JPS63315491A - Method of controlling overhead travelling crane - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a method for controlling an overhead lane, and in particular, a method for controlling an overhead lane, in particular, dividing a storage yard into a plurality of sections, assigning an address to each section, and controlling the inventory status of stored goods. The present invention relates to a method for controlling overhead lanes of a computer system that manages traffic for each address and controls overhead cranes for transporting stored goods.

(Prior art) Conventionally, the control method for this type of overhead crane places too much emphasis on safety, so that the load to be transported is hoisted up to a height that is absolutely safe to avoid obstacles on the transport route, and then the crane is moved arbitrarily. Since the operation efficiency and energy saving are not taken into account, the duty cycle is long and the power consumption is wasted.As a method for improving these points, the present applicant proposed Japanese Patent Application No. 1987-76087 has been filed for a control method for efficiently transporting loads along a straight path from a transport start compartment to a transport target compartment.

[Problem that the invention seeks to solve]

The control method according to the above-mentioned Japanese Patent Application No. 62-76087 is such that if the height of the stored goods piled up along the straight path is higher than the height of the stored goods in the transport start section and the transport target section, If there is another route where the height of the stored goods is lower than the height of the stored goods on the straight route, if that route is selected, the disadvantage is that extra power will be consumed for hoisting and lowering the load. There is.

[Means for solving problems]

The method of controlling an overhead running lane according to the present invention is that when transporting ha cargo from an arbitrary address A to another arbitrary address B through an overhead running lane, first, address A and address B of the storage yard are used. Of the rectangular area within the storage yard that has a belt-shaped area straight connecting the mountains of both sections, and both sections of address A and address B at diagonal positions, from the section of address A to the longitudinal direction of the storage yard. A detour area leading to a diagonal position at the end of the arranged compartment area, then a detour area from the compartment to the compartment at address B via the compartment area arranged in the width direction of the storage yard, and a detour area from the compartment at address A to the compartment at the address B. Determine a detour area from the partition area arranged in the width direction of the yard to a partition at a diagonal position at the end, then from the partition area to the partition area arranged in the longitudinal direction of the storage yard to the partition at address B, Detect all addresses whose plots overlap in whole or in part with the strip area other than address A and address B and these detour areas, and then calculate the height of the stored items piled up at the addresses belonging to the strip area. Let the highest one be ha, and let the height of the stored goods piled up at addresses belonging to each of the two detour areas be the highest.

and he, and the heights of the stored goods piled up at addresses A and B, excluding materials to be transported, are ha and hb, respectively, then compare the heights ha, he, hc, hd, and he of these stored goods. Then, he>h.

Andri.

And when hc>hd and he, the height hd and the height h
If a is different, select the lower detour area, or if the heights hd and ha are equal, select one of the detour areas as the load transportation route, and then select the selected detour area. Assuming that the area from address A to address F at the diagonal position on the other end, and the area extending from address F to address B on the extension of the area, are arranged in a straight line, the storage accumulated at each address is The side of the lot line closer to address A at the height of the goods, as viewed from the side of the lot line in the movement direction at the height of the stored goods excluding transported materials at address A. Calculate the positive or negative angle of elevation from the horizontal plane, select the address G that has the maximum angle of elevation, and then, assuming the height of the stored goods at address G as hlI, the difference from the height ha is h(・he-he) is the time required for hoisting the load (1 h) or the time required for lowering the load (1) is determined from the maximum hoisting or lowering speed and their acceleration/deceleration, and on the other hand, from address A, Calculate the time it takes for the crane to rise to its maximum speed after it starts traveling or traversing, and if address G is in the area between address F and address B, use this time to calculate the load at address F. After calculating the time jg+ for the load to reach the compartment line at address G or the time tg2 for the load to reach the compartment line at address G, taking into account the deceleration, stop, and subsequent acceleration of the load, first The winding is started by a certain winding correction amount Δh, and then,
When the height hg is equal to the height ha, the height of the load is maintained, and when the height hg is greater than the height ha, t
When h≦tgI, the crane starts traveling or traversing while continuing hoisting, and when the hoisting of the difference in height is completed, the height of the load is maintained at that height and the crane is moved to the upper part of the compartment at address G. The load is moved at the maximum speed in , and when th > t, lI, except that the start of crane travel or traversing is delayed by the difference between time th and tgl from the above-mentioned time point.
Move the load in the same way as when th≦t, ll above, and when the height hg is smaller than the height ha, tl≧js2
When , the crane starts lowering and moves, and when 1m<tg2, the height of the load is reduced to h.
The crane starts traveling or traversing while holding the load at g + Δh, and lowering is started after a delay of tg2-1, and in both cases, the load is lowered by the height difference ha-hg while reaching address G. Next, the same calculation is performed between the section with address G and the section with address B, and other winding or winding operations are performed except for the operation of winding by the first winding correction amount Δh. The lowering operation is repeated to move the load to the next target address, and on the other hand, the distance traveled or traversed by the crane during the time it takes to stop moving the load from the moving speed is calculated. Calculate the crane and start decelerating the crane from the point where the load reaches the specified distance before address F, and when the load reaches the section of address F, stop the crane's movement and immediately start traversing or traveling. Then, move the load again at the maximum speed in the direction of address B, and similarly start decelerating the crane from the point where the load reaches the distance before address B, and when the load reaches the compartment of address B. , the movement of the crane is stopped, and finally the load is lowered by the initial correction amount Δh, thereby completing the transportation of the ha load.

[Effect]

In this way, when the maximum height of the stored goods in the middle of the strip area is higher than the height of the stored items at the transport start address and the transport target address, the maximum height of the stored goods in the belt area and the two detours are determined. Compare the highest heights of stored goods at addresses in the middle of the area, select the detour area with the lowest maximum stored goods height as the transport route, and select from the height of stored goods at the address where transport starts. ,
Find the first section where there is a stored item that protrudes above the line of sight of the stored item at the end address of the detour route arranged in a straight line, and calculate the height difference from the specified section for safety reasons. With sufficient compensation, move the load along the transport route while hoisting or lowering, and set the division line of the section (at the time of hoisting).
Or, before reaching the top (when unloading), repeat the same calculation again to move the load at the maximum possible speed while avoiding all the obstacles in the transport route mentioned above, such as piles of stored goods. Can be done.

〔Example〕

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

Figure 1 shows the address section of a storage yard to which an embodiment of the overhead lane control method of the present invention is applied (the address is not written).
FIG. 2 is a plan view showing a band-shaped area 1 (range indicated by a dot) connecting both compartments, which is used for calculations when transporting stored goods from the compartment with address A to the compartment with address B according to this embodiment. The floor plan of the storage yard shown in Figure 3 is a detour area 2.3 (range surrounded by double lines) along the periphery of a rectangular area that has a section with address A and a section with address B at diagonal positions. Fig. 4 is a plan view of the storage yard showing the detour area 2 in Fig. 3, and on the extension of the partition area from address A to address F, which is diagonally located, there is a partition area extending from address F to address B. The linearly arranged area diagrams, FIGS. 5 and 6, are explanatory diagrams of winding methods for different heights of stored items at addresses, respectively.

The storage yard is divided into a grid of fixed lengths and 89 widths in the longitudinal direction and the direction perpendicular to the longitudinal direction, and each section is given an address and all stored goods are stored in each section. The inventory is managed by address by a separate computer system (not shown), and at the same time, the overhead lane for transporting stored items installed in the storage yard is also controlled by this computer system. In other words, the identification codes, sizes, and other specifications of the individual stored items placed in each compartment, as well as their stacking heights, are constantly input into a computer system and managed for each address. Optionally used for crane control if necessary. The height of stored goods in this information can be easily corrected automatically by detecting the landing of the transported cargo, or manually by monitoring with a CRT or the like.

Next, an explanation will be given of the operation of horizontally holding stored goods using this embodiment in the stored goods yard shown in FIG.

If you want to transport a designated stored item from the top of a pile of stored goods piled up to a height ha in a block with address A to the top of a pile of stored goods piled up in a block with address B, first, A,
Assuming a straight strip area 1 formed by connecting corresponding corners of each section of H with straight lines, all addresses where this strip area 1 and all or part of the section overlap are selected. Next, as shown in Fig. 3, among the rectangular areas in the storage yard that have both sections A and B at diagonal positions,
From the section with address A, go to the section with address F, located diagonally at the end of the sectioned area arranged in the longitudinal direction of the storage yard.Then from the section, go through the sectioned area arranged in the width direction of the storage yard, and then go to the address. A detour area 2 leading to section B, and a section from address A to section F2 at a diagonal position at the end of the section area arranged in the width direction of the storage yard, and then from the section in the longitudinal direction of the storage yard. A detour area 3 leading to the block with address B through the divided areas arranged in Detect the address of the parcel.

Next, among the addresses belonging to the strip area 1, the height of the stored goods at the address C, which has the highest height of the stored goods, is set as hc, and among the addresses belonging to each of the two detour areas 2.3, , the height of the stored goods at address haE, which has the highest height, are hd and he, respectively. When ha and he, the heights of these stored goods ha and h
Comparing b, hc, hd, he, hc>ha and h
b and when hc>he and ha, height hd and height h
If the heights hd and hg are equal, then one of the lower detour areas is selected as the load transport route. In this case h
It is assumed that the detour area 2 is selected on the assumption that c>ha, hb, hc>hd, he and ha and he>hd.

Next, as shown in FIG. 4, in the detour area 2, there is a region from address F1 to address B at the other end diagonal position than address A;
As an extension of this area, the area from address F1 to address B is arranged in a straight line in the order of the transport direction of the load, and the height of the stored goods stacked in each section is searched and the address where the movement of the load is started is searched. Height of the pile (ha) excluding transported materials in A
From the lot line on the movement direction side among the lot lines in , to the lot line A at the height of the pile of each searched address
Angle of elevation (positive or negative) from the horizontal plane when looking at the lot line near the
is calculated, and the address having the maximum angle is determined. For example, if the height of the pile at the address in Figure 3 is h
If it is a, then this argument is understood. In this case, it is assumed that among these calculated angles, the elevation angle θd (positive) of the address is the largest.

Next, calculate the time required for the crane to reach the maximum speed it can reach from address A to the address, and take this into account when the crane load (assumed to be 81 mm long) reaches the area of the address. Find the time tdl until entering. On the other hand, let the difference ha-ha between the height of the pile of address and address A be the winding ih, and from this value, the maximum speed of winding, and its acceleration/deceleration,
Find the time th required for winding.

Therefore, first, the crane starts hoisting, and after hoisting the load by the set correction amount Δh, (+)th≦tdl
In this case, the crane starts traveling from address A according to the set acceleration and speed while continuing to hoist the load. Figure 5 shows the case where th = tdl, and when a load is hoisted and transported, after a time th, when the hoisting is finished, the load arrives at the lot line of the address and reaches the height of the address D. It becomes possible to clear ha by the correction amount Δh, and the ha cargo is allowed to enter above the pile at the address as it is at a constant height. If th<tdl, hoisting is continued until the load reaches the division line of the address, and the load enters the division of the address at that height.

(2) If th > tdl If you operate as in case (1) above, the load will collide with the pile at the address after hoisting the hoisting scale, so in this case, as shown in Figure 6. As shown in FIG. 1, by continuing only hoisting and starting the movement of the crane with a delay of th-tdl, the HA load can be cleared from the address.

Next, in the same manner as in the first case, the maximum angle of elevation for each address in the detour area 2 as seen from the address in FIG. 4 is determined until the load enters the address section. Figure 5 and Figure 6 both show the case where the elevation angle (negative) of the end point B is the only maximum, and the end point address B is selected and the crane continues to travel with the load at that height. .

On the other hand, the distance traveled by the crane during the time until it is stopped is calculated from the traveling speed of the crane, and the crane is decelerated from the point when the load reaches address F by that distance, and the load is moved to address F1. Upon reaching the compartment, the crane is stopped and immediately begins traversing in the direction of address B, again transporting the load at maximum speed. The lowering point is determined from the difference between the height hb of the pile at address B at the end point and the height hd of the pile at address ha. This can be calculated by calculating the time required for this and calculating the distance that the crane will traverse until it stops moving during this time. Further, the point at which the deceleration of the traversing speed is started can be easily calculated from the remaining traversing distance between the current position of the load and the address B, the traversing speed, and its deceleration.

In this way, the traverse speed of the crane is reduced and the load is lowered, and when the load reaches the compartment at address B, it is possible to lower the load by the correction value Δh and place the load.

In the above example, only the address has a pile that becomes an obstacle, but if there is an address that has a pile that becomes an obstacle before or after the address, the same calculation can be repeated to solve the problem. can be reached.

In actual operation, it is necessary to correct the operating method and calculations for the following reasons. For example, in Figure 3, in order to prevent the materials from rubbing against each other, the area at the address would be lifted a little higher than the height hd to clear it, and when it came directly above address B, it would be rolled down a little to clear the area at the end point. It is necessary to operate the vehicle by placing it on top of the pile at address B.
This can be achieved by introducing a correction term Δh into the calculation of the height to be cleared. That is, the correction term Δh is
This represents a correction amount that includes all factors such as measurement errors in load height, safety for collision avoidance, and deflection of suspended loads.

(Effects of the Invention) As explained above, the present invention provides the following advantages: when a load is transported from an arbitrary address A in a storage yard to another arbitrary address B by an overhead crane, the highest is higher than the height of the stored items at addresses A and B, and higher than the maximum height of the stored items in at least one of the detour areas, than the maximum height of the stored items in the detour area. When it's high,
Select this detour area as the transport route for the load, look from address A to address B, select a section of the pile that protrudes from the line of sight, and set the height of the load to clear that height. It calculates and controls the amount and timing of hoisting or lowering so as to hold the load and pass through the section, and also moves the load along the detour area, each time clearing a pile of sections that were an obstacle along the way. , by repeating similar calculations, the effect is that the energy required for hoisting and lowering can be saved compared to the case where a load is transported from address A to address B in a ha band-shaped area.

[Brief explanation of drawings]

FIG. 1 is a plan view showing the address divisions of a storage yard to which an embodiment of the overhead lane control method of the present invention is applied, and FIG. 2 is a plan view showing the divisions from address A to address B according to this embodiment. A floor plan of the storage yard showing the strip area 1 (range indicated by dots) connecting both compartments, which is used for calculations when transporting stored goods to Detour area 2.3 along the periphery of the rectangular area at the diagonal position
Figure 4 is a plan view of the storage yard showing (the area surrounded by double lines), regarding the detour area 2 in Figure 3, the address Area diagram in which the divided areas from F1 to address B are arranged in a straight line, No. 5
FIG. 6 and FIG. 6 are explanatory diagrams of winding methods for different heights of stored items at addresses, respectively. 1... Strip area, 2.3... Detour area, A, B, C, D, E, F,, F2... Block address, a
・・・・・・Length of one section in the horizontal direction, b −−−−−
- Length in the width direction of one section, h...Height of the pile of stored goods at address A, hb--Height of the pile of stored goods at address B, hd--Height of the pile of stored goods at address B, Δh: Winding correction amount, θd: Elevation angle when viewing the address partition line (address A side) from the partition line of address A (moving side).

Claims (1)

[Scope of Claims] 1. The storage yard is divided into a plurality of sections in a grid pattern by dividing each of the longitudinal direction and the width direction perpendicular to the longitudinal direction by a certain length, and each section has its own section. Inventory management of these stored items is carried out by constantly recording the types, dimensions, and other specifications of each stored item piled up in each address block, as well as their stacking height. A method for controlling an overhead running lane of a computer system, which controls the overhead running lane by constantly inputting the current position of an overhead running lane installed in a storage yard for transporting stored goods, the method comprising: When transporting cargo from an arbitrary address A to another arbitrary address B using a lane, first, in the storage yard, there is a strip-shaped area that connects both sections A and B in a straight line, and an area between A and B. Among the rectangular areas in the storage yard that have both sections B at diagonal positions, the section with address A reaches the section at the diagonal position at the end of the section area arranged in the longitudinal direction of the storage yard, and then A detour area leading from the compartment to the compartment at address B via the compartment area arranged in the width direction of the storage yard, and a diagonal position of the end of the compartment area arranged in the width direction of the storage yard from the compartment at address A. Determine a detour area leading to the section, and then from the section through the section areas arranged in the longitudinal direction of the storage yard to the section at address B, and divide the strip area other than address A and address B into these detour areas. Next, the highest height of the stored goods piled up at the addresses belonging to the strip area is set as h_c, and the addresses belonging to each of the two detour areas are detected. Let h_d and h_e be the highest heights of stored goods piled up at address A and address B, respectively, and let h_a and h_b be the heights of stored goods piled up at address A and address B, excluding transport materials, respectively. Compare the heights h_a, h_b, h_c, h_d, h_e of these stored items, and when h_c>h_a and h_b and h_c>h_d and h_a, the height h_d
If the height h_e and the height h_e are different, select the lower detour area, or if the height h_d and the height h_e are equal, select one of the detour areas as the load transportation route. In the detour area, an area from address A to address F at the other end diagonally, and an area extending from address F to address B on the extension of the area are arranged in a straight line, and are stacked at each address. The lot line on the side closer to address A of the lot line at the height of the stored goods stored at address A is viewed from the lot line on the moving direction side among the lot lines at the height of the stored goods excluding the transported materials at address A. Calculate the positive or negative elevation angle of the surface from the horizontal plane, select the address G with the maximum elevation angle among them, and then, assuming the height of the store at address G as h_g, the height h_a
The time t_h required to hoist the load or the time t_l required to lower the load is calculated from the maximum hoisting or lowering speed and their acceleration/deceleration, and On the other hand, calculate the time from when the crane starts traveling or traversing from address A to the maximum speed, and using this time, and when address G is in the area between address F and address B, , after determining the time t_g_1 until the load reaches the compartment line at address G or the time t_g_2 until the load reaches the compartment at address G, taking into account deceleration, stop, and subsequent acceleration of the load at address F. , First, start hoisting the load and hoist it by a certain hoisting correction amount Δh. Next, if the height h_g is equal to the height h_a, the height of the load is maintained, and the height h_g is If t_h≦t_g_1, the crane starts traveling or traversing while continuing to hoist.
At the end of hoisting the height difference h, the load is moved to the upper part of the compartment at address G at maximum speed while maintaining the height of the load. Time t_h and t_g_ from the time when the start is mentioned above.
Except for delaying by a difference of 1, the above t_h≦t_g
Move the load in the same way as in _1, and when the height h_g is smaller than the height h_a, t_l≧
When t_g_2, the crane starts lowering and moves, and when t_l<a_2, the crane starts traveling or traversing while maintaining the height of the load at h_a+Δh, and the time difference is t_g_2. - Start hoisting with a delay of t_l, and in each case, lower the load by the height difference h_a-h_g and move it to the upper part of the compartment at address G, and then move it to the upper part of the compartment at address G and the compartment at address B. Similar calculations are performed between 1 and 2, and other hoisting or lowering operations are repeated except for the operation of hoisting by the first hoisting correction amount Δh, and the load is moved to the next target address area. For traveling or traversing, calculate the traveling or traversing distance of the crane during the time from the moving speed to stopping the movement of the load, and start decelerating the crane from the point where the load reaches the specified distance before address F. When the load reaches the compartment at address F, the crane stops moving, immediately starts traversing or running, and moves the load again at maximum speed in the direction of address B. The crane starts decelerating from the point where it reaches the front by the distance, and when the load reaches the area with address B, the crane stops moving, and finally lowers the load by the initial correction amount Δh. How to control the lane in which you run. 2. The correction amount Δh is based on the error in the stacking height of stored items,
According to claim 1, the value is set in consideration of safety for avoiding friction and collision between stored items, or the amount of deflection of the crane and the load when the load is suspended from the crane. A method of controlling lanes that run overhead.