging to the second to sixth sizes are replaced with the same type of cargo boxes or the different types of cargo boxes, and the cargo loading center of gravity position is the preferred cargo loading center of gravity position. The cargo loading center of gravity position when set to is determined as a suitable center of gravity position for the replaced cargo box,
In the fourth sub-step, the cargo boxes belonging to the first to sixth sizes are replaced with the same type of cargo boxes or the different types of cargo boxes, and the cargo loading center of gravity position is the preferred cargo loading center of gravity position. a program for a cargo mounting gravity center position when set, to determine a suitable center-of-gravity position with respect to the replacement cargo boxes, to execute claims 17 to computer according to any one of claims 19 to.

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