JPH04333426A - Automatic monitoring and operating method for granule warehouse - Google Patents

Abstract

PURPOSE:To make the continuous automation of from grasping an in-warehouse condition, indexing the procedure of in-warehouse cargo handling, based on the grasping, and commanding, and to operating an in-warehouse travel crane corresponding to the command. CONSTITUTION:The followings are provided: a storage warehouse 1 for granules 3; a mobile type scanning light wave range detection means 7 provided movable along a rail in the warehouse upper side; and an operation control device installed in a warehouse control room. The light wave range detection means 7 is controlled with the operation controller, and also an automatic monitoring method, making stock configuration calculation and configuration display of stored granules from configuration measured data detected with the light wave range detection means 7, and a granule-carrying ceiling travel crane 5, located lower than the light wave range detection means 7 and traveling in a direction crossing the said means 7, are provided to control the crane 5 with the operation control device. A feature is an automatic operating method in which the indexing calculation of in-warehouse cargo handling and a work command for the ceiling crane 5 according to a stock configuration are transmitted from the stock configuration calculated value of the stored granules, and operation corresponding to the work command is made with the ceiling crane 5.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically monitoring a warehouse for powder and granular materials, and a method for automatically operating cargo handling in a warehouse.

0002

[Prior Art] Conventionally, work has been done to level out the unwrapped material pile pit inside a powder and granular material warehouse, and to control the daily loading and unloading volume.
The amount of inventory is managed by a method that roughly grasps the amount brought in and taken out, and sometimes the height of stored materials is measured manually or partially using a measuring tool. At present, the amount of inventory is determined by using the above method, and changes in the inventory status are mainly monitored visually by the operator of the overhead crane.

0003

[Problems to be Solved by the Invention] The manual visual inspection and visual monitoring by the operator of an overhead crane, which have been conventionally carried out in this type of warehouse, are not sufficient to grasp changes in inventory status, and production plants In raw material warehouses that supply raw materials to factories, delays in reinforcement and supply cause major problems that directly affect production.

The present invention has been proposed in view of the above-mentioned problems, and its purpose is to grasp the situation in the warehouse, determine the procedures for cargo handling in the warehouse based on this, and respond to instructions and instructions. The object of the present invention is to provide an automatic monitoring and automatic operation method for a powder and granular material warehouse that continuously automates everything up to the crane operation within the warehouse.

[0005]

[Means for Solving the Problems] In order to achieve the above object, the automatic monitoring and automatic operation method of a powder and granular material warehouse according to the present invention includes a storage warehouse 1 for storing powder and granular materials, and a rail 8 that connects the upper part of this warehouse. It is equipped with a self-propelled scanning light wave distance detection means 7 for measuring the shape of stored items, which is movable along the It is characterized by an automatic monitoring method that controls the traveling type scanning light wave distance detecting means 7 and also calculates and displays the shape of the stored items from the shape measurement data detected by the self-propelled scanning light wave distance detecting means 7.

The present invention also provides an overhead traveling crane 5 for transporting powder and granular materials, which is located below the self-propelled scanning light wave distance detection means 7 and travels in a direction intersecting therewith.
This is controlled by the arithmetic and control device 10, which calculates the calculation of cargo handling in the warehouse according to the inventory shape based on the calculated value of the inventory shape of the stored items, and issues a work command output to the overhead traveling crane 5. The present invention is characterized by an automatic driving method in which operations corresponding to the above-mentioned work commands are performed.

[0007]

[Operation] The operating procedure according to the automatic monitoring and automatic operation method for a powder and granular material warehouse of the present invention will be explained with reference to the flowcharts shown in FIGS. (See Figure 6) and set the initial conditions for automatic operation of the overhead crane (See Figure 7)
Make input. In this initial condition setting input, the shape measurement pattern sets the repeating time interval of the measurement work, measurement point interval range, etc., and the traveling speed and scanning speed of the light wave distance detection means necessary for the conditions are automatically calculated. The distance between the measurement points is set by determining the coordinate range of each section in the warehouse, and by writing the unique symbol of each section and the corner coordinate symbol of each section along a fixed route.

[0008] Shape measurement is performed by calculating the shape from the stored object shape data for each section measured by scanning with a self-propelled scanning light wave distance detection means that is movable along the rails at the top of the warehouse, and the results are used in automatic operation. In addition to outputting to the procedure, the shape is displayed to enable automatic monitoring. Also,
Among the initial condition setting inputs of the control room's arithmetic and control unit, the conditions for automatic operation of the overhead crane include the content and type of work that the crane should perform, and the priority conditions for the work, set using work symbols and conditional expressions. Then, by inputting the shape data obtained in the shape meter side procedure, the arithmetic and control unit compares and determines the work to be performed first, and displays the work symbol and the plot number or plot coordinate symbol as FROM-To. In this way, work commands are output using optical transmission or the like.

[0009] The on-board control device installed on the overhead traveling crane receives the work command output from the arithmetic control device by optical transmission or the like, and moves from one designated section to another, or from a commanded coordinate position to another location. Move the overhead crane to the coordinate position, use the grab bucket of the crane to move, scatter, mix, and regrasp the powder and granules stored in the warehouse.
Break-in work and other tasks are performed automatically.

[0010] The operation of the overhead traveling crane can be switched to manual operation as needed, so that manual operation can be combined with automatic operation.

[0011]

[Embodiment] An embodiment of a powder and granular material warehouse to which the automatic monitoring and automatic operation method for a powder and granular material warehouse according to the present invention is applied is shown in FIGS. 1 and 2. In FIG. 1, 1 is a warehouse, Y1 to Y6 are six storage compartments partitioned by walls 2 of a constant height in the warehouse 1, and H1
-H6 are six hopper sections for discharging the powder and granular materials stored in the respective storage sections Y1 to Y6 individually or in a mixed quantity.

3 denotes powder and granules stored in each compartment Y1 to Y6 and H1 to H6 (see FIG. 2); 4 divides the inside of the warehouse 1 vertically and horizontally at regular intervals; In numbers, the horizontal axis is A
~ Coordinate line indicated in Roman letters I, 5 is the grab bucket type overhead traveling crane installed on girder 6 near the top of warehouse 1 (see Figure 2), 7 is the width of the building near the ceiling of warehouse 1 Four sets of self-propelled scanning light wave distance detection means for measuring the shape of stored powder and granules in the warehouse are installed at equal intervals so as to move on the rails 8 in the direction, and 9 is a control device installed near the upper corner of the warehouse. 10 is an arithmetic and control device installed in the management room, 11 is a crane on-board control device installed on a set of overhead traveling cranes 5, and 12 and 13 are an arithmetic and control device 10 in the management room 9 and a crane on-board control device. This is an optical transmission device that connects between 11 and 11.

FIGS. 3 and 4 show details of the self-propelled scanning lightwave distance detection means 7 described above. The light wave distance detection means 7 includes a travel drive section 17 having a drive pinion 16, a travel control section 18, and a light wave distance meter 20 supported by a scanning drive section 19. A rack rail 15 provided on the lower surface of the I-shaped rail 8 and a drive pinion 16 of the optical distance detection means 7 are movably supported via rollers 14 on a horizontal I-shaped rail 8 installed in the
mesh and drive. Further, the light wave range finder 20 is configured to transmit light waves at minute time intervals while swinging left and right by 50° around the support shaft.

FIG. 5 is a block diagram of each element of the embodiment described above, and FIGS. 6 and 7 are flow diagrams of a method according to the present invention carried out under the configuration of FIG. ,
FIG. 6 shows a shape meter side procedure (automatic monitoring method) for automatically operating the self-propelled optical distance detecting means 7 according to the present invention, and FIG. 7 shows an automatic operating procedure for the overhead traveling crane 5. In FIG. 6, in order to operate the self-propelled optical distance detection means 7, the arithmetic and control unit 10 is input with settings such as the repeat interval time of measurement work and the distance between measurement points as a measurement pattern in advance, and The traveling speed and scanning speed of the light wave distance detection means 7 are automatically calculated, and the operation of the light wave distance detection means 7 is thereby automatically controlled.

In the system on the shape meter side, the light wave distance meter 20 of the self-propelled light wave distance detection means 7 scans and measures the shape of the stored powder and granular material 3 by the operation of the scanning drive unit 19, and from the measurement data is used The storage shape (inventory status) of the stored powder and granular material 3 is calculated, and the calculated shape data is output to the automatic operation system of the overhead traveling crane 5, and furthermore, the shape is displayed on the shape display device so that automatic monitoring can be performed. Make it. This shape measurement is repeated at time intervals set by the initial condition setting input, and the operations of shape measurement, shape calculation, shape data output, and shape display are repeatedly performed.

As shown in FIG. 7, the setting items for automatic operation by the overhead traveling crane 5 include the storage compartments in the warehouse with names and code symbols Y1 to Y6, and H1 to H1.
The input is registered in H6, and the range within each section is input and registered using coordinate symbols with numbers on the vertical axis and Roman letters on the horizontal axis, and the work content and type of the overhead crane 5, such as the overhead crane. Movement of powder and granular materials 3 between storage compartments using a grab bucket, smooth movement within the same compartment,
Works such as charging into a hopper, re-grabbing at a fixed position, scattering, or mixing, and their priority conditions are entered and registered as symbols and conditional expressions.

In the automatic operation system of the overhead traveling crane 5, the shape data inputted from the shape measurement system is compared and calculated for each section in the arithmetic and control unit 10, and the work to be executed by the crane first is determined based on priority conditions. Judgment is made by comparison calculation with , and the result is output as a work command. The work command is output in the form of displaying the work symbol and the section symbol or coordinate symbol as FROM-To, and this work command output is sent to the overhead traveling crane 5 via the optical transmission devices 12 and 13.
The information is transmitted to the on-board control device 11 of the machine. The arithmetic and control unit 10 that has output the work command displays the operating state and enters a standby state for inputting the next shape data.

The on-machine control device 11 that has input the work command,
The overhead traveling crane 5 is operated in response to the work command,
The overhead traveling crane 5 is designed to be able to operate both automatically and manually. For example, during leveling work or spreading work within the same area, the crane 5 moves stored powder and granules from a high place to a low place using manual visual control. The crane is automatically moved for tasks such as moving to another hopper, loading it into another hopper, and re-grabbing, while the grab bucket is opened and closed manually by visual inspection, allowing for efficient operation options.

In this way, the crane 5 is operated by the on-machine control device 11 that receives the work command via the optical transmission device.
The work progresses using both automatic and manual operation according to the contents of the work command, and after the work is completed, it waits for the next work command to be input. Note that the flowcharts in FIGS. 6 and 7 are outlines of an example of implementing the present invention, and it goes without saying that steps can be added or the format can be changed in accordance with the actual situation. According to this method, the independently provided self-propelled scanning light wave distance detection means 7 can instantly grasp the shape of the stock of powder and granules in the warehouse, which changes over time, at short intervals. It will be possible to transport, supply and maintain granules.

[0020]

According to the automatic monitoring and automatic operation method for a powder and granular material warehouse of the present invention, there is provided a self-propelled scanning light wave distance detection means for measuring the shape of stored products, which is movable along rails in the upper part of the warehouse. is installed, and is automatically operated by the arithmetic and control unit in the warehouse management room to measure the storage shape of powder and granular materials in all sections in the warehouse, calculate the shape measurement data, and grasp the inventory status in real time by displaying the shape, etc. This has the effect of making it possible to reliably and easily perform warehouse management such as daily acceptance into the warehouse, understanding the necessary items and required quantities, and arranging acceptance.

Furthermore, based on the inventory shape data calculated from the measured shape, the arithmetic and control device in the warehouse management room performs work judgment calculations and priority work order calculations for each section in the warehouse, and performs necessary work at any given time. The output of the command is transmitted to the control device of the overhead traveling crane for transporting powder and granular materials, and the work according to the input work command is performed automatically on the traveling crane side or semi-automatically in combination with manual operation, so it is possible to control the inventory status. It is possible to carry out various operations in a timely manner, as well as reinforcing and horizontally moving powder and granular materials.
This has the effect of eliminating supply delays and enabling highly efficient automatic operation of powder and granular warehouses.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a powder warehouse suitable for implementing the present invention.

FIG. 2 is a longitudinal sectional side view of the warehouse in FIG. 1 taken along line A-A.

FIG. 3 is a front view of an embodiment of the self-propelled scanning lightwave distance detection means of the present invention.

FIG. 4 is a left side view of an embodiment of the self-propelled scanning lightwave distance detection means of the present invention.

FIG. 5 is a block diagram of each requirement according to the present invention.

FIG. 6 is a flow chart showing an outline of the procedure on the shape meter side according to the present invention.

FIG. 7 is a flowchart outlining an automatic operation procedure according to the present invention.

[Explanation of symbols]

1 Warehouse 3 Powder and granular materials 5 Overhead crane 7 Self-propelled scanning light wave distance detection means 8
Rail for light wave distance detection means 9 Management room 10 Arithmetic control unit

Claims (2)

[Claims] [Claim 1] A storage warehouse for powder and granular materials, a self-propelled scanning light wave distance detection means for measuring the shape of stored items, which is movable along rails on the upper part of the warehouse, and a self-propelled scanning light wave distance detection means installed in a warehouse management room, etc. The arithmetic and control device controls the self-propelled scanning lightwave distance detection means, and also calculates the inventory shape and shape of stored items from the shape measurement data detected by the self-propelled scanning lightwave distance detection means. An automatic monitoring method for a powder and granular warehouse characterized by displaying information. [Claim 2] A warehouse for storing powder and granular materials, an overhead traveling crane for transporting powder and granular materials, etc. installed in this warehouse, and an upper part of the warehouse capable of moving in a direction intersecting the traveling direction of the overhead traveling crane. It is equipped with a self-propelled scanning light wave distance detection means for measuring the shape of stored items, and an arithmetic and control device installed in a warehouse management room, etc., and this arithmetic and control device can detect the above-mentioned overhead traveling crane and self-propelled scanning light wave distance. In addition to controlling the means, it also calculates the inventory shape of stored items from the shape measurement data detected by the self-propelled scanning light wave distance detection means, calculates the inventory shape for cargo handling in the warehouse, and outputs work commands to the overhead traveling crane. An automatic operation method for a powder and granular material warehouse, characterized in that the overhead traveling crane performs an operation corresponding to the work command.