JP6113677B2 - Conveyance schedule generation device, processing system, conveyance schedule generation method and program - Google Patents

Description

  The present invention relates to a conveyance schedule generation device, a processing system, a conveyance schedule generation method, and a program.

  As a method for performing each process in different processing units (for example, processing tanks) when performing a series of processes having three or more processing steps on a processing object such as a component, a plurality of movable units provided by rails There is a method of transporting parts between processing units using a crane. When processing parts by this method, the parts transportation schedule by each crane is greatly related to work efficiency (productivity). For this reason, the conveyance schedule production | generation method for performing conveyance with a crane efficiently is known (for example, patent document 1).

JP 2002-068669 A

  Here, in the method described in Patent Document 1, it is possible to efficiently convey the processing object after the processing is performed. However, in the method described in Patent Document 1, there is a case where the processing on the processing object cannot be appropriately performed. For example, when the processing time of each process is limited, as an example, each process such as cleaning process, anodizing process, chemical conversion process, and drying in the surface treatment process of parts is a desirable process that can obtain a high-quality processing result according to the purpose. There is time. However, the transport schedule generation method described in Patent Document 1 cannot generate a transport schedule in consideration of such processing time.

  Therefore, the present invention provides a transport schedule generation device, a processing system, and a transport schedule generation method capable of transporting a processing target while appropriately executing each process in three or more processing units to which the processing target is transported. And providing a program.

  The transport schedule generation device of the present invention includes three or more processing units that perform different processes on a processing target, and the processing target from any one of the three or more processing units to any other processing unit. A plurality of cranes that are one or more less than the number of the three or more processing units that transport the transport unit move between the three or more processing units on the same rail, and control the operation of each crane of the transport unit A control device, and a transfer schedule generation device that generates a transfer schedule of the processing object by a component processing device, the processing unit based on a relationship between the processing unit and the processing object. A storage unit for storing a necessary processing time for processing an object and an order in which the processing unit performs the processing on the processing target, and an interference range of the crane with reference to the position of one crane. Using the interference range setting unit to be determined, the necessary processing time, the interference range, the order of processing to be performed on the processing object, and the execution processing time being performed on the processing object by the processing unit , A determination unit that determines execution of the conveyance operation of the processing object by the crane, and a movement of the processing object in parallel to each of the plurality of cranes based on the determination by the determination unit The interference range setting unit sets the interference range for each time point determined by the determination unit, and the determination unit includes other cranes in the interference range. When it has entered and stopped, it is determined that the processing by the one crane cannot be performed.

  The processing system of this invention is equipped with the said component processing apparatus and the conveyance schedule production | generation apparatus which concerns.

  The transport schedule generation method of the present invention includes three or more processing units that perform different processes on a processing target, and the processing target from any one of the three or more processing units to any other processing unit. A plurality of cranes that are one or more less than the number of the three or more processing units that transport the transport unit move between the three or more processing units on the same rail, and control the operation of each crane of the transport unit A transfer schedule generation method for generating a transfer schedule of the processing object by a component processing apparatus comprising: a control device, wherein the processing unit performs processing based on a relationship between the processing unit and the processing object. Storing the necessary processing time for processing the object and the order in which the processing unit performs the processing on the object to be processed, setting the interference range of the crane on the basis of the position of one crane, Using the necessary processing time, the interference range, the order of processing performed on the processing object, and the execution processing time being performed on the processing object by the processing unit, the processing object of the crane The execution of the transfer operation is determined, and on the basis of the determination, the transfer schedule for moving the processing object to each of the processing units in parallel in each of the plurality of cranes is calculated, and every time when the determination is performed When the interference range is set and another crane enters the interference range and stops, it is determined that the processing by the one crane cannot be performed.

  The program of the present invention conveys the processing object from three processing units that perform different processes to the processing target, and any one of the three or more processing units to any other processing unit. A transport device in which a plurality of cranes that are one or more smaller than the number of the three or more processing units move between the three or more processing units on the same rail, and a control device that controls the operation of each crane of the transport device; A program for generating a schedule for conveying the processing object by a component processing apparatus comprising: a computer that processes the processing object by the processing unit based on a relationship between the processing unit and the processing object. Means for storing the necessary processing time and the order in which the processing unit performs the processing on the processing object, means for setting the interference range of the crane on the basis of the position of one crane, The processing object by the crane using the necessary processing time, the interference range, the order of processing to be performed on the processing object, and the execution processing time being performed on the processing object by the processing unit Means for determining the execution of the transfer operation, based on the determination, function as means for calculating the transfer schedule for moving the processing object in parallel to each of the plurality of cranes to each of the processing units, The interference range is set for each time point when the determination is performed, and when another crane enters the interference range and stops, it is determined that the processing by the one crane cannot be executed.

  According to these configurations, the execution of the operation of transporting the processing object by the crane is determined using the necessary processing time for processing the processing object by the processing unit and the execution processing time being executed for the processing object by the processing unit. Therefore, by carrying the object to be processed by the crane so that the execution processing time processed in each processing unit is closer to the required processing time, the execution processing time processed in each processing unit is set to the required processing time. Can be closer. That is, the processing target is transported by calculating the transport schedule by setting the time to be used to determine the execution of the transport operation of the processing target by the crane as the time at which the execution processing time is closer to the required processing time. The conveyance can be performed in consideration of the processing time of each process in three or more processing units. As described above, according to these configurations, the processing object can be transported while appropriately executing each process in the three or more processing units to which the processing object is transported. In addition, since the interference range is set for each time point at which the determination is performed, the minimum interference range necessary for the crane operation at that time point can be obtained. For this reason, possibility that interference of cranes will arise can be reduced more. Therefore, since the waiting time of the crane can be further shortened, the conveyance schedule can be shortened more easily.

  In the conveyance schedule generation device, when the one crane holds the processing object, the interference range setting unit sets the movement range of the one crane accompanying the conveyance of the processing object as an interference range. Is preferred.

  According to this structure, the interference range of the crane which has already hold | maintained the process target object can be made into the minimum required movement range accompanying the conveyance of the said process target object. For this reason, possibility that interference of cranes will arise can be reduced more.

  In the conveyance schedule generation device, when the one crane does not hold the processing target, the interference range setting unit specifies the processing target to be held, and the specified processing target is up to the specified processing target. It is preferable to set the movement range of one crane as the interference range.

  According to this configuration, the interference range of a crane that has not yet held the object to be processed can be set as a minimum necessary movement range for moving the crane to a position where the crane can hold the object to be processed. . For this reason, possibility that interference of cranes will arise can be reduced more. Also, by setting the crane interference range individually according to whether or not the crane is holding the processing object at the time of setting the interference range, the crane before the movement start can hold the processing object It is possible to set the interference range by dividing a series of transport steps that are moved to the next and then moved to transport the processing object to the transport destination at a plurality of time points. For this reason, the interference range at each time point can be minimized.

  In the conveyance schedule generation device, the interference range setting unit specifies the processing target to be held when the one crane does not hold the processing target, and specifies the position from the position of the one crane. It is preferable to set the movement range to the position of the processing object and the movement range from the specified position of the processing object to the processing unit that moves the specified processing object as the interference range.

  According to this configuration, a crane that has not yet held the object to be processed can manage a series of operations from holding the object to be processed to completing the conveyance within one interference range. For this reason, since the frequency | count of setting of the interference range used as the determination object can be reduced more, the processing load concerning determination can be reduced more.

  In the transport schedule generation device, at least one of the three or more processing units is a processing tank capable of storing a liquid that immerses the processing object, and an upper limit time and a lower limit time are set as the necessary processing time. The calculation unit, when the transport schedule including a process not included in the required processing time in the processing unit is calculated, discards the transport schedule and recalculates the transport schedule. preferable.

  According to this configuration, since the transport schedule including processing that is not included in the required processing time is discarded, it is possible to always calculate a transport schedule that satisfies the required processing time.

  In the conveyance schedule generation device, when the other crane exists in the interference range, the determination unit can move the other crane out of the interference range and can process the object to be processed by the one crane. It is preferable to determine that the conveyance can be performed.

  According to this configuration, since the other crane can be moved out of the interference range and the object to be processed can be transported by one crane, it is determined that the processing by the one crane cannot be performed. Opportunities can be further reduced. For this reason, it becomes easier to carry forward the conveyance by the one crane. Therefore, the processing time (lead time) of the entire conveyance schedule can be further shortened.

  The processing system further includes an arrangement pattern setting device that sets a plurality of arrangement patterns of the three or more processing units, and the conveyance schedule generation device conveys each of the plurality of arrangement patterns set by the arrangement pattern setting device. It is preferable to generate a schedule.

  According to this configuration, a conveyance schedule can be generated for each of the plurality of arrangement patterns. For this reason, it becomes easier to further shorten the lead time by adopting an arrangement pattern corresponding to a transport schedule having a shorter processing time (lead time) of the entire transport schedule.

  In the processing system, it is preferable that the arrangement pattern setting device calculates an arrangement pattern based on a setting as to whether or not the three or more processing units can be adjacent to each other.

  According to this configuration, it is possible to set an arrangement pattern by avoiding an arrangement pattern in which processing units that cannot be adjacent to each other among three or more processing units are adjacent to each other. For this reason, a conveyance schedule can be generated only for an arrangement pattern that can be adopted, without generating a conveyance schedule for an arrangement pattern that cannot actually be adopted.

  In the processing system, it is preferable that the arrangement pattern setting device sets an arrangement pattern based on weighting performed on each processing unit based on processing performed using each of the three or more processing units. .

  According to this configuration, the arrangement of each processing unit in the arrangement pattern can be made closer to the more desirable arrangement by expressing the arrangement more desirable for each processing unit by weighting.

  ADVANTAGE OF THE INVENTION According to this invention, the conveyance schedule production | generation apparatus, processing system, and conveyance schedule production | generation method which can carry out the conveyance of a process target object, performing appropriately each process in three or more process parts to which a process target object is conveyed. And programs can be provided.

FIG. 1 is a diagram illustrating a main configuration of a processing system according to the present embodiment. FIG. 2 is a block diagram illustrating a main configuration of the transport schedule generation device. FIG. 3 is a diagram illustrating an example of the relationship between the processing tank and the operable range of the crane. FIG. 4 is a diagram illustrating an example when two cranes do not interfere with each other. FIG. 5 is a diagram illustrating an example when two cranes do not interfere with each other. FIG. 6 is a diagram illustrating an example when two cranes interfere with each other. FIG. 7 is a diagram illustrating an example when two cranes interfere with each other. FIG. 8 is a Gantt chart showing an example of operation time zones and movement states of two cranes that convey parts between seven treatment tanks. FIG. 9 is a diagram illustrating an example of layout data. FIG. 10 is a diagram illustrating an example of work time data. FIG. 11 is a diagram illustrating an example of processing procedure data. FIG. 12 is a diagram illustrating an example of crane arrangement data. FIG. 13 is a diagram illustrating an example of travel time data. FIG. 14 is a flowchart illustrating an example of a process flow relating to the calculation of the optimal solution for the transport schedule. FIG. 15 is a flowchart illustrating an example of the flow of the generation process of the conveyance schedule. FIG. 16 is a flowchart illustrating an example of a flow of processing relating to one start event. FIG. 17 is a flowchart illustrating an example of a flow of processing relating to one completion event. FIG. 18 is a flowchart illustrating an example of a flow of processing related to the interference range of the target crane. FIG. 19 is a flowchart illustrating an example of a process flow related to a start event when the time is advanced. FIG. 20 is a flowchart illustrating an example of a flow of a transport schedule generation process when the time is advanced. FIG. 21 is a flowchart illustrating an example of the flow of a transport schedule generation process when the time is advanced. FIG. 22 is a diagram illustrating a processing system including an arrangement pattern setting device. FIG. 23 is a flowchart illustrating an example of a flow of processing relating to calculation of an optimal solution for a transport schedule when a plurality of arrangement patterns of three or more processing units are set. FIG. 24 is a flowchart illustrating an example of a flow of processing related to the interference range of the target crane when the pre-holding operation and the post-holding operation are handled as a single operation.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a diagram illustrating a main configuration of a processing system 1 according to the present embodiment. The processing system 1 includes a component processing device 5 and a conveyance schedule generation device 20. The component processing device 5 includes three or more processing units (for example, the processing tanks 2 </ b> A to 2 </ b> G), the transfer device 10, and the control device 3. In the following description, the right side of FIG. 1 is the upstream side, and the left side of FIG. 1 is the downstream side. The treatment system 1 according to the present embodiment is a surface treatment system that performs surface treatment on each of a plurality of components.

  The three or more processing units perform different processes on the processing object (part). Specifically, at least one of the three or more processing units is a processing tank that can store a liquid that immerses the processing object. In the present embodiment, a processing system 1 having seven processing tanks 2A, 2B, 2C, 2D, 2E, 2F, and 2G will be described. Each of the processing tanks (processing tanks 2A, 2B, 2C, 2D, 2E, 2F, 2G) is one processing unit. Seven treatment tanks 2A, 2B, 2C, 2D, 2E, 2F, and 2G are related to various treatments related to the surface treatment of parts (for example, degreasing treatment, cleaning treatment, etching treatment, anodizing treatment, chemical conversion treatment, and drying treatment). Provided separately. Examples of the degreasing treatment include aqueous degreasing and alkali degreasing, and examples of the cleaning treatment include hot water washing and water washing. The processing system 1 of the present embodiment is provided with seven processing tanks 2A, 2B, 2C, 2D, 2E, 2F, and 2G that perform processing with different specific contents. The processing system 1 may be provided with a plurality of processing tanks that perform the same processing for some or all of the processing. Moreover, the processing tank (inlet) 2A for mounting the parts before the start of processing and the processing tank (outlet) 2G for mounting the parts after the processing may be included. Arrangement of the treatment tanks 2A to 2G corresponding to each treatment (positional relationship on the upstream side or downstream side) is arbitrary.

  The transport apparatus 10 transports a processing object from any one of three or more processing units (for example, seven processing tanks 2A, 2B, 2C, 2D, 2E, 2F, and 2G) to any other processing unit. A plurality of cranes (for example, cranes 12A and 12B) that are one or more smaller than the number of the three or more processing units to be moved move between the three or more processing units on the same rail. Specifically, the transport apparatus 10 includes a pair of rails 11 and two cranes 12A and 12B. The two cranes 12 </ b> A and 12 </ b> B are provided so as to be movable along the rail 11. The two cranes 12 </ b> A and 12 </ b> B include a drive unit for traveling on the rail 11, and move by operating the drive unit under the control of the control device 3.

  As shown in FIG. 1, the direction in which the treatment tanks 2 </ b> A to 2 </ b> G are arranged in parallel and the direction in which the rail 11 is laid are the same. The two cranes 12 </ b> A and 12 </ b> B are provided so that the parts carried by the arms can be transported between the processing tanks by moving along the rails 11.

  The control device 3 controls the operations of the cranes 12A and 12B of the transport device 10. Specifically, the control device 3 is a device (computer or the like) that outputs a command to the operation system of the drive unit or the arm. The control device 3 controls the operations of the cranes 12A and 12B according to the conveyance schedule data output from the conveyance schedule generation device 20.

  FIG. 2 is a block diagram illustrating a main configuration of the transport schedule generation device 20. The conveyance schedule generation device 20 generates a conveyance schedule for a processing object by the component processing device 5. The transport schedule generation device 20 is an information processing device (computer) including a storage unit 25 and a calculation unit 26, for example. The storage unit 25 stores various software programs such as a crane interference confirmation program 51, a processing step confirmation program 52, a schedule creation program 53, and data used in executing these software programs. The calculation unit 26 reads out and executes the software program stored in the storage unit 25. Accordingly, the transport schedule generation device 20 functions as an interference range setting unit 21, a determination unit 22, and a calculation unit 23.

  Based on the relationship between the processing unit and the processing target, the storage unit 25 stores the necessary processing time for processing the processing unit with the processing target and the order in which the processing unit performs processing on the processing target. Specifically, the storage unit 25 stores, for example, layout data 61, work time data 62, processing procedure data 63, crane placement data 64, travel time data 65, and processed flight data 66. Details of these data will be described later.

  The interference range setting unit 21 sets the crane interference range based on the position of one crane (for example, the crane 12A or the crane 12B). Specifically, the interference range setting unit 21 has a current position and a position on the rail 11 corresponding to the processing tank before the transfer, with respect to one crane that transfers parts existing in one processing tank to another processing tank. The position on the rail 11 corresponding to the processing tank after conveyance is acquired. The interference range setting unit 21 sets a range on the rail 11 including the three acquired positions as an interference range.

  FIG. 3 is a diagram illustrating an example of the relationship between the processing tanks 2A to 2G and the operable ranges MA and MB of the cranes 12A and 12B. In FIG. 3, it is a combination of seven treatment tanks 2A, 2B, 2C, 2D, 2E, 2F, 2G and two cranes 12A, 12B, and the laying range of the rail 11 is seven treatment tanks 2A, 2B, 2C, 2D, 2E, 2F, 2G is the minimum necessary range for conveyance, the widths of the processing tanks 2A to 2G in the laying direction of the rail 11 are equal, and one crane 12A (12B) in the laying direction of the rail 11 An example in which the width corresponds to the width of one processing tank is described. Since the cranes 12 </ b> A and 12 </ b> B exist on the same rail 11, the operable range is limited according to the range occupied by the other crane existing upstream or downstream of one crane. In the example shown in FIG. 3, the operable range MA of the crane 12A and the operable range MB of the crane 12B are shown. The interference range of each crane is set within the operable range of each crane. In other words, each crane transfers a part existing in one of the processing tanks 2A, 2B, 2C, 2D, 2E, 2F, and 2G within the operable range to another processing tank 2A, 2B, within the operable range. It can be conveyed to any of 2C, 2D, 2E, 2F, and 2G. Although not shown, when the number of cranes is three or more, the operable range of the crane that is not the most upstream and not the most downstream is limited depending on the range occupied by other cranes existing upstream and downstream. Is done. That is, the “range occupied by another crane” for a certain crane is the range that the other crane physically occupies among the entire range on the rail 11 and the one crane across the other crane. The range that exists on the other side of the crane.

  The determination part 22 determines execution of the conveyance operation of the processing target object by a crane (for example, crane 12A, 12B).

  4 and 5 are diagrams illustrating an example of the case where the two cranes 12A and 12B do not interfere with each other. For example, as shown in FIG. 4, the crane 12 </ b> B transports parts during a time period when the crane 12 </ b> A does not exist within the interference range KA of the crane 12 </ b> B and the crane 12 </ b> A does not enter the interference range KA. There will be no other cranes that prevent you from doing it. In this case, the determination unit 22 determines that the parts can be transported by the crane 12B during the time period. In addition, as shown in FIG. 5, although the crane 12B exists in the interference range KB of the crane 12A, the crane 12B moves in the same direction as the conveyance direction by the crane 12A and moves out of the interference range KB. , There will be no other cranes that prevent the crane 12A from carrying parts. In this case, the determination unit 22 determines that the parts can be transported by the crane 12A during the time period. As described above, when there is another crane (for example, the crane 12B) in the interference range (for example, the interference range KB), the determination unit 22 can move the other crane out of the interference range. It is determined that the object to be processed can be transported by two cranes (for example, crane 12A). The same applies when the crane 12B has already moved out of the interference range of the crane 12A.

  6 and 7 are diagrams illustrating an example of the case where the two cranes 12A and 12B interfere with each other. For example, as shown in FIG. 6, when the crane 12B exists in the interference range KC of the crane 12A and the crane 12B does not collide with the crane 12A and cannot move out of the interference range KC, the crane 12A There will be other cranes that prevent the parts from being transported. In this case, the determination unit 22 determines that the parts cannot be transported by the crane 12A during the time period. Moreover, as shown in FIG. 7, although the crane 12B does not exist in the interference range KD of the crane 12A, the crane 12B enters the interference range KD in the time zone when it is assumed that the crane 12A has transported. For the accompanying time zone, there will be other cranes that prevent the crane 12A from carrying parts. In this case, the determination unit 22 determines that the parts cannot be transported by the crane 12A during the time period. As described above, the determination unit 22 determines that processing by one crane (for example, the crane 12A) is not executable when another crane (for example, the crane 12B) enters the interference range (for example, the interference ranges KC and KD). To do.

  When the parts cannot be transported by one crane in a certain time zone, the determination unit 22 determines again whether or not the parts can be transported by the one crane in another time zone. The determination unit 22 repeats the determination until a time zone in which the parts can be transported by the one crane is found.

  FIG. 8 is a Gantt chart showing an example of operation time zones and movement states of the two cranes 12A and 12B that convey parts between the seven treatment tanks 2A to 2G. The calculation unit 23 calculates a transport schedule from the start to the end of a series of processes for all the processing objects under a predetermined condition. Specifically, the calculation unit 23 calculates and outputs a conveyance schedule corresponding to a Gantt chart as shown in FIG. 8, for example. That is, the calculation unit 23 outputs data indicating the start time and end time of each process for the processing object, and data indicating the position information along the time series of the cranes 12A and 12B. As shown in FIG. 8, the processing system 1 performs component processing on each of a plurality of processing objects in parallel.

  9 to 13 are diagrams illustrating examples of data referred to by the calculation unit 23. At the time of calculation, the calculation unit 23 parallels each processing unit (for example, seven processing tanks 2A, 2B, etc.) in parallel with each of the plurality of cranes (for example, the cranes 12A and 12B) based on the determination by the determination unit 22. 2C, 2D, 2E, 2F, 2G) is calculated. Specifically, the calculation unit 23 stores layout data 61, work time data 62, processing procedure data 63, crane placement data 64, travel time data 65, and processed flight data 66 during storage. The transport schedule is calculated by reading from 25 and referring to it.

  FIG. 9 is a diagram illustrating an example of the layout data 61. The layout data 61 is data indicating the layout of three or more processing units (for example, the processing tanks 2A to 2G). Specifically, for example, as shown in FIG. 9, the layout data 61 includes a number (No) that is increased by setting the initial value to 1, an individual processing tank ID assigned to each processing tank, and each processing tank. Contents indicating the outline. In FIG. 9, although the description which attached | subjected the code | symbol of each processing tank is used as a content, it is an example and is not restricted to this. For example, the information which shows the specific content of the process performed in each processing tank may be included. In the layout data 61, a processing tank having a smaller number is arranged on the upstream side, and a larger processing tank is arranged on the downstream side. That is, the layout data 61 shown in FIG. 9 indicates the arrangement order of the treatment tanks 2A to 2G arranged in order from the upstream side toward the downstream side.

FIG. 10 is a diagram illustrating an example of the work time data 62. The work time data 62 is data indicating an upper limit and a lower limit of the processing time in each processing unit. Specifically, as shown in FIG. 10, for example, the work time data 62 includes a processing tank ID, contents (work items) indicating processing steps for each processing tank ID, and parts continuously waiting in each processing tank. The lower limit and the upper limit of the possible time (processing time) and the raising / lowering time of the cranes 12A, 12B spent when the crane (for example, the cranes 12A, 12B) loads or unloads parts in each processing tank are included. In addition, the work time whose upper limit and lower limit are “0” indicates that the work time has no upper and lower limits. As the working time data 62 indicates, the component processing that is a series of processing is processing in which a part or all of three or more processing units (for example, the processing tanks 2A to 2G) are not less than a lower limit and not more than an upper limit individually determined. Occupies time. As described above, the upper limit time and the lower limit time are set as the required processing time for processing the processing object in the processing section (for example, any one of the seven processing tanks 2A, 2B, 2C, 2D, 2E, 2F, and 2G). ing. It is also possible to define a processing time of a plurality of types of processing steps and the processing steps in the work time data 62 for processing by the same processing tank. For example, such a definition is performed when processing in the same processing tank is performed a plurality of times in a series of processing.

  FIG. 11 is a diagram illustrating an example of the processing procedure data 63. The processing procedure data 63 is data indicating a processing procedure of each processing performed on the component. Specifically, as shown in FIG. 11, for example, the processing procedure data 63 includes a name (processing name) of each process included in the processing procedure, a content (processing tank) and a processing tank ID used in each process. Including. The processing procedure data 63 shown in FIG. 11 is data indicating a processing procedure related to one type of component processing, but may be data indicating a processing procedure related to each of a plurality of types of component processing. As the processing procedure data 63 indicates, in the component processing, it is required to move between the processing tanks in an individually determined order. The processing procedure data 63 shown in FIG. 11 indicates that the processing proceeds in order from the processing described above. The processing procedure data 63 is required to move between processing tanks at the timing when the processing shifts.

  FIG. 12 is a diagram illustrating an example of the crane arrangement data 64. The crane arrangement data 64 is data indicating the number of cranes and the operable range of each crane (for example, the cranes 12A and 12B). Specifically, as shown in FIG. 12, for example, the crane arrangement data 64 includes a processing tank ID and row data indicating the initial positions and operable ranges of the cranes 12A and 12B. The number of columns existing on the right side of the processing tank ID in the leftmost column shown in FIG. 12 corresponds to the number of cranes. Further, double circles (◎) in each row on the right side of the processing tank ID indicate initial positions of the cranes 12A and 12B, and single circles (◯) indicate operable ranges of the cranes 12A and 12B.

  FIG. 13 is a diagram illustrating an example of the travel time data 65. The movement time data 65 is data indicating the movement time of the cranes 12A and 12B related to movement between the processing units. Specifically, as shown in FIG. 13, for example, the movement time data 65 starts moving when the cranes 12A and 12B are moved between the processing tank ID combination patterns and the processing tanks corresponding to the processing tank IDs. To the time spent until the completion of movement. The movement time data 65 includes a movement time when the cranes 12A and 12B carry parts, and a movement time when the cranes 12A and 12B carry no parts. In the movement time data 65 shown in FIG. 13, the upper side of the boundary line L indicates the movement time during conveyance, and the lower side indicates the movement time during empty conveyance. For example, the crane 12A, 12B in a state where no parts are carried is moved to one of the processing tanks 2A, 2B, 2C, 2D, 2E, 2F, 2G where the parts to be transported exist. The travel time is shown. Moreover, the movement time at the time of empty conveyance shows the movement time when moving the crane which is not conveying components to the outside of the interference range of another crane. In this embodiment, it is assumed that the performances of the cranes 12A and 12B under the same conditions are all the same.

  The processing flight data 66 is data indicating the number of processing objects and the type of processing for each component. Specifically, the processed stool data 66 includes, for example, data indicating the number of parts processed in one transport schedule and a processing procedure applied to each part. The processing procedure applied to each component is data indicating association with the processing procedure included in the processing procedure data 63. Here, when all the processing procedures applied to each component are the same, the processing procedure data 63 is data indicating a processing procedure related to one type of component processing. On the other hand, when parts having different processing procedures are processed according to one transport schedule, the processing procedure data 63 is data indicating processing procedures relating to a plurality of types of component processing. Hereinafter, a series of operations from the start of processing of one component to the end of processing may be referred to as “processing stool”.

  The processed stool data 66 of this embodiment is data indicating that the start time of the processed stool of a plurality of (for example, three) parts is shifted by a predetermined time (for example, 1.5 hours). The calculation unit 23 calculates the transport schedule according to the processed flight data 66 under a condition in which the start timing of each of a series of processes (part processes) of a plurality of processing objects is shifted by a predetermined time (for example, 1.5 hours). To do.

  FIG. 14 is a flowchart illustrating an example of a process flow relating to the calculation of the optimal solution for the transport schedule. The process related to the flowchart shown in FIG. 14 is performed, for example, when the calculation unit 26 executes the schedule creation program 53. The calculation unit 23 sets a time interval between start times of a plurality of processing flights (step S1). Specifically, the calculation unit 23 sets, for example, according to the processed flight data 66, to start the processed flight at a time interval shifted by a predetermined time (for example, 1.5 hours). The calculation unit 23 generates a transport schedule when a plurality of processed flights included in the processed flight data 66 are started at the time interval set in step S1 (step S2).

  FIG. 15 is a flowchart illustrating an example of a flow of a transport schedule generation process (step S2 and the like). The processing related to the flowchart shown in FIG. 15 is performed, for example, when the calculation unit 26 executes the schedule creation program 53. The calculation unit 23 sets the simulation time of the conveyance schedule to the simulation start time (step S11). Specifically, for example, when the start time of the first processed flight is 10:10, the simulation start time is 10:10. In this case, the calculation unit 23 sets the simulation time to 10:10. Hereinafter, the latest simulation time is referred to as “current simulation time”.

  The calculation unit 23 generates a start event of the first process in the processing flight whose current simulation time is the start time (step S12). The calculation unit 23 determines whether or not all events related to all processed flights have been completed (step S13). Here, when it is determined that all the events are not completed (step S13; No), the calculation unit 23 determines whether there is an unprocessed event at the current simulation time (step S14). If it is determined that there is an unprocessed event (step S14; Yes), it is determined whether there is a completion event at the current simulation time (step S15). Here, when the completion event does not exist (step S15; No), the calculation unit 23 selects one start event and performs processing related to one start event (step S16).

  The first start event of each processed flight is automatically set according to the processed flight data 66. The first start event is set according to the processing procedure data 63. In this embodiment, it is a processing step at the inlet 2A. The start event is an event set to start one operation among various operations for performing each processing step included in the processing flight. The completion event is an event set to complete the operation started by the start event.

  FIG. 16 is a flowchart showing an example of the flow of processing (step S16) related to one start event. The processing relating to the flowchart shown in FIG. 16 is performed, for example, by the processing unit 26 executing the processing step confirmation program 52. The calculation unit 23 determines whether the type of the process is a processing process in the processing tank or a crane conveyance process (step S31). Here, when it determines with it being a process process in a processing tank, the calculation part 23 determines whether it is the first process of a process flight (step S32). When it determines with it being the first process of a processing flight (step S32; Yes), the calculation part 23 determines whether the processing tank used for the first process is vacant (step S33). When it determines with the processing tank being vacant (step S33; Yes), the calculation part 23 records the present simulation time as the start time of the said start event (step S34). Further, the calculation unit 23 generates a completion event corresponding to the start event, and calculates the simulation time (completion time) (step S35). Specifically, the calculation unit 23 refers to the work time data 62, specifies the lower limit of the processing time in the corresponding process, and calculates the time after the specified time has elapsed from the current simulation time as the completion time. And set it as a completion event.

  If it is determined in step S33 that the processing tank is not empty (step S33; No), the processing operation is not started. That is, the calculation unit 23 regenerates the start event for the purpose of deferring the execution of the start event (step S36). Specifically, the calculation unit 23 regenerates the start event at the start time after a predetermined reset time (for example, 1 second) has elapsed. After the process of step S35 or step S36, the calculation unit 23 ends the process related to the start event.

  After the process related to the start event (step S16) ends, the process proceeds to step S14 as shown in FIG. As a specific example, since the processing tank of “entrance” which is the first event in the first processing flight is always vacant, the completion of the simulation time set at the same time is completed by the processing of step S35 above. An event is generated. In this case, there is an unprocessed event (step S14; Yes). When there is a completion event in step S15 (step S15; Yes), the calculation unit 23 selects one completion event and performs processing related to one completion event (step S17).

  FIG. 17 is a flowchart showing an example of the flow of processing (step S17) related to one completion event. The processing related to the flowchart shown in FIG. 17 is performed, for example, by the processing unit 26 executing the processing step confirmation program 52. The calculation unit 23 records the completion time calculated by the process of step S35 (step S51). The calculation unit 23 determines whether or not the completion event is a crane transport process (step S52). When it is determined that the process is not the crane transport process (step S52; No), the calculation unit 23 processes the processing time from the simulation time of the start event of the processing process corresponding to the completion event to the completion time recorded in step S51 ( It is determined whether or not (execution processing time) deviates from the necessary processing time of the processing step (step S53). Specifically, for the processing time from the simulation time of the start event of the processing step corresponding to the completion event to the completion time recorded in step S51, the calculation unit 23 sets a lower limit determined by the work time data 62, for example. It is determined whether the time deviates from the processing time within the range of the time and the upper limit time. When it is determined that the execution processing time does not deviate from the processing time (step S53; No), the calculation unit 23 determines whether there is a next process (step S54). Specifically, the calculation unit 23 determines whether or not the processing process of the processing flight is the final process (exit) of the processing procedure data 63. Here, when there is no next process (step S54; No), the calculation unit 23 ends the process related to the completion event. On the other hand, when the next process exists (step S54; Yes), the calculation unit 23 generates a start event for the next process (step S55), and thereafter ends the process related to the completion event. As a specific example, according to the processing procedure data 63, there is a processing tank of the processing tank 2B after the processing tank of the entrance 2A which is the first event of the first processing flight. Therefore, the calculation unit 23 generates a crane transport process start event for performing “transport from the entrance 2A to the treatment tank 2B by the crane”. In this case, the simulation time of the start event is the current simulation time.

  After the process related to the completion event (step S17) ends, the process proceeds to step S14 as shown in FIG. Here, for example, when the start event of the crane conveyance process is generated as described above, the process proceeds to the process of step S16 again.

  As shown in FIG. 16, when it determines with the kind of process being a crane conveyance process in step S31, the determination part 22 determines whether the processing tank of a conveyance destination is vacant (step S37). When it determines with the processing tank of a conveyance destination being vacant (step S37; Yes), the determination part 22 determines whether the crane (for example, either crane 12A, 12B) used for conveyance is vacant ( Step S38). When it is determined that the crane is vacant (step S38; Yes), the interference range setting unit 21 sets a movement range associated with conveyance by one crane (target crane) determined to be vacant as the interference range. (Step S39). The determination part 22 performs the process regarding the interference range of an object crane (step S40). Thus, the interference range setting unit 21 sets the interference range for each time point when the determination unit 22 performs the determination.

  In the present embodiment, the target crane is moved from a position before the start of operation in which the target crane is not holding the processing target to a position on the rail 11 corresponding to the position where the processing target exists. Start event and completion individually for the operation of the target crane for holding the target object (pre-holding operation) and the operation for the target crane to transfer the processing target to the processing tank of the transfer destination (post-holding operation) Set events and set individual interference ranges. That is, when one crane does not hold the processing object, the interference range setting unit 21 specifies the processing object to be held, and sets the movement range of one crane to the specified processing object as the interference range. Set to. Moreover, the interference range setting part 21 sets the movement range of one crane accompanying conveyance of the said processing target object to an interference range, when one crane is holding the processing target object. As described above, in this embodiment, the interference range is set by dividing the process of transporting the object to be processed by one crane at a plurality of time points.

  FIG. 18 is a flowchart illustrating an example of a flow of processing (step S40) regarding the interference range of the target crane. The processing related to the flowchart shown in FIG. 18 is performed, for example, when the calculation unit 26 executes the crane interference confirmation program 51. The determination unit 22 determines whether or not the crane is within the interference range for one other crane that is not the target crane (step S71). Here, when it is determined that the other crane is not within the interference range (step S71; No), the determination unit 22 is occupying the other crane and is within the interference range. It is determined whether it is accompanied by the movement which moves toward (step S72). Here, when it is determined that the other crane is occupied and accompanied by an operation of moving toward the interference range (step S72; Yes), the determination unit 22 determines that the target crane It is determined that interference with other cranes occurs (step S73), and the processing related to the crane interference range is terminated.

  When it is determined in step S71 that the other crane is within the interference range (step S71; Yes), the determination unit 22 determines whether or not the other crane is occupied ( Step S74). If it is determined that the other crane is not occupied (step S74; No), the determination unit 22 can perform an avoidance operation to move the other crane out of the interference range. (Step S75). When it is determined that the avoidance operation cannot be performed (step S75; No), the process proceeds to step S73. That is, the determination unit 22 determines that interference between the target crane and another crane occurs, and ends the processing related to the interference range of the crane.

  When it is determined in step S74 that the other crane is occupied (step S74; Yes), the determination unit 22 performs an operation in which the other crane is not moved within the interference range. It is determined whether or not (step S76). In other words, the determination unit 22 determines whether or not the other crane is performing a part lifting operation or a lowering operation in the processing tank at the current simulation time. When it is determined that the other crane is working without moving (step S76; Yes), the process proceeds to step S73. That is, the determination unit 22 determines that interference between the target crane and another crane occurs, and ends the processing related to the interference range of the crane.

  When it is determined in step S76 that the other one crane is not performing work without movement within the interference range (step S76; No), the determination unit 22 determines that the other one crane is the target crane. It is determined whether or not it moves in the same direction as the movement direction of and moves out of the interference range (step S77). When it is determined that the moving direction of the other crane is different from the moving direction of the target crane, or when it is determined that the moving destination of the other crane is within the interference range (step S77). No), the process proceeds to step S73. That is, the determination unit 22 determines that interference between the target crane and another crane occurs, and ends the processing related to the interference range of the crane.

  In other cases, the determination unit 22 determines that no interference occurs with respect to the relationship between the target crane and the other one crane. The other cases are the cases of “Step S72; No”, “Step S75; Yes”, and “Step S77; Yes”. The case of “Step S <b> 72; No” is a case where it is determined that another crane that is not within the interference range is not occupied or does not involve an action of moving toward the interference range. The case of “Step S75; Yes” is a case where it is determined that the avoidance operation of another crane that is not occupied and is present within the interference range can be performed. The case of “Step S77; Yes” is a case where another occupied crane existing in the interference range moves in the same direction as the movement direction of the target crane and goes out of the interference range. That is, when another crane exists in the interference range, the determination unit 22 can carry the object to be processed by one crane (target crane) when the other crane can be moved out of the interference range. judge.

  The determination part 22 performs the process regarding the interference range of the target crane which is individually started from step S71 for all cranes other than the target crane. However, when the determination unit 22 ends the process through the process of step S73, even if other cranes that have not been subjected to the process related to the interference range of the target crane still remain for other cranes that have not been performed. The processing related to the interference range of the target crane is omitted. In other words, when it is determined that there is another crane that interferes with the target crane, the determination unit 22 cannot perform the crane transport process by the target crane at the current simulation time. The process related to the interference range is terminated. On the other hand, when it is determined that interference does not occur for all cranes other than the target crane, the determination unit 22 determines that interference between the target crane and another crane does not occur (step S78).

  However, in step S75, when the number of cranes is three or more, determination regarding a plurality of other cranes is included. Specifically, when there are a plurality of other cranes on the rail 11 on either the upstream side or the downstream side with respect to the target crane, the determination unit 22 performs a determination considering the plurality of other cranes. . Specifically, when the position, occupation state and avoidance operation of all the cranes in one side are out of the interference range, the area on the rail 11 occupied by the other crane is filled and the other crane interferes. It is determined whether or not an avoidance operation for moving out of the range can be performed. For example, if there are two other cranes on the upstream side of the target crane and there is only an area outside the interference range on the upstream side corresponding to one crane, one of the two cranes Cannot move out of range. In such a case, the determination unit 22 determines that the avoidance operation cannot be performed. In addition, due to the reason that some of the cranes existing on the one side do not move outside the interference range, the destination of other cranes within the interference range is limited, and the interference range Even in the case where it is not possible to move outside, the determination unit 22 determines that the avoidance operation cannot be performed. Thus, the determination part 22 performs determination according to the number of the other crane which exists on the rail 11 of either the upstream or the downstream on the basis of the object crane in step S75. In other words, in step S75, the determination unit 22 determines whether all the cranes existing on the one side can exist outside the interference range on the one side. The determination unit 22 performs the determination separately on the upstream side and the downstream side.

  If it is determined in step S78 that interference between the target crane and another crane does not occur, the determination unit 22 determines whether an avoidance operation (see step S75) is necessary (step S79). That is, the determination unit 22 determines whether or not it is necessary to cause a part or all of the other cranes to perform an avoiding operation so as not to cause interference between the target crane and the other cranes. When it is determined that the avoidance operation is necessary (step S79; Yes), the calculation unit 23 occupies another crane that performs the avoidance operation from the current simulation time to the simulation time until the avoidance operation is completed. (Occupation processing) is performed (step S80). The occupancy process is a process for moving another crane that is an object of the avoidance operation to outside the interference range of the target crane. The occupation process is performed individually for each of the other cranes that are the targets of the avoidance operation. That is, the time during which the other cranes move in the occupation process depends on the position of each other crane and the moving distance necessary for the avoidance operation. After the process of step S80 or when it is determined in step S79 that no avoidance operation is necessary (step S79; No), the determination unit 22 ends the process related to the interference range of the crane.

  After completion of the process related to the interference range of the target crane (step S40), as illustrated in FIG. 16, the determination unit 22 determines whether or not interference between the target crane and another crane occurs based on the processing result of step S40. Determination is made (step S41). When it is determined that interference between the target crane and another crane occurs (step S41; Yes), the calculation unit 23 regenerates the start event for the purpose of deferring the execution of the start event (step S41). S42). Specifically, the calculation unit 23 regenerates the start event at the start time after a predetermined reset time (for example, 1 second) has elapsed. Moreover, when it determines with the processing tank of a conveyance destination not vacant in step S37 (step S37; No), and when it determines with the crane used for conveyance not empty in step S38 (step S38; No) ) Also proceeds to the process of step S42. After the process of step S42, the calculation unit 23 ends the process related to the start event.

  When it is determined in step S41 that interference between the target crane and another crane does not occur (step S41; No), the calculation unit 23 performs the start event, that is, the processing tank and target of the transfer destination in the crane transfer process. A crane occupation process is performed (step S43). In addition, the calculation unit 23 reserves the transfer processing tank at the start event so that the occupation is released at the time when the target crane completes lifting the parts and moves to the transfer destination side by one processing tank. Is performed (step S44). After the processes in steps S43 and S44, the process proceeds to step S34. Specifically, the calculation unit 23 refers to the work time data 62 and the movement time data 65, and moves from the processing tank before the transfer, the moving time at the time of empty transfer to the processing tank before the transfer, the lifting time of the parts. The movement time and the time for lowering parts are specified when transporting to the subsequent processing tank. The calculation unit 23 generates a completion event of the crane transport process, calculates the time after the specified time has elapsed from the current simulation time as the completion time, and sets it as the completion event. That is, the time zone in which the target crane is occupied is the time zone from the current simulation time to the completion time calculated in step S35. Moreover, the calculation part 23 calculates the completion time of the process process in the process tank using the process tank before the conveyance of the said crane conveyance process. Specifically, the calculation unit 23 calculates, for example, the time when the target crane has moved to the processing tank before conveyance and started lifting the component as the completion time of the processing process in the processing tank. After the process of step S35, the calculation unit 23 ends the process related to the start event.

  After the process related to the start event (step S16) ends, the process proceeds to step S14 as shown in FIG. Here, since the completion event of said crane conveyance process is the time after the present simulation time, it determines with there being no unprocessed event in step S14 (step S14; No). In this case, the calculation unit 23 advances the simulation time. Specifically, the calculation unit 23 advances the simulation time for a predetermined progress time (for example, 1 second) (step S18). Thereafter, the process proceeds to step S12.

  Then, the process regarding the completion event when the simulation time becomes the simulation time of the completion event of the crane transport process will be described with reference to FIG. The calculation unit 23 records the completion time calculated by the process of step S35 (step S51). When it determines with it being a crane conveyance process in step S52 (step S52; Yes), the calculation part 23 cancels | releases the occupation of the object crane occupied until the said completion event (step S56), and step S53 Transition to processing. Here, the calculation unit 23 determines whether or not the execution processing time of the processing process corresponding to the completion event deviates from the necessary processing time of the processing process. For example, in the case of a transfer process from the processing tank 2B to the processing tank 2C, the calculation unit 23 determines whether or not the execution processing time of the processing process of the processing tank using the processing tank 2B deviates from the necessary processing time. To do. Here, when it is determined that the execution processing time has deviated from the necessary processing time (step S53; Yes), the calculation unit 23 forcibly terminates the processing related to the generation of the transport schedule (step S57). That is, when a processing step in which the processing time deviates from the required processing time is included, the calculation unit 23 aborts the process because the simulation result cannot be adopted. The flow of processing after forced termination will be described later.

  In the process related to the completion event of the crane transport process, the start event of the next process generated in step S55 is a start event of the process process in the processing tank using the processing tank after transport.

  In the processing related to the start event of the processing step in the processing tank in the processing stool after carrying out the crane transporting process one or more times (see FIG. 16), it is determined in step S32 that the process is not the first step (step S32). No). In this case, the process proceeds to step S34. About the processing process in the processing tank except an entrance, since the process is started by completion of a crane conveyance process, the start postponement is impossible. Therefore, the processing steps in the processing tanks 2B to 2G excluding the inlet 2A are forcibly started and a completion event is generated in the lower limit time. Thereafter, the completion time of each processing step in the simulation is recorded based on the start time of the crane conveyance step.

  As shown in the processing included in the description with reference to FIGS. 15 to 18, the determination unit 22 determines the necessary processing time, the interference range, the order of processing performed on the processing target, and the processing unit (for example, seven processing tanks). 2A, 2B, 2C, 2D, 2E, 2F, 2G) is used to determine whether the crane (for example, cranes 12A, 12B) is to carry the processing object. To do.

  The transport schedule generation device 20 repeats the processing described above until a completion event is generated for the exit 2G of each processing flight. Moreover, step S12 is implemented according to the start time of each processed flight set by the processed flight data 66 (see FIG. 15). When it is determined in step S13 that all events of all the processed flights have been completed (step S13; Yes), the calculation unit 23 determines the start time and end time of each process (various operating states of the cranes 12A and 12B). (Including the time indicating) is generated (step S19). After the process of step S19, the calculation unit 23 ends the transport schedule generation process.

  After the process of step S2, as shown in FIG. 14, the calculation part 23 makes the produced | generated newest conveyance schedule data the optimal solution data (step S3). In step S3 after execution of step S2, the conveyance schedule data generated in step S2 becomes the optimum solution data.

  After the process of step S <b> 3, the calculation unit 23 performs a process of setting the time interval between the processed flights set in the processed flight data 66 to a shorter time. Specifically, the calculation unit 23 shortens the time interval between the processing flights, for example, by a predetermined shortening time (for example, 1 second). Thereafter, the calculation unit 23 again performs the generation process of the transport schedule based on the time interval between the processing flights that is set to a shorter time (step S4). The specific content of the transport schedule generation process in step S4 is the same as the transport schedule generation process in step S2.

  After the process of step S4, the calculation unit 23 calculates the time from the start time to the end time of the process using the current optimum solution data and the time from the start time to the end time of the process using the transport schedule data generated in step S4. To determine whether the time has been shortened compared to the optimal solution data (step S5). Here, when it is determined that the time is shorter than the optimal solution data (step S5; Yes), the process proceeds to step S3. That is, the calculation unit 23 sets the transport schedule data whose time is shortened as the optimum solution data. Thus, when the time interval (predetermined time) between the processing flights is set to a shorter time, the calculation unit 23 reduces the elapsed time from the start to the end of the component processing of all the processing objects. Make the predetermined time shorter.

  When it is determined in step S5 that the time has not been shortened compared to the optimal solution data (step S5; No), the calculation unit 23 uses the crane used for conveyance in the conveyance schedule generated in step S4 ( For example, a transport schedule when the crane 12A or the crane 12B) is changed is generated (step S6). Specifically, for example, when there are a plurality of cranes that can be employed in a certain crane transport process, the calculation unit 23 performs the crane transport process with another crane that is not the one crane used in the transport schedule generated immediately before. Change to complete, and generate a transport schedule. In addition, the calculation unit 23 is more suitable for use in the crane transport process (for example, the movement distance is shorter), for example, with respect to the crane transport process performed at a timing when there is only one vacant crane. It is possible to wait until the other crane is empty and complete the crane transport process. Except for changing the usage pattern of the crane, the specific contents of the process of step S6 are the same as the generation process of the transport schedule of step S2.

  After the process of step S6, the calculation unit 23 calculates the time from the start time to the end time of the process based on the current optimum solution data and the time from the start time to the end time of the process based on the transfer schedule data generated in step S6. To determine whether the time has been shortened compared to the optimal solution data (step S7). Here, when it is determined that the time is shorter than the optimal solution data (step S7; Yes), the process proceeds to step S3. That is, the calculation unit 23 sets the transport schedule data whose time is shortened as the optimum solution data. As described above, the calculation unit 23 can change the process when the crane used for transporting the processing target object can be changed to another crane during the transport schedule from the start to the end of parts processing of all the processing target objects. When the time is shorter than the elapsed time before the change, the crane used for transporting the object to be processed is changed to another crane.

  When it is determined in step S7 that the time has not been shortened compared to the optimal solution data (step S7; No), the calculation unit 23 outputs the current optimal solution data as transfer schedule data (step S8), and the transfer The process related to the calculation of the optimal solution for the schedule is terminated.

  In addition, when forced termination (refer FIG. 17) by the process of step S57 generate | occur | produces, the calculation part 23 produces | generates a conveyance schedule again on different conditions. Specifically, the transfer schedule generation device 20 generates the transfer schedule again by shifting to the process of step S4 after the forced termination by the process of step S57, for example. As described above, when a transport schedule including a process that is not included in the required processing time is calculated, the calculation unit 23 discards the transport schedule and recalculates the transport schedule.

  As described above, according to the present embodiment, the processing unit (for example, the seven processing tanks 2A, 2B, 2C, 2D, 2E, 2F, and 2G) requires the necessary processing time and the processing unit to process the processing target. The execution processing time being executed on the object is used to determine the execution of the conveyance operation of the processing object by the crane, so that the execution processing time processed by each processing unit is closer to the required processing time. By carrying the object to be processed by the cranes 12A and 12B (for example, the cranes 12A and 12B), the execution processing time processed in each processing unit can be made closer to the required processing time. That is, the processing target is transported by calculating the transport schedule by setting the time to be used to determine the execution of the transport operation of the processing target by the crane as the time at which the execution processing time is closer to the required processing time. The conveyance can be performed in consideration of the processing time of each process in three or more processing units. Thus, according to the present embodiment, the processing object can be transported while appropriately executing each process in the three or more processing units to which the processing object is transported. In addition, since the interference range is set for each time point at which the determination is performed, the minimum interference range necessary for the crane operation at that time point can be obtained. For this reason, possibility that interference of cranes will arise can be reduced more. Therefore, since the waiting time of the crane can be further shortened, the conveyance schedule can be shortened more easily.

  Moreover, the interference range of the crane which has already hold | maintained the process target object can be made into the minimum required movement range accompanying the conveyance of the said process target object. For this reason, possibility that interference of cranes will arise can be reduced more.

  Moreover, the interference range of the crane which has not hold | maintained the process target object can be made into the minimum required movement range for moving to the position where the said crane can hold | maintain a process target object now. For this reason, possibility that interference of cranes will arise can be reduced more. Also, by setting the crane interference range individually according to whether or not the crane is holding the processing object at the time of setting the interference range, the crane before the movement start can hold the processing object It is possible to set the interference range by dividing a series of transport steps that are moved to the next and then moved to transport the processing object to the transport destination at a plurality of time points. For this reason, the interference range at each time point can be minimized.

  In addition, since the transport schedule including processing that is not included in the required processing time is discarded, it is possible to calculate a transport schedule that always satisfies the required processing time.

  In addition, since it is possible to move other cranes out of the interference range and transport the object to be processed by one crane, the chances that the processing by the one crane is determined to be infeasible is further reduced. can do. For this reason, it becomes easier to carry forward the conveyance by the one crane. Therefore, the processing time (lead time) of the entire conveyance schedule can be further shortened.

  Moreover, the process with respect to a process target object can be started at predetermined time intervals. In addition, for a plurality of processing objects having the same processing tank to be occupied first, by shifting the start timing by a predetermined time, the processing tanks to be occupied by each processing object can be processed without duplication. It can be carried out. That is, since it is possible to make it difficult to cause the processing target to wait for processing, it is easier to generate a transport schedule that satisfies the upper and lower limits of the processing time.

  In addition, when the predetermined time is set to a shorter time, when the elapsed time from the start to the end of a series of processes for all the processing objects is shortened, the lead time can be further reduced by making the predetermined time shorter. Can be shortened. Also, it is possible to find a shorter time interval (cycle time) than the conveyance schedule can be established.

  In addition, when the crane used for transporting the processing object can be changed to another crane in the transport schedule, the elapsed time from the start to the end of a series of processing of all the processing objects after the change of the crane When the elapsed time before the change is shortened, the lead time can be further shortened by changing the crane used for transporting the object to be processed to another crane. Also, shorter cycle times can be found.

  The above embodiment is merely an example, and the specific contents can be changed as appropriate. For example, in the above embodiment, the calculation unit 23 refers to the work time data 62 in step S35, specifies the lower limit of the processing time in the corresponding process, and after the time specified from the current simulation time has elapsed. Is calculated as a completion time and set as a completion event. However, this is an example related to the calculation of the completion time, and the present invention is not limited to this. For example, regarding the processing time by the processing unit, in addition to the upper limit and the lower limit, when the best processing time (best timing) exists, the calculation unit 23 completes the processing time so that the processing time becomes the best processing time in step S35. May be calculated and set as a completion event. In this case, for example, the work time data 62 further includes information indicating the best processing time. Further, the calculation unit 23 may set an intermediate time between the upper limit and the lower limit in the work time data 62 as the best processing time.

  In the above embodiment, when the start event cannot be performed at the time once set, the start event can be performed by deferring the start event execution time in step S36 or step S42. Although the time is obtained, this is an example of a method of changing the execution time of the start event, and is not limited to this. For example, when the completion time at which the processing time is the best processing time is set as the completion event in step S35 by the calculation unit 23 as described above, a start event related to the completion event (for example, processing in the processing flight) When the start event cannot be performed at the time set once for the crane transport process corresponding to the process completion event, the time may be advanced from the time corresponding to the best processing time.

  FIG. 19 is a flowchart illustrating an example of a process flow related to a start event when the time is advanced. The process illustrated in FIG. 19 is an example of a process that is executed as a process related to one start event (step S16). Of the processes included in the flowchart shown in FIG. 19, processes similar to those included in the flowchart shown in FIG. 16 are given the same step numbers and description thereof is omitted. In the process related to the start event when the time is advanced, the calculation unit 23 determines that the execution of the start event is advanced in place of the process of step S36 and the process of step S42 where the execution of the start event has been postponed. The target start event is regenerated (steps S91 and S92). Specifically, the calculation unit 23 regenerates the start event at a start time that is a predetermined advance time (for example, 1 second). The start event regenerated in steps S91 and S92 is a “start-up start event”.

  20 and 21 are flowcharts illustrating an example of a flow of a transport schedule generation process (step S2 and the like) when the time is advanced. Of the processes included in the flowcharts illustrated in FIGS. 20 and 21, processes similar to those included in the flowchart illustrated in FIG. 15 are denoted by the same step numbers and description thereof is omitted. When it is determined in step S13 that all events have not been completed (step S13; No), the calculation unit 23 determines whether there is a forward start event regenerated at the current simulation time (step S101). ). When it is determined that there is no forward start event (step S101; No), the process proceeds to step S14. On the other hand, when it is determined in step S101 that there is a forward start event (step S101; Yes), the calculation unit 23 returns all start events and completion events processed at the current simulation time to an unprocessed state. (Step S102). Thereafter, the calculation unit 23 returns the simulation time for a predetermined advance time (for example, 1 second) (step S103), and proceeds to the process of step S14.

  As shown in FIGS. 19 to 21, when a transport schedule including a process that is not included in the required processing time is calculated in the processing unit, the transport schedule is discarded and the transport schedule is calculated again, that is, By discarding the calculated processing, returning the processing for a predetermined time, and calculating the transport schedule again, it is possible to calculate the transport schedule executed at the timing when the target event is advanced from the initial calculation result. . This makes it easier to calculate a more appropriate transport schedule.

  The processing unit can set the schedule even ahead of schedule, so that the timing can be moved back and forth based on the best timing of processing, and a transport schedule for executing processing in each processing tank at a more appropriate time can be created it can.

  Moreover, the conveyance schedule production | generation apparatus 20 may produce | generate a conveyance schedule combining both the advance and the advance from the best processing time. In this case, for example, the calculation unit 23 may determine whether to postpone or move forward according to the position of the best processing time between the upper limit time and the lower limit time of the necessary processing time. Specifically, for example, when the best processing time is closer to the upper limit time than the lower limit time, the calculation unit 23 may postpone, or in the opposite case, move forward. As a result, the number of trials that can be postponed or advanced can be further increased. This is an example of a method for determining whether to use advance or advance, and is not limited to this. For example, information indicating whether to give priority to advance or advance may be set in each processing step. In addition, if it is determined that transport cannot be performed even if advance or advance is attempted to the limit, the shift of the time opposite to the time applied to the limit is performed. If it is already completed, it may be forwarded).

  In the above embodiment, the movable range of the cranes 12A and 12B by the rail 11 corresponds strictly to the number of processing tanks, but the rail 11 may be further extended. That is, a dedicated area (retreat area) for retracting the cranes 12A and 12B that are not transported may be provided. In this case, since the interference between the cranes 12A and 12B is less likely to occur, the cycle time and the lead time can be more easily shortened.

  In addition, the arrangement of the processing tanks that are the processing units in the above-described embodiments is merely an example, and the arrangement of the processing units may be changed according to specific processing contents. For example, the cycle time and lead time may be further shortened by changing the arrangement for determining the positional relationship of three or more processing units. Therefore, a plurality of arrangement patterns of three or more processing units may be set in connection with the generation of the conveyance schedule. In this case, the conveyance schedule generation device 20 generates a conveyance schedule for each arrangement pattern, and makes the optimal solution the combination of the conveyance schedule with the shortest lead time and the arrangement pattern of the processing unit corresponding to the conveyance schedule. May be.

  FIG. 22 is a diagram illustrating a processing system 1A including an arrangement pattern setting device. As illustrated in FIG. 22, the processing system 1 </ b> A may include a configuration (arrangement pattern setting device 70) for setting a plurality of arrangement patterns of three or more processing units. The arrangement pattern setting device 70 calculates the arrangement order of three or more processing units from the upstream side to the downstream side as an arrangement pattern. If the arrangement pattern setting device 70 has n processing units, n! In the arrangement order from the upstream side to the downstream side. Arrangement patterns can be calculated as (n factorial). In this case, the conveyance schedule generation device 20 generates a conveyance schedule for each of the plurality of arrangement patterns set by the arrangement pattern setting device 70.

  The arrangement pattern setting device 70 may calculate an arrangement pattern based on a setting as to whether or not each processing unit included in three or more processing units can be adjacent to each other. Thereby, the operator can arrange | position a processing tank with the arrangement pattern along actual operation | movement by setting the relationship of each processing tank beforehand.

  Further, the arrangement pattern setting device 70 may set the arrangement pattern based on the weighting performed on each processing unit based on the processing performed using each of the three or more processing units. Specifically, the arrangement pattern setting device 70 performs processing when there is a processing unit that is preferably located on the upstream side (or downstream side) based on a tendency such as the order of processing steps included in each processing flight. The placement may be weighted with respect to the placement, and the placement pattern reflecting the weight may be calculated.

   FIG. 23 is a flowchart illustrating an example of a flow of processing relating to calculation of an optimal solution for a transport schedule when a plurality of arrangement patterns of three or more processing units are set. The processing related to the flowchart shown in FIG. 23 is performed, for example, when the calculation unit 26 executes the schedule creation program 53. The calculation unit 23 sets one arrangement pattern (initial arrangement pattern) among arrangement patterns that can be taken by three or more processing units (step S121). Next, the calculation unit 23 performs a transport schedule generation process for obtaining optimum solution data in the initial arrangement pattern (step S122). The processing content of step S122 is the processing according to the processing of step S1 to step S8 described above with reference to FIG. 14 and the like and the specific content of each of these processing (including FIGS. 15 to 21 and FIG. 24 described later). Content.

  The calculation unit 23 sets the latest optimum solution data as optimum placement solution data (step S123). In step S123 immediately after execution of step S122, the transfer schedule data generated in step S122 becomes the optimum arrangement solution data.

  After the process of step S123, the calculation unit 23 sets an arrangement pattern that is different from the arrangement pattern for which the conveyance schedule has already been generated. Thereafter, the calculation unit 23 performs a transport schedule generation process for obtaining optimum solution data in the different set arrangement patterns (step S124). The specific content of the transport schedule generation process in step S124 is the same as the transport schedule generation process in step S122.

  After the process of step S124, the calculation unit 23 calculates the time from the start time to the end time of the process using the current optimal placement solution data and the start time to the end time of the process using the optimal solution data generated in step S124. The time is compared, and it is determined whether or not the time is shorter than the optimal placement solution data (step S125). Here, when it is determined that the time is shorter than the optimal arrangement solution data (step S125; Yes), the process proceeds to step S123. That is, the calculation unit 23 sets the optimum solution data based on the arrangement pattern whose time is shortened as the optimum arrangement solution data.

  When it is determined in step S125 that the time has not been shortened compared to the optimum arrangement solution data (step S125; No), the calculation unit 23 outputs the current optimum arrangement solution data as transport schedule data (step S126). Then, the processing related to the calculation of the optimal solution for the transport schedule is terminated.

  Each of the arrangement patterns set in the processing of step S121 and step S123 is preset in, for example, predetermined data (arrangement pattern data) referred to by the calculation unit 23. This is an example of arrangement pattern preparation. Therefore, the present invention is not limited to this, and can be changed as appropriate. For example, during the processing according to the flowchart shown in FIG. 23, the calculation unit 23 may display a screen for requesting an input of the arrangement pattern, and the subsequent processing may be advanced according to the completion of input.

  In the above embodiment, all processing stools have the same processing procedure, but this is an example and the present invention is not limited to this. Processing flights that define the specific contents of a series of processing occupy part or all of the three or more processing units in a processing order that occupies a processing time that is not less than the individually specified lower limit and not more than the upper limit, and in an order that is determined individually All combinations that require movement between each treatment bath can be included. Moreover, the processing stool including the time slot | zone which occupies the same processing tank twice or more may be sufficient. In this case, it is possible to cope with this by preparing data for each processing flight in data (for example, work time data 62, processing procedure data 63, etc.) corresponding to a difference item.

  In the above embodiment, the transport schedule is generated on the assumption that the processing of each processing object is started at a predetermined time interval. However, the transfer schedule is not limited to this example, and can be changed as appropriate. For example, processing of a plurality of processing objects having different processing tanks used for the first processing or the processing immediately after that is performed at relatively short time intervals, and the processing tanks used for the first processing or the processing immediately thereafter are the same. The processing of the plurality of processing objects may be performed at relatively long time intervals (according to the occupation time of the processing tank). The individual setting and the relative relationship of these time intervals can be appropriately set according to various conditions such as the occupation time of the processing tank and the time spent for transport by the crane.

  In the above-described embodiment, the start event, the completion event, and the interference range are set individually for the pre-holding operation and the post-holding operation. However, the transport schedule generation device 20 sets the pre-holding operation and the post-holding operation as one operation. You may make it handle collectively. In this case, when one crane does not hold the processing object, the interference range setting unit 21 specifies the processing object to be held, and from the position of the one crane to the specified processing object position. The movement range and the movement range from the position of the specified processing object to the processing unit that moves the specified processing object are set as the interference range.

  FIG. 24 is a flowchart illustrating an example of a flow of processing related to the interference range of the target crane when the pre-holding operation and the post-holding operation are handled as a single operation. The process shown in FIG. 24 is an example of a process executed as a process (step S40) regarding the interference range of the target crane. Of the processes included in the flowchart shown in FIG. 24, processes similar to those included in the flowchart shown in FIG. 18 are given the same step numbers and description thereof is omitted. When it is determined in step S74 that the other crane is occupied (step S74; Yes), the determination unit 22 is on the rail 11 corresponding to the current position of the target crane and the processing tank before conveyance. It is determined whether or not the other one crane exists between the two positions (step S111). In other words, the determination unit 22 determines whether or not the other one crane exists within the interference range on the processing tank side before the conveyance as viewed from the target crane. If it is determined in step S111 that the other crane is present (step S111; Yes), the process proceeds to step S73. That is, the determination unit 22 determines that interference between the target crane and another crane occurs, and ends the processing related to the interference range of the crane. If it is determined in step S111 that there is no other crane between the current position of the target crane and the position on the rail 11 corresponding to the processing tank before transport (step S111; No), step The process proceeds to S76.

  When it is determined in step S76 that the other one crane is not performing work without movement within the interference range (step S76; No), the determination unit 22 determines that the other one crane is the target crane. It is determined whether or not the object to be processed moves in the same direction as the conveyance direction of the object and goes out of the interference range (step S112). When it is determined that the moving direction of the other crane is different from the conveying direction of the object to be processed by the target crane, or the moving destination of the other crane is determined to be within the interference range. In the case (step S112; No), the process proceeds to step S73. That is, the determination unit 22 determines that interference between the target crane and another crane occurs, and ends the processing related to the interference range of the crane. On the other hand, if it is determined in step S112 that the other crane moves in the same direction as the conveyance direction of the object to be processed by the target crane and goes out of the interference range (step S112; Yes), the determination unit 22 Determines that no interference occurs with respect to the relationship between the target crane and the other one crane.

  Once the pre-holding operation and the post-holding operation are collectively handled as one operation, the post-holding operation may be made independent. Specifically, the determination unit 22 cancels only the post-holding operation of the crane transportation process when the forward movement is possible if the post-holding operation of a certain crane transport process is canceled in the determination related to the forward tilt, for example. Also good. In this case, the pre-holding operation of the crane transport process continues, and there is a crane that holds the object to be processed. For this reason, the conveyance schedule production | generation apparatus 20 resets separately the start event and completion event corresponding to the operation | movement after holding | maintenance of this crane. That is, when one crane holds a processing object, the interference range setting unit 21 sets the movement range of one crane accompanying the conveyance of the processing object as the interference range.

  In the above embodiment, all the cranes 12A and 12B have the same size and movement performance, but this is an example and the present invention is not limited to this. There may be a difference in size, performance, etc. in the width direction between the cranes for some or all of the plurality of cranes. In this case, it is possible to cope with this by preparing crane-specific data in data (for example, crane arrangement data 64, travel time data 65, etc.) corresponding to a difference. Moreover, the conveyance direction by a crane is not limited from upstream to downstream. The crane can naturally carry from downstream to upstream.

  The widths of the treatment tanks 2A to 2G along the laying direction of the rail 11 may be non-uniform. The treatment tanks 2A to 2G are not limited to being in a container shape. The treatment tanks 2 </ b> A to 2 </ b> G may be any region (space) where a desired treatment can be performed. For example, the processing tanks 2A to 2G may be sections provided with processing facilities.

  In the above embodiment, the transport schedule generation device 20 realizes the functions of the interference range setting unit 21, the determination unit 22, and the calculation unit 23 by computer processing using a software program. Alternatively, all may be realized by dedicated hardware.

DESCRIPTION OF SYMBOLS 1 Processing system 2A-2G Processing tank 3 Control apparatus 5 Parts processing apparatus 10 Conveyance apparatus 11 Rail 12A, 12B Crane 20 Conveyance schedule production | generation apparatus 21 Interference range setting part 22 Determination part 23 Calculation part 25 Storage part 26 Calculation part 51 Crane interference confirmation Program 52 Processing process confirmation program 53 Schedule creation program 61 Layout data 62 Work time data 63 Processing procedure data 64 Crane layout data 65 Travel time data 66 Processed flight data 70 Layout pattern setting device L Boundary lines MA, MB Operable range KA to KD Interference range

Claims (15)

Three or more processing units that perform different processes on the processing object, and the three or more processing units that transport the processing object from any one of the three or more processing units to any other processing unit A component processing apparatus comprising: a transport device in which a plurality of cranes less than or equal to the number of the plurality of cranes move between the three or more processing units on the same rail; and a control device that controls the operation of each crane of the transport device. A transport schedule generating device for generating a transport schedule of the processing object according to
Based on the relationship between the processing unit and the processing object, the required processing time for processing the processing object in the processing unit and the order in which the three or more processing units perform a plurality of processes on the processing object A storage unit for storing
An interference range setting unit for setting an interference range of the crane on the basis of the position of one crane;
Using the required processing time, the interference range, the order of the plurality of processes to be performed on the processing object, and the execution processing time being performed on the processing object by the processing unit, the crane performs the A determination unit that determines the execution of the conveying operation of the processing object;
A calculation unit that calculates the conveyance schedule for moving the processing object in parallel to each of the plurality of cranes based on the determination by the determination unit;
The interference range setting unit sets the interference range for each time point when the determination unit performs determination,
The determination unit determines that the process by the one crane is not executable when another crane enters the interference range and stops .
The calculation unit calculates a transport schedule under a pre-update condition in which start timings of the plurality of processes for each of the plurality of processing objects are shifted, and updates the shift of the start timings by a predetermined shortening time. When the transport schedule is recalculated under the post-condition and the transport schedule under the post-update condition is shortened compared to the transport schedule under the pre-update condition, the pre-update condition and update are performed using the post-update condition as the pre-update condition. If the transport schedule under the post-update conditions is not shortened compared to the transport schedule under the pre-update conditions, the transport schedule under the pre-update conditions is the optimal solution. To calculate
Further, the calculation unit is configured to perform the processes performed when the plurality of processes are performed when the transport schedule calculated under the post-update condition is not shortened compared to the transport schedule calculated under the pre-update condition. When there are multiple cranes that can be used in the transfer operation of the target object, the transfer process is changed to be completed by another crane other than the one crane used in the transfer schedule generated immediately before. A transport schedule generation device that generates a transport schedule again and compares it with a transport schedule under pre-update conditions . The storage unit stores movement time data indicating a time from the start of movement of the crane to the completion of movement in the transfer operation of the processing object,
The movement time data includes a movement time at the time of transportation when the crane is carrying a part, and a movement time at the time of empty transportation when the crane is not carrying a part,
The transport schedule generation device according to claim 1, wherein the calculation unit calculates a transport schedule with reference to the travel time data . The required processing time is set at least a lower limit time,
The conveyance schedule generation device according to claim 1 or 2 , wherein the calculation unit calculates a conveyance schedule as a result of completion of processing by the processing unit when the execution processing time in one processing unit reaches a lower limit time . The conveyance schedule production | generation apparatus as described in any one of Claim 1 to 3 with which the required processing time of several types of processing process and each processing process is set to one processing part . The said interference range setting part sets the movement range of the said one crane accompanying conveyance of the said processing target object to an interference range, when the said one crane is holding the said processing target object . The conveyance schedule production | generation apparatus as described in any one . When the one crane does not hold the processing object, the interference range setting unit specifies the processing object to be held, and the movement range of the one crane to the specified processing object The conveyance schedule generation device according to any one of claims 1 to 5, wherein is set as an interference range. When the one crane does not hold the processing object, the interference range setting unit specifies the processing object to be held, and the position of the processing object specified from the position of the one crane moving range of up and transported according to any one of claims 1 to 5, which sets the movement range up processing unit for moving the processing object identified from the position of the processing object identified in the interference range Schedule generator. At least one of the three or more processing units is a processing tank capable of storing a liquid that immerses the processing object,
The required processing time is set to an upper limit time and a lower limit time,
The calculation unit discards the transfer schedule and recalculates the transfer schedule when the transfer schedule including a process that is not included in the required processing time is calculated in the processing unit. 7 transport schedule generating apparatus according to any one of the. When the other crane exists within the interference range, the determination unit can transport the object to be processed by the one crane when the other crane can be moved out of the interference range. The conveyance schedule production | generation apparatus as described in any one of Claims 1-8 determined as. The component processing device;
The conveyance schedule generation device according to any one of claims 1 to 9 ,
A processing system comprising: An arrangement pattern setting device for setting a plurality of arrangement patterns of the three or more processing units;
The processing system according to claim 10 , wherein the transfer schedule generation device generates a transfer schedule for each of a plurality of arrangement patterns set by the arrangement pattern setting device. The processing system according to claim 11 , wherein the arrangement pattern setting device calculates an arrangement pattern based on a setting as to whether or not the three or more processing units can be adjacent to each other. The arrangement pattern setting device, on the basis of the weighting is performed for each processing unit on the basis of the processing performed using each of the three above processing unit, according to claim 11 or 12 to set the arrangement pattern Processing system. Three or more processing units that perform different processes on the processing object, and the three or more processing units that transport the processing object from any one of the three or more processing units to any other processing unit A component processing apparatus comprising: a transport device in which a plurality of cranes less than or equal to the number of the plurality of cranes move between the three or more processing units on the same rail; and a control device that controls the operation of each crane of the transport device. A transport schedule generation method for generating a transport schedule of the processing object according to
Based on the relationship between the processing unit and the processing object, the required processing time for processing the processing object in the processing unit and the order in which the three or more processing units perform a plurality of processes on the processing object Remember
Set the interference range of the crane with reference to the position of one crane,
Using the required processing time, the interference range, the order of the plurality of processes to be performed on the processing object, and the execution processing time being performed on the processing object by the processing unit, the crane performs the Determine the execution of the transfer operation of the processing object,
Based on the determination, calculate the transport schedule for moving the processing object in parallel to each processing unit in each of the plurality of cranes,
Set the interference range for each time of making the determination,
When another crane has entered and stopped in the interference range, it is determined that the processing by the one crane cannot be performed,
The transport schedule is calculated under pre-update conditions in which the start timings of the plurality of processes for each of the plurality of processing objects are shifted, and transport is performed under post-update conditions in which the start timing shift is shortened by a predetermined shortening time. If the schedule is calculated again and the transport schedule under the post-update condition is shortened compared to the transport schedule under the pre-update condition, the post-update condition is used as the pre-update condition and the transport is performed under the pre-update condition and post-update condition. Repeat the calculation of the schedule, and if the transport schedule under the updated condition is not shortened compared to the transport schedule under the pre-update condition, calculate the transport schedule with the transport schedule under the pre-update condition as the optimal solution,
Furthermore, when the transport schedule calculated under the post-update condition is not shortened compared to the transport schedule calculated under the pre-update condition, the transport operation of the processing object is performed in the plurality of processes When there is more than one crane that can be used in, the transfer schedule under the updated conditions is generated again by changing the transfer process to be completed by another crane other than the one used in the transfer schedule generated immediately before And a transport schedule generation method for comparing with a transport schedule under pre-update conditions . Three or more processing units that perform different processes on the processing object, and the three or more processing units that transport the processing object from any one of the three or more processing units to any other processing unit A component processing apparatus comprising: a transport device in which a plurality of cranes less than or equal to the number of the plurality of cranes move between the three or more processing units on the same rail; and a control device that controls the operation of each crane of the transport device. A program for generating a transport schedule for the object to be processed by the computer,
Based on the relationship between the processing unit and the processing object, the required processing time for processing the processing object in the processing unit and the order in which the three or more processing units perform a plurality of processes on the processing object Means for storing,
Means for setting an interference range of the crane on the basis of the position of one crane;
Using the required processing time, the interference range, the order of the plurality of processes to be performed on the processing object, and the execution processing time being performed on the processing object by the processing unit, the crane performs the Means for determining execution of the conveying operation of the processing object;
Based on the determination, each of the plurality of cranes functions as means for calculating the conveyance schedule for moving the processing object in parallel to the processing units,
Set the interference range for each time of making the determination,
When another crane has entered and stopped in the interference range, it is determined that the processing by the one crane cannot be performed,
The transport schedule is calculated under pre-update conditions in which the start timings of the plurality of processes for each of the plurality of processing objects are shifted, and transport is performed under post-update conditions in which the start timing shift is shortened by a predetermined shortening time. If the schedule is calculated again and the transport schedule under the post-update condition is shortened compared to the transport schedule under the pre-update condition, the post-update condition is used as the pre-update condition and the transport is performed under the pre-update condition and post-update condition. Repeat the calculation of the schedule, and if the transport schedule under the updated condition is not shortened compared to the transport schedule under the pre-update condition, the transport schedule is calculated with the transport schedule under the pre-update condition as the optimal solution.
And
Furthermore, when the transport schedule calculated under the post-update condition is not shortened compared to the transport schedule calculated under the pre-update condition, the transport operation of the processing object is performed in the plurality of processes When there is more than one crane that can be used in, the transfer schedule under the updated conditions is generated again by changing the transfer process to be completed by another crane other than the one used in the transfer schedule generated immediately before A program to compare with the transport schedule under pre-update conditions .

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