Automatic crane transportation instruction generator, transportation control system, transportation instruction generation method, and transportation instruction generation program

Abstract

To provide an automatic crane transportation instruction generator capable of realizing effective automatic crane transportation, while reducing a load of a calculator for controlling an automatic crane; and to provide an automatic crane transportation instruction generation method and an automatic crane transportation instruction generation program therefor.SOLUTION: A plurality of pieces of conveyance instruction data obtained by setting a plurality of pieces of conveyance route information given by identifying a conveyance route for every conveyance object are acquired. A transmission request of each conveyance instruction is acquired from a plurality of respective automatic cranes. Conveyance route information extracted from among the plurality of pieces of conveyance instruction data is set as a conveyance instruction candidate for an evaluation object crane. When it is determined that an interference between the evaluation object crane and the other automatic crane is generated from the conveyance route as the conveyance instruction candidate, and the conveyance route of the conveyance instruction transmitted at present to the other automatic crane, a searched alternative instruction is allocated as the conveyance instruction for the evaluation object crane by searching the conveyance route information that does not interfere with any other automatic crane from the plurality of pieces of conveyance instruction data, as the alternative instruction.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a transport command generating device for an automatic crane, a transport control system, a transport command generating method, and a transport command generating program. [Background technology]

[0002] An automatic crane (hereinafter, abbreviated as crane) receives a transport command output from a control computer, and transports an object from its origin to its destination in accordance with the received transport command. In this case, when multiple cranes traveling on the same rail are operated, if the transport commands output from the control computer overlap between the cranes, there is a possibility that the cranes may collide with each other. For this reason, the cranes are provided with sensors that detect the approach of the cranes, and have a function to suddenly stop the cranes to avoid collisions between the cranes when the approach of the cranes is detected. However, if there are frequent situations where it is necessary to avoid collisions between the cranes, the efficiency of transporting the object to be transported decreases. For this reason, a crane operation control has been proposed that aims to de-interfere with the transport commands output to each crane so that the travel ranges of the multiple cranes do not overlap.

[0003] For example, Patent Document 1 describes a method in which a plurality of transport commands, the execution order of which is specified according to a predetermined priority for each of a plurality of cranes, are set as a transport schedule, and the quality of the set transport schedule is evaluated based on the end time of the transport commands relative to the delivery date. The method described in Patent Document 1 controls the operation of the cranes based on the transport schedule that is evaluated as being good. The method described in Patent Document 1 also generates two or more transport patterns that are combinations of the priorities of the transport commands and the allocation to the cranes. The method described in Patent Document 1 judges the quality of the transport schedule by executing a crane operation simulation that takes into account the operations of each crane, such as hoisting, lowering, and running (acceleration, deceleration), and interference between the cranes.

[0004] Furthermore, Patent Document 2 describes a method for real-time scheduling of cranes, in which a preliminary simulation is performed before instructing an initially planned transport schedule to an overhead crane to verify whether or not there will be interference with other overhead cranes. In the case where interference with other overhead cranes occurs, the method described in Patent Document 2 performs a simulation again with a transport schedule of the same priority as the initially planned transport schedule to verify whether or not there will be interference with other overhead cranes. In addition, in the case where interference occurs with any transport schedule of the same priority, the method described in Patent Document 2 creates and instructs a transport schedule for evacuation and standby from other overhead cranes to the minimum extent necessary, grasps the status of the overhead crane, and confirms and corrects the validity of the simulation. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2005-35763 A [Patent Document 2] JP 2002-68669 A Summary of the Invention [Problem to be solved by the invention]

[0006] The method described in Patent Document 1 sets multiple transport schedules as transport patterns, and evaluates their quality by executing a crane operation simulation. Therefore, in order to obtain a good transport pattern, it is necessary to set multiple transport schedules. This increases the load on the computer that executes the crane operation simulation. In addition, with an automatic crane, a deviation may occur between the preset position or orientation of the transport object and the actual position or orientation, which may cause delays due to position adjustments of the automatic crane or re-grabbing of the transport object by the hook. This may cause the preset transport schedule to become inappropriate, or the timing of the preset transport schedule to deviate from the actual operation of the automatic crane, resulting in interference between multiple automatic cranes.

[0007] On the other hand, the method described in Patent Document 2 determines whether interference will occur on the next transport route according to a preset priority, so there is no need to run a crane operation simulation for the entire transport schedule. However, it is necessary to simulate interference between multiple overhead cranes in real time from the present to the future, which requires a parallel processing computer, etc., which places a heavy load on the computer and increases equipment costs. In addition, when interference occurs between multiple overhead cranes, transport commands with low priority are not executed, so transport commands are likely to be stuck. As a result, it becomes necessary to manually reset the priority of the stuck transport commands to a higher level, which hinders automatic control of the overhead cranes.

[0008] The present invention has been made to solve the above problems, and an object of the present invention is to provide an automatic crane transport command generating device, a transport command generating method, and a transport command generating program that can realize efficient automatic crane transport while reducing the load on the computer that controls the automatic crane. Another object of the present invention is to provide an automatic crane transport control system that can realize an efficient transport process by the automatic crane. [Means for solving the problem]

[0009] The transport command generating device for an automatic crane according to the present invention is a transport command generating device for an automatic crane that generates transport commands for an object to be transported to a plurality of automatic cranes traveling on the same rail, and includes a transport command data acquisition unit that acquires transport command data in which a plurality of transport route information specifying a transport route for each of the objects to be transported is set, a command request acquisition unit that acquires a request to transmit the transport command from each of the plurality of automatic cranes, a transport command candidate setting unit that sets the automatic crane that requested the transmission of the transport command as an evaluation target crane and transport route information extracted from the transport command data as a transport command candidate for the evaluation target crane, an interference determination unit that determines whether or not interference will occur between the evaluation target crane and other automatic cranes based on the transport route of the transport command candidate and the transport route of a transport command currently transmitted to other automatic cranes, an alternative command search unit that, when the interference determination unit determines that interference will occur between the evaluation target crane and other automatic cranes, searches for transport route information that will not interfere with any of the other automatic cranes from the transport command data as an alternative command, and a transport command allocation unit that assigns the alternative command searched for by the alternative command search unit as a transport command for the evaluation target crane.

[0010] The method includes a wait count determination unit which, when the interference determination unit determines that interference will occur between the crane to be evaluated and another automatic crane, determines the number of times that a transport command for the transport route information of the transport command candidate has been avoided as a wait count, and when the wait count is equal to or less than a predetermined threshold, the wait count determination unit increments the wait count by one and executes a search for an alternative command by the alternative command search unit, and when the wait count exceeds the predetermined threshold, assigns the transport command candidate to a transport command for the crane to be evaluated without executing a search for an alternative command by the alternative command search unit, and assigns an evacuation command to the other automatic crane determined to cause interference to evacuate from the transport route of the transport command candidate.

[0011] The transport route information may include information regarding a priority of the transport of the object, and the transport command candidate setting unit may set the transport command candidates in accordance with the priority.

[0012] When the interference determination unit determines that interference will occur between the crane to be evaluated and another automatic crane, the priority determination unit is provided with a priority determination unit that determines a transport route according to the priority prior to the search for an alternative command by the alternative command search unit, and when the priority of the transport command candidate is the same as or lower than the priority of the transport command for the other automatic crane determined to cause interference, the priority determination unit executes a search for an alternative command by the alternative command search unit, and when the priority of the transport command candidate is higher than the priority of the transport command for the other automatic crane determined to cause interference, the priority determination unit assigns the transport command candidate to a transport command for the crane to be evaluated without executing a search for an alternative command by the alternative command search unit, and assigns an evacuation command to the other automatic crane determined to cause interference to evacuate from the transport route of the transport command candidate.

[0013] The automatic crane transport control system of the present invention is an automatic crane transport control system that uses the automatic crane transport command generating device of the present invention to control the transport of objects to be transported for multiple automatic cranes running on the same rail, and each of the multiple automatic cranes is equipped with a request unit that requests the transport command generating device to send a transport command, a receiving unit that receives the transport command output by the transport command generating device, and a control unit that transports the object to be transported in accordance with the transport command received by the receiving unit.

[0014] When each of the plurality of automated cranes completes a transport process based on the currently received transport command, the request unit may request the transport command generating device to transmit a transport command.

[0015] The transport command generation method for an automatic crane according to the present invention is a transport command generation method for an automatic crane that generates transport commands for an object to be transported to a plurality of automatic cranes traveling on the same rail, and includes the following steps: a data acquisition step of acquiring transport instruction data in which a plurality of transport route information specifying a transport route for each of the object to be transported is set; a request acquisition step of acquiring a request to transmit the transport command from each of the plurality of automatic cranes; a setting step of setting transport route information extracted from the transport instruction data as a transport command candidate for the automatic crane to be evaluated, with the automatic crane that requested the transmission of the transport command being treated as a crane to be evaluated; a determination step of determining whether or not interference will occur between the crane to be evaluated and other automatic cranes from the transport route of the transport command candidate and the transport route of a transport command currently transmitted to other automatic cranes; a search step of searching, when it is determined in the determination step that interference will occur between the crane to be evaluated and other automatic cranes, for transport route information that will not interfere with the transport routes of any of the other automatic cranes as an alternative command from the transport instruction data; and an assignment step of assigning the alternative command searched for in the search step as a transport command for the crane to be evaluated.

[0016] The method includes a wait count determination step for determining, if it is determined in the determination step that interference will occur between the crane to be evaluated and another automatic crane, the number of times that a transport command for the transport route information of the transport command candidate has been avoided as a wait count, and if the wait count is equal to or less than a predetermined threshold, the wait count determination step increments the wait count by one and executes a search for an alternative command by the search step, and if the wait count exceeds the predetermined threshold, assigns the transport command candidate to a transport command for the crane to be evaluated without executing the search for an alternative command by the search step, and assigns an evacuation command to the other automatic crane determined to cause interference to evacuate from the transport route of the transport command candidate.

[0017] The transport route information may include information regarding a priority of the transport of the object, and the setting step may set the transport command candidates in accordance with the priority.

[0018] If it is determined in the determination step that interference will occur between the crane to be evaluated and another automatic crane, the method includes a priority determination step of determining a transport route according to the priority prior to searching for an alternative command by the search step, and if the priority of the transport command candidate is the same as or lower than the priority of the transport command for the other automatic crane determined to cause interference, the priority determination step executes a search for an alternative command by the search step, and if the priority of the transport command candidate is higher than the priority of the transport command for the other automatic crane determined to cause interference, the method assigns the transport command candidate to a transport command for the crane to be evaluated without executing a search for an alternative command by the search step, and assigns an evacuation command to the other automatic crane determined to cause interference to evacuate it from the transport route of the transport command candidate.

[0019] The transport command generation program for an automatic crane according to the present invention is an automatic crane transport command generation program for generating transport commands for an object to be transported to a plurality of automatic cranes traveling on the same rail, and includes a computer including a transport command data acquisition unit that acquires transport command data in which a plurality of pieces of transport route information specifying a transport route for each of the objects to be transported are set, a command request acquisition unit that acquires a request to transmit the transport command from each of the plurality of automatic cranes, and an automatic crane that has requested the transmission of the transport command is treated as an evaluation object crane, and transport route information extracted from the transport command data is treated as a transport command candidate for the evaluation object crane. an interference determination unit that determines whether interference will occur between the crane to be evaluated and other automatic cranes based on the transport routes of the transport command candidates and the transport routes of transport commands currently being issued to other automatic cranes; an alternative command search unit that, when the interference determination unit determines that interference will occur between the crane to be evaluated and other automatic cranes, searches for transport route information that will not cause interference with any of the other automatic cranes from the transport instruction data as an alternative command; and a transport command allocation unit that assigns the alternative command searched for by the alternative command search unit as a transport command for the crane to be evaluated. Effect of the Invention

[0020] The automatic crane transport command generating device, the transport command generating method, and the transport command generating program according to the present invention can realize efficient automatic crane transport while reducing the load on the computer for controlling the automatic crane. Also, the automatic crane transport control system according to the present invention can realize an efficient transport process by the automatic crane. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a crane facility to which a transport command generating device for an automatic crane according to an embodiment of the present invention is applied. [Diagram 2] FIG. 2 is a diagram illustrating an example of the transport instruction data. [Diagram 3] FIG. 3 is a block diagram showing the configuration of a transport command generating device for an automatic crane according to the first embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of transport instruction data to which the priorities of the transport steps are assigned. [Diagram 5] FIG. 5 is a flowchart showing the flow of a transport command generating method for an automatic crane according to the first embodiment of the present invention. [Figure 6] FIG. 6 is a flowchart showing the flow of a transport command generating method for an automatic crane according to the second embodiment of the present invention. [Figure 7] FIG. 7 is a flowchart showing the flow of a transport command generating method for an automatic crane according to the third embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing the flow of a transport command generating method for an automatic crane according to the fourth embodiment of the present invention. [Figure 9] FIG. 9 is a diagram illustrating a schematic diagram of an execution status of a transportation plan for an object to be transported in the embodiment. [Figure 10] FIG. 10 is a diagram showing a schematic diagram of an execution status of a transportation plan for an object to be transported in a comparative example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, a transfer command generating device for an automatic crane, a transfer control system, a transfer command generating method, and a transfer command generating program according to an embodiment of the present invention will be described with reference to the drawings.

[0023] [Crane equipment configuration] First, with reference to Figs. 1 and 2, a configuration of a crane facility to which a transport command generating device for an automatic crane according to an embodiment of the present invention is applied will be described.

[0024] FIG. 1 is a schematic diagram showing the configuration of a crane facility to which a transfer command generating device for an automatic crane according to one embodiment of the present invention is applied. As shown in FIG. 1, in the crane facility 1 to which a transfer command generating device for an automatic crane according to one embodiment of the present invention is applied, two automatic cranes (hereinafter abbreviated as cranes) CR (CR1, CR2) are hung on rails 2 fixed to the supports of a building. The cranes CR1, CR2 travel within a travel range set on the rails 2 and transport objects to different positions. On the rails 2, positions for discharging and receiving objects to be transported (hereinafter referred to as transfer positions) are determined according to the arrangement of the production line installed in the building and the storage area of ​​the products. The transfer positions are set, for example, near the charging device or unloading device of the production line, a temporary storage area for the products, a transfer location of the objects to be transported to and from the outside of the building, and the like. In the example shown in FIG. 1, seven transfer positions A to G are set on the rails 2. The transfer positions A to G may be temporary storage areas for the objects to be transported, and therefore each transfer position may be the source or destination of the objects to be transported.

[0025] In the crane equipment 1, a stop position where each crane CR stops while not performing a transport process may be set in advance. In the crane equipment 1 shown in FIG. 1, a stop position ST1 is set for the crane CR1, and a stop position ST2 is set for the crane CR2. The stop position of the crane CR is a position where the crane CR stops while not performing a transport process, and is set at a position that does not interfere with the transport process by other cranes CR as much as possible. Also, in this crane equipment 1, the travel direction of the crane CR is identified as rightward R and leftward L.

[0026] The crane equipment 1 is equipped with a transfer control system 3 in order to automatically execute a transfer process in which an object to be transferred is transferred from one transfer position selected from transfer positions A to G to another transfer position different from the selected transfer position. Since the cranes CR of the crane equipment 1 travel on the same rails 2, the arrangement order of the cranes CR1 and CR2 cannot be reversed in the transfer process. Reversing the arrangement order means that the transfer process cannot be executed unless one crane CR overtakes the other crane CR. The transfer control system 3 controls the cranes CR while reflecting such facility constraints.

[0027] The transport control system 3 includes a host computer 31, a transport command generating device 32, and controllers 33 (33a, 33b) provided in each of the cranes CR (CR1, CR2). The host computer 31 and the transport command generating device 32 are communicatively connected. The transport command generating device 32 is communicatively connected to each of the cranes CR (CR1, CR2).

[0028] The host computer 31 is a computer that generates transport instruction data for objects to be transported by the crane equipment 1 and controls the transport process by the crane equipment 1. The transport instruction data is data that represents a transport plan composed of multiple transport route information. The transport route information is information that includes location information of the origin and destination of the object to be transported as a transport route. The transport route information represents one transport process for transporting a specific object from its origin to its destination. The transport instruction data is set according to the progress of the production plan for the production line in the building in which the crane equipment 1 is installed. The transport instruction data is updated appropriately at a predetermined interval or in response to a request from a manager who manages the operation of the crane equipment 1.

[0029] FIG. 2 shows an example of transport instruction data. The transport instruction data includes multiple pieces of transport route information. As shown in FIG. 2, the transport route information is identified by an identification number. For example, in the transport route information of identification number O1 shown in FIG. 2, a transport route represented by a transport position B which is the source (FROM) and a transport position A which is the destination (TO) as a transport route is associated with a transport object X1. As a result, the transport route information of identification number O1 specifies a transport process O1 in which the transport object X1 is lifted at the source B by one of the cranes CR of the crane equipment 1, the crane CR is driven from the source B to the destination A, and the transport object X1 is unloaded at the destination A.

[0030] Returning to FIG. 1, the transport command generating device 32 generates and outputs a transport command to each crane CR of the crane equipment 1 based on the transport instruction data generated by the upper computer 31. A transport command is a command for making each crane CR execute any one of the transport processes included in the transport instruction data. In response to a request to send a transport command from each crane CR, the transport command generating device 32 selects and outputs a transport command from the transport instruction data for the crane CR that requested the transmission of the transport command. However, in response to a request to send a transport command from a crane CR, the transport command generating device 32 may determine that none of the transport processes included in the transport instruction data can be executed, and output an evacuation command to evacuate any of the cranes.

[0031] The control controller 33 is provided for each crane CR of the crane equipment 1, and executes a transport process according to a transport command received from the transport command generating device 32. Since the transport command includes transport route information, the control controller 33 executes control of the crane CR according to the following steps SC1 to SC6.

[0032] Step SC1: Receive a transport command from the transport command generating device 32 Step SC2: Move the crane CR from the current position to the origin. Step SC3: Lift the transported object at the transport source Step SC4: The crane CR is driven from the source to the destination while the transported object is lifted. Step SC5: Unload the transported object at the destination Step SC6: Request the transport command generating device 32 to transmit the next transport command.

[0033] The control controller 33 is connected to a communication device for communicating with the transport command generating device 32 in order to execute steps SC1 and SC6. In order to execute step SC2, the control controller 33 acquires detailed position information of the transport object tracked by the host computer 31 and moves the crane CR based on the position information. If the crane CR is equipped with a device for identifying the transport object (e.g., a 3D scanner, etc.), the control controller 33 moves the crane CR based on detailed position information of the transport source and information from the device for identifying the transport object in order to execute step SC2. In order to execute step SC5, the control controller 33 controls the unloading of the transport object based on position information of the transport destination.

[0034] The control controller 33 is provided with a position sensor that detects the current position of the crane CR in order to execute steps SC2 and SC4. Furthermore, information necessary for travel control such as the acceleration, travel speed, and deceleration of the crane CR in order to execute steps SC2 and SC4 is set in the control controller 33, and the control controller 33 controls the travel of the crane CR according to the set information. In addition, the control controller 33 has a function for controlling the position of the hook height of the crane CR in order to execute steps SC3 and SC5. Furthermore, information necessary for the lifting and lowering operations of the transport object, such as the hoisting speed and lowering speed of the transport object, is set in the control controller 33 in order to execute steps SC3 and SC5. The control controller 33 controls the lifting and lowering operations of the transport object according to the set information.

[0035] [First embodiment] [Transportation command generation device] Next, the configuration of the transportation command generating device 32 according to the first embodiment of the present invention will be described with reference to FIGS.

[0036] 3 is a block diagram showing the configuration of a transportation command generating device 32 according to a first embodiment of the present invention. The transportation command generating device 32 according to the first embodiment of the present invention is configured by a general-purpose computer such as a workstation or a personal computer. The transportation command generating device 32 is not limited to these, and may be one or a plurality of server devices capable of communicating with each other. As shown in FIG. 3, the transportation command generating device 32 includes a transportation command generating unit 321, an input unit 322, an output unit 323, and a storage unit 324.

[0037] The transport command generating unit 321 is configured with an arithmetic processing unit such as a CPU, and functions as a transport instruction data acquiring unit 321a, a command request acquiring unit 321b, a transport command candidate setting unit 321c, an interference determining unit 321d, an alternative command searching unit 321g, and a transport command allocating unit 321h by executing a computer program read from the storage unit 324. In addition, the transport command generating unit 321 can also function as a wait count determining unit 321e and a priority determining unit 321f by executing a computer program read from the storage unit 324.

[0038] The input unit 322 is composed of, for example, a keyboard, a touch panel provided integrally with a display, etc. The output unit 323 is composed of, for example, an LCD or CRT display, etc. The storage unit 324 is composed of, for example, an updatable flash memory, a built-in hard disk or a hard disk connected via a data communication terminal, an information recording medium such as a memory card, and a read / write device for the same. The storage unit 324 stores computer programs for the transport command generation unit 321 to realize each function, data used by the computer programs, etc.

[0039] The transport instruction data acquisition unit 321a acquires transport instruction data generated by the host computer 31. As illustrated in FIG. 2, the transport instruction data includes a series of transport route information currently planned as a transport process in the crane equipment 1. The transport instruction data acquisition unit 321a may acquire the latest transport instruction data from the host computer 31 at a preset period, for example, every 30 to 120 minutes. The transport instruction data acquisition unit 321a may acquire the latest transport instruction data at the timing when the transport plan is updated in the host computer 31. Furthermore, the transport instruction data acquisition unit 321a may acquire the transport instruction data from the host computer 31 in response to a request signal from the operator of the crane equipment 1 input via the input unit 322. The transport instruction data may include five or more pieces of transport route information. This is because the more transport route information included in the transport instruction data, the more candidates for alternative commands described later will be, and therefore the more efficient operation of the crane equipment 1 will be facilitated.

[0040] The command request acquisition unit 321b acquires a request to transmit a transport command from each of the cranes CR1 and CR2. The requests to transmit a transport command from the cranes CR1 and CR2 are sent from the request units 33a1 and 33b1 of the control controllers 33 (33a and 33b) provided for each of the cranes. The command request acquisition unit 321b identifies the crane CR that has sent the request to transmit a transport command, and outputs an instruction to the transport command generation unit 321 to execute a process of generating a transport command for the crane CR. The transport command generation unit 321 executes the functions of the transport command candidate setting unit 321c, the interference determination unit 321d, the alternative command search unit 321g, and the transport command allocation unit 321h in accordance with the instructions from the command request acquisition unit 321b.

[0041] When the transport command candidate setting unit 321c receives information indicating that a request to transmit a transport command has been made from the transport command generating unit 321, it sets the crane that requested the transmission of the transport command as the evaluation target crane. The transport command candidate setting unit 321c sets the transport route information extracted from the transport command data acquired by the transport command data acquiring unit 321a as a transport command candidate for the evaluation target crane. The transport command candidate means transport route information extracted as a candidate for the next transport command to the evaluation target crane. The transport command candidate is arbitrarily selected from the transport command data, excluding the transport route information that has already been completed, and from the transport command data, from the transport route information that is not currently assigned to other cranes. However, the priority of the transport process may be set in advance in the transport command data, and the transport command candidates may be extracted in order of the set priority.

[0042] FIG. 4 is a diagram showing an example of transport instruction data to which the priority of the transport process is assigned. The transport instruction data shown in FIG. 4 is the transport instruction data shown in FIG. 2 to which the priority of the transport process and the progress of the current transport plan are assigned. The priority of the transport instruction data shown in FIG. 4 is set so that the higher the priority, the smaller the numerical value. In other words, the smaller the numerical value of the priority, the higher the priority. The progress is expressed as "Completed" when the transport process is completed as transport route information, and "Assigned" when a transport command is currently being sent to a crane other than the crane to be evaluated. In this case, "Assigned to CR1" means that a transport command is currently being sent to crane CR1, and transport route information (transport process O3) with identification number O3 is being executed. When the command request acquisition unit 321b acquires a request to send a transport command from the crane CR2, it extracts, from the transport instruction data, the transport route information (transport process O5) with the highest priority identification number O5 (priority: 4) from the transport route information excluding the transport route information (transport process O1, O2) with identification numbers O1 and O2 whose transport processes have been completed and the transport route information with identification number O3 currently assigned to another crane CR1, as a transport command candidate.

[0043] The priority given to the transport instruction data may be set when the upper computer 31 generates the transport instruction data. Also, the priority given to the transport instruction data may be set after the transport instruction data acquisition unit 321a acquires the transport instruction data. The priority given to the transport instruction data may also be set according to a rule set in advance according to the operation mode of the crane equipment 1. For example, as the transport route information, a rule can be set so that the priority of a transport process at a transport position where the transport object is discharged from the production line and a transport process at a position where the transport object is charged into the production line is high. This is to prevent a decrease in the operation rate of the production line due to a delay in discharge or charging. On the other hand, the priority given to the transport instruction data may be set by a manager or an operator by accepting an input from the input unit 322 after the transport instruction data acquisition unit 321a acquires the transport instruction data. By flexibly setting the priority order of the transport processes according to the actual situation of the transport work, the transport plan can be executed efficiently.

[0044] Return to FIG. 3. The interference determination unit 321d determines whether interference occurs between the evaluation target crane and other cranes based on the transfer route of the transfer command candidate set by the transfer command candidate setting unit 321c and the transfer route of the transfer command currently output to the other cranes. The evaluation target crane interferes with other cranes when the transfer section of the evaluation target crane overlaps with the transfer section of any other crane, or when the arrangement order of the evaluation target crane and other cranes is reversed. In this case, the overlap of the transfer section includes not only the overlap of the travel section but also the same transfer position of the carry-out source or the carry-out destination. In addition, the reversal of the arrangement order means that the evaluation target crane cannot execute the transfer process unless it overtakes any other crane. In other words, in the crane equipment 1 shown in FIG. 1, it means that the transfer process cannot be executed unless the crane CR2 moves to the left of the crane CR1.

[0045] In the transport instruction data shown in FIG. 4, the interference determination unit 321d determines whether interference occurs between the crane CR2 to be evaluated and the other crane CR1 based on the transport route information of identification number O5 for the crane CR2, which is the crane to be evaluated, and the transport route information of identification number O3 currently output for the other crane CR1. The transport route information of identification number O5 transports the load X5 from the transport source D to the transport destination F, and the transport route information of identification number O3 for the crane CR1 transports the load X3 from the transport source C to the transport destination E. Then, referring to the transport position in FIG. 1, it can be determined that the transport route of identification number O3 for the crane CR1 interferes with the transport route of identification number O5 in the section of the transport position DE. The interference determination unit 321d determines whether interference occurs between the crane to be evaluated and the other crane based on the transport route and the transport route of the transport command currently output for the other crane for the transport command candidate set by the transport command candidate setting unit 321c in this way.

[0046] When it is determined that interference will occur between the crane to be evaluated and another crane, the interference determination unit 321d outputs a determination result that interference will occur to the transport command generation unit 321. On the other hand, when it is determined that interference will not occur between the crane to be evaluated and another crane, the interference determination unit 321d outputs a determination result that interference will not occur to the transport command generation unit 321. Then, when the transport command generation unit 321 receives a determination result that interference will occur, it executes the processing of the alternative command search unit 321g, and when it receives a determination result that interference will not occur, it executes the processing of the transport command allocation unit 321h. In the latter case, the transport command allocation unit 321h assigns the transport command candidate for the crane to be evaluated to the transport command.

[0047] When the interference determination unit 321d determines that interference occurs between the evaluation target crane and another crane, the processing of the alternative command search unit 321g is executed. The alternative command search unit 321g searches for transport route information that does not interfere with the transport routes of any other cranes as an alternative command from the transport instruction data. The alternative command search unit 321g extracts transport route information that does not interfere with transport route information currently assigned to other cranes, excluding transport route information that has already been completed, from the transport instruction data acquired by the transport instruction data acquisition unit 321a. In this case, when the priority of the transport process is set in advance in the transport instruction data, the alternative command search unit 321g may extract transport route information that does not cause interference in order of the set priority. However, when the same priority is set for multiple transport route information, the alternative command search unit 321g may arbitrarily extract transport route information that does not cause interference from transport route information with the same priority.

[0048] In the transport instruction data shown in FIG. 4, according to the transport route information with identification number O3 currently output for another crane CR1, the transport process is being performed in the section of the transport position CE. On the other hand, the transport route information with identification number O6 (priority: 5), which has the next highest priority after the transport route information with identification number O5, which is a transport command candidate, is a transport process in the section of the transport position EF, so interference with the crane CR1 occurs at the transport position E. Therefore, the alternative command search unit 321g selects the transport route information with identification number O4 (priority: 6), which has the next highest priority, and refers to the transport position AB in the transport route information with identification number O4. Although the transport position AB does not overlap with the transport position CE, the crane CR2 cannot move leftward from the crane CR1, so it is determined that the transport route information with identification number O4 for the crane CR2 interferes with the transport route information with identification number O3 for the crane CR1. Furthermore, the alternative command search unit 321g selects the transport route information with identification number O7 (priority: 7), which has the next highest priority, and refers to the transport position GF in the transport route information with identification number O7. In this case, the transfer position GF does not overlap with the transfer route information with identification number O3 for the crane CR1 in the transfer section, and does not reverse the arrangement order of the crane CR2, which is the crane to be evaluated, and the other crane CR1. Therefore, the transfer route information with identification number O7 for the crane to be evaluated is transfer route information that does not interfere with the transfer route of the other crane CR1, and the alternative command search unit 321g selects this as the alternative command.

[0049] When an alternative command is searched for as described above, the alternative command search unit 321g outputs a search result indicating that an alternative command has been searched for to the transport command generation unit 321. On the other hand, when an alternative command cannot be searched for, that is, when the transport instruction data does not include an alternative command that can be substituted for the transport command candidate, the alternative command search unit 321g outputs a search result indicating that an alternative command has not been searched for to the transport command generation unit 321. Then, when the transport command generation unit 321 receives a search result indicating that an alternative command has been searched for, it instructs the transport command allocation unit 321h to allocate the alternative command to the transport command for the crane to be evaluated. When the transport command generation unit 321 receives a search result indicating that an alternative command has not been searched for, it instructs the transport command allocation unit 321h to allocate an evacuation command to the crane to be evaluated.

[0050] The transport command allocation unit 321h executes the following process according to instructions from the transport command generation unit 321. That is, when the interference determination unit 321d outputs a determination result indicating that no interference will occur between the evaluation target crane and another crane, the transport command allocation unit 321h allocates the transport command candidate as a transport command for the evaluation target crane. When the alternative command search unit 321g outputs a search result indicating that an alternative command has been searched for, the transport command allocation unit 321h allocates the alternative command as a transport command for the evaluation target crane. On the other hand, when the alternative command search unit 321g outputs a search result indicating that no alternative command has been searched for, the transport command allocation unit 321h allocates an evacuation command as a transport command for the evaluation target crane.

[0051] The evacuation command for the crane to be evaluated is a command to evacuate the crane to a position that does not interfere with the transport route of the transport command currently output to the other crane, without assigning a transport command candidate as a transport command for the crane to be evaluated, since the transport command candidate for the crane to be evaluated interferes with the transport route of the transport command currently output to the other crane. For example, in the example shown in FIG. 4, an evacuation command to evacuate the crane to be evaluated CR2 to the transport position F, G or stop position ST2 is assigned to the transport section CE of the transport command currently output to the other crane CR1. In this case, the crane to be evaluated CR2 executes the evacuation command assigned by the transport command assignment unit 321h, and then requests a transport command from the transport command generation device 32 again.

[0052] As described above, when the transport processes of multiple cranes CR traveling on the same rail 2 interfere with each other, the transport command generating device 32 searches for an alternative command from the transport instruction data and assigns it to the transport command for the crane to be evaluated. In other words, instead of avoiding interference by issuing an evacuation command to the interfering crane, an efficient transport plan for the crane equipment 1 can be executed by executing a transport command that does not cause interference. In this case, even if a priority is assigned to the transport instruction data, the search for the alternative command can shorten the evacuation time for evacuating the crane CR by assigning the alternative command regardless of the priority, and the transport plan can be executed efficiently. In other words, the priority assigned to the transport instruction data is assigned for the purpose of specifying the search order for the alternative commands.

[0053] Each function of the transport command generating device 32 may be a computer program executable by a computer. In this case, the transport command generating device 32 can be configured using a general-purpose computer by being communicatively connected to the host computer 31 and the control controller 33.

[0054] [Transportation command generation method] Next, a method for generating transport commands for an automatic crane according to a first embodiment of the present invention will be described with reference to FIG.

[0055] FIG. 5 is a flowchart showing the flow of the transport command generation method for the automatic crane according to the first embodiment of the present invention. As shown in FIG. 5, in the transport command generation method for the automatic crane according to the first embodiment of the present invention, first, the transport command data acquisition unit 321a acquires transport command data from the host computer 31 (step S1). Next, the command request acquisition unit 321b acquires a request to transmit a transport command from any crane of the crane facility 1 (step S2). Next, the transport command candidate setting unit 321c sets the crane that requested the transport command as the crane to be evaluated, and sets the transport route information extracted from the transport command data acquired by the transport command data acquisition unit 321a as a transport command candidate for the crane to be evaluated (step S3). Next, the interference determination unit 321d determines whether interference occurs between the crane to be evaluated and other cranes based on the transport route of the set transport command candidate and the transport route of the transport command currently being transmitted to other cranes (step S4). Then, if the determination result indicates that interference will occur between the crane being evaluated and other cranes (step S4: Yes), the alternative command search unit 321g searches the transport instruction data for transport route information that will not interfere with the transport routes of any of the other cranes as an alternative command (step S5).

[0056] On the other hand, when it is determined that no interference occurs between the evaluation target crane and another crane (step S4: No), the transport command generation unit 321 determines the transport command candidate as a transport command for the evaluation target crane (step S6), and the transport command allocation unit 321h allocates the determined transport command to the evaluation target crane (step S9). When an alternative command is found in the transport instruction data as a result of searching for an alternative command in the processing of step S5 (step S5: Yes), the transport command generation unit 321 determines the searched alternative command as a transport command for the evaluation target crane (step S8), and the transport command allocation unit 321h allocates the determined transport command to the evaluation target crane (step S9). On the other hand, when an alternative command is not found in the transport instruction data as a result of searching for an alternative command (step S5: No), the transport command generation unit 321 determines an evacuation command as a transport command for the evaluation target crane (step S7), and the transport command allocation unit 321h allocates the determined transport command to the evaluation target crane (step S9).

[0057] [Second embodiment] Next, a configuration of a transportation command generating device and a transportation command generating method for an automatic crane according to a second embodiment of the present invention will be described with reference to FIG.

[0058] [Transportation command generation device] The transport command generating device according to the second embodiment of the present invention includes a waiting count determination unit 321e (see FIG. 3) in addition to the configuration of the transport command generating device 32 according to the first embodiment of the present invention. When it is determined that interference occurs between the crane to be evaluated and another crane, the waiting count determination unit 321e determines the number of times that the transport command for the transport route information of the transport command candidate has been avoided as the waiting count N. When the waiting count N is equal to or less than a predetermined threshold, the waiting count determination unit 321e increments the value of the waiting count N by 1 and causes the alternative command search unit 321g to search for an alternative command. On the other hand, when the waiting count N exceeds the predetermined threshold, the waiting count determination unit 321e outputs a determination result indicating that the waiting count N has exceeded the predetermined threshold to the transport command generating unit 321. When the transport command generating unit 321 receives the determination result indicating that the waiting count N has exceeded the predetermined threshold, it assigns the transport command candidate to the transport command for the crane to be evaluated without causing the alternative command search unit 321g to search for an alternative command. At the same time, the transfer command generating unit 321 assigns an evacuation command to other cranes determined to cause interference (hereinafter referred to as interfering cranes) to evacuate them from the transfer route of the transfer command candidate.

[0059] When the transport instruction data acquisition unit 321a acquires new transport instruction data, the waiting count determination unit 321e resets the value of the waiting count N to zero. The waiting count N is counted for the transport route information that is a candidate for a transport command. In other words, the waiting count N is counted for each piece of transport route information included in the transport instruction data. As a result, when the number of times that the transport route information included in the transport instruction data was selected as a transport command candidate but was not used as a transport command for the crane to be evaluated exceeds a predetermined threshold, the transport route information is assigned as a transport command in priority to other transport route information. As a result, transport processes that are stuck for a long time in the transport instruction data are eliminated, and the transport plan is efficiently executed in the crane equipment 1.

[0060] In this case, when the number of waiting times N exceeds a predetermined threshold, an evacuation command is assigned to the interfering crane to evacuate it from the transport route of the transport command candidate. The evacuation command for the interfering crane is a command to evacuate the interfering crane to a position where it does not interfere with the transport route of the transport command candidate for the crane to be evaluated. An evacuation command to evacuate another crane is output after waiting for the transport process of the transport command currently issued to the crane that is the target of the evacuation command to be completed. During that time, the transport command of the transport command candidate for the crane to be evaluated is held. This allows the transport process of the transport route information that has been stuck for a long time to be executed for the crane to be evaluated without impeding the progress of the current transport process of the interfering crane.

[0061] [Transportation command generation method] FIG. 6 is a flowchart showing the flow of the transport command generation method for an automatic crane according to the second embodiment of the present invention. The flowchart shown in FIG. 6 is obtained by adding the processing of the waiting count determination unit 321e to the flowchart shown in FIG. 5. Specifically, as shown in FIG. 6, in the transport command generation method for an automatic crane according to the second embodiment of the present invention, first, the processing of steps S11 to S14, which are the same as the processing of steps S1 to S4 shown in FIG. 5, is executed. Next, if it is determined in the processing of step S14 that interference between the evaluation target crane and another crane will occur (step S14: Yes), the waiting count determination unit 321e determines the number of waiting times N for which a transport command for the transport route information of the transport command candidate has been avoided (step S16).

[0062] As a result of the determination, if the number of waiting times N is equal to or less than the predetermined threshold (step S16: Yes), the number of waiting times determination unit 321e increments the number of waiting times N by 1 and causes the alternative command search unit 321g to execute a search for an alternative command for the evaluation target crane (step S19). Note that the processing of steps S19 to S22 is the same as the processing of steps S5, S7 to S9 shown in FIG. 5, and therefore the description thereof will be omitted. On the other hand, if the number of waiting times N exceeds the predetermined threshold (step S16: No), the transport command generation unit 321 determines the transport command candidate as the transport command for the evaluation target crane without executing the search for an alternative command for the evaluation target crane (step S15), and the transport command allocation unit 321h executes the processing of step S22. At the same time, the transport command generation unit 321 determines an evacuation command for the interfering crane to evacuate from the transport route of the transport command candidate (step S17), and allocates the determined evacuation command to the interfering crane (step S18). Note that the predetermined threshold may be set to 1 to 5 times.

[0063] [Third embodiment] Next, a configuration of a transportation command generating device and a transportation command generating method for an automatic crane according to a third embodiment of the present invention will be described with reference to FIG.

[0064] [Transportation command generation device] The transport command generating device according to the third embodiment of the present invention processes transport route information to which a priority has been assigned, and includes a priority determination unit 321f (see FIG. 3) in addition to the configuration of the transport command generating device 32 according to the first embodiment of the present invention. When it is determined that interference occurs between the evaluation target crane and another crane, the priority determination unit 321f determines a transport route according to the priority prior to the search for an alternative command by the alternative command search unit 321g. In addition, when the priority of the transport command candidate is the same as or lower than the priority of the transport command for any of the other cranes determined to cause interference, the priority determination unit 321f causes the alternative command search unit 321g to execute a search for an alternative command. On the other hand, when the priority of the transport command candidate is higher than the priority of the transport command for all other cranes determined to cause interference, the priority determination unit 321f outputs to the transport command generating unit 321 a determination result indicating that the priority of the transport command candidate is higher than the priority of the transport command for all other cranes determined to cause interference. Then, when the transfer command generating unit 321 receives a determination result indicating that the priority of the transfer command candidate is higher than the priority of the transfer commands for all other cranes determined to cause interference, it determines the transfer command candidate as a transfer command for the crane to be evaluated without causing the alternative command searching unit 321g to execute a search for an alternative command. At the same time, the transfer command generating unit 321 determines an evacuation command for the interfering crane to evacuate from the transfer route of the transfer command candidate.

[0065] As a result, the transport process of the transport route information with a higher priority among the transport route information included in the transport instruction data is executed preferentially, so that the transport process with a higher priority in the transport plan can be executed early in the crane equipment 1. Note that the evacuation command to evacuate other cranes is sent after waiting for the completion of the transport process of the transport command currently sent to the crane that is the target of the evacuation command. During that time, the transport command candidate for the evaluation target crane is put on hold. This allows the evaluation target crane to execute the transport process of the transport route information with a higher priority without impeding the progress of the current transport process of the interfering crane.

[0066] [Transportation command generation method] FIG. 7 is a flowchart showing the flow of the transport command generation method for an automatic crane according to the third embodiment of the present invention. The flowchart shown in FIG. 7 is obtained by adding the processing of the priority determination unit 321f to the flowchart shown in FIG. 5. Specifically, as shown in FIG. 7, in the transport command generation method for an automatic crane according to the third embodiment of the present invention, first, the processing of steps S31 to S34, which are the same as the processing of steps S1 to S4 shown in FIG. 5, is executed. Next, if it is determined that interference between the evaluation target crane and another crane will occur (step S34: Yes), the priority determination unit 321f determines whether the priority of the transport route information corresponding to the transport command candidate and the priority of the transport command for the other crane are high or low (step S36). If, as a result of the determination, the priority of the transport route information corresponding to the transport command candidate is the same as or lower than the priority of the transport command for any of the other cranes determined to cause interference (step S36: Yes), the transport command generation unit 321 causes the alternative command search unit 321g to execute a search for an alternative command for the evaluation target crane (step S39). The process of steps S39 to S42 is the same as the process of steps S5, S7 to S9 shown in Fig. 5, so the description thereof will be omitted. On the other hand, if the priority of the transport route information corresponding to the transport command candidate is higher than the priority of the transport commands for all other cranes determined to cause interference (step S36: No), the transport command generating unit 321 determines the transport command candidate as the transport command for the crane to be evaluated (step S35) without searching for an alternative command for the crane to be evaluated. At the same time, the transport command generating unit 321 determines an evacuation command for the interfering crane to evacuate from the transport route of the transport command candidate (step S37), and assigns the determined evacuation command to the interfering crane (step S38).

[0067] [Fourth embodiment] Next, a configuration of a transportation command generating device and a transportation command generating method for an automatic crane according to a fourth embodiment of the present invention will be described with reference to FIG.

[0068] [Transportation command generation device] The transport command generating device according to the fourth embodiment of the present invention includes both a waiting count determination unit 321e and a priority determination unit 321f (see FIG. 3) in addition to the configuration of the transport command generating device 32 according to the first embodiment of the present invention. That is, in this embodiment, when the waiting count N for the transport route information of the transport command candidate is equal to or less than a predetermined threshold, the waiting count determination unit 321e increments the value of the waiting count N by 1 and causes the priority determination unit 321f to execute processing. On the other hand, when the waiting count N exceeds the predetermined threshold, the transport command generating unit 321 outputs a determination result indicating that the waiting count N has exceeded the predetermined threshold to the transport command generating unit 321. Then, when the transport command generating unit 321 receives the determination result indicating that the waiting count N has exceeded the predetermined threshold, the transport command generating unit 321 assigns the transport command candidate to a transport command for the evaluation target crane without causing the priority determination unit 321f to execute processing. At the same time, the transport command generating unit 321 assigns an evacuation command to evacuate the interfering crane from the transport route of the transport command candidate.

[0069] When the priority of the transport command candidate is the same as or lower than the priority of the transport command for any of the other cranes determined to cause interference, the priority determination unit 321f causes the alternative command search unit 321g to execute a search for an alternative command. On the other hand, when the priority of the transport command candidate is higher than the priority of the transport command for all the other cranes determined to cause interference, the priority determination unit 321f outputs to the transport command generation unit 321 a determination result that the priority of the transport command candidate is higher than the priority of the transport command for all the other cranes determined to cause interference. Then, when the transport command generation unit 321 receives a determination result that the priority of the transport command candidate is higher than the priority of the transport command for all the other cranes determined to cause interference, it determines the transport command candidate as a transport command for the crane to be evaluated without executing a search for an alternative command for the alternative command search unit 321g. At the same time, the transport command generation unit 321 assigns an evacuation command to evacuate the interfering crane from the transport route of the transport command candidate.

[0070] [Transportation command generation method] FIG. 8 is a flowchart showing the flow of the transport command generation method for an automatic crane according to the fourth embodiment of the present invention. The flowchart shown in FIG. 8 is obtained by adding the processing of the waiting count determination unit 321e and the priority determination unit 321f to the flowchart shown in FIG. 5. Specifically, as shown in FIG. 8, in the transport command generation method for an automatic crane according to the fourth embodiment of the present invention, first, the processing of steps S51 to S54, which are the same as the processing of steps S1 to S4 shown in FIG. 5, is executed. Next, if it is determined in the processing of step S54 that interference between the evaluation target crane and another crane occurs (step S54: Yes), the waiting count determination unit 321e determines the waiting count N for avoiding the transport command for the transport route information of the transport command candidate (step S56). On the other hand, if it is determined in the processing of step S54 that interference between the evaluation target crane and another crane does not occur (step S54: No), the transport command generation unit 321 determines the transport command candidate as the transport command for the evaluation target crane (step S55).

[0071] As a result of the determination by the waiting count determination unit 321e, if the waiting count N is equal to or less than a predetermined threshold (step S56: Yes), the waiting count determination unit 321e increments the value of the waiting count N by 1. At the same time, the priority determination unit 321f determines whether the priority of the transport route information corresponding to the transport command candidate is higher than the priority of the transport command for the other cranes (step S57). On the other hand, if the waiting count N exceeds a predetermined threshold (step S56: No), the transport command generation unit 321 determines the transport command candidate as a transport command for the evaluation target crane (step S55). At the same time, the transport command generation unit 321 determines an evacuation command for the interfering crane to evacuate from the transport route of the transport command candidate (step S58), and assigns the determined evacuation command to the interfering crane (step S59).

[0072] In the process of step S57, if it is determined that the priority of the transfer command candidate is the same as or lower than the priority of the transfer command for any of the other cranes determined to cause interference (step S57: Yes), the transfer command generation unit 321 causes the alternative command search unit 321g to execute a search for an alternative command (step S60). Note that the processes of steps S60 to S63 are the same as the processes of steps S5, S7 to S9 shown in FIG. 5, and therefore the description thereof will be omitted. On the other hand, if it is determined that the priority of the transfer command candidate is higher than the priority of the transfer commands for all the other cranes determined to cause interference (step S57: No), the transfer command generation unit 321 determines the transfer command candidate as a transfer command for the evaluation target crane without executing a search for an alternative command (step S55). At the same time, the transfer command generation unit 321 determines an evacuation command for the interfering crane to evacuate from the transfer route of the transfer command candidate (step S58), and assigns the determined evacuation command to the interfering crane (step S59).

[0073] [Crane transport control system] In a crane transport control system according to an embodiment of the present invention, each of a plurality of cranes CR includes a request unit that requests the transport command generating device to transmit a transport command, a receiving unit that receives the transport command output by the transport command generating device, and a control unit that transports the transport object according to the transport command received by the receiving unit. Specifically, in this embodiment, as shown in Fig. 1, the cranes CR1 and CR2 include control controllers 33a and 33b, respectively, and as shown in Fig. 3, each control controller includes a request unit (33a1, 33b1), a receiving unit (33a2, 33b2), and a control unit (33a3, 33b3).

[0074] The request unit requests the transport command generating device 32 to transmit a transport command. The request unit may request the transport command generating device 32 for the transport command at the timing when the crane equipped with the control controller completes the transport process based on the transport command currently received. By the request unit requesting the transport command generating device 32 for the transport command, the transport command generating unit 321 can identify that a predetermined transport process included in the transport instruction data has been completed.

[0075] The receiving unit receives the transport command assigned by the transport command assigning unit 321h from the transport command generating device 32. The receiving unit receives, as the transport command, the transport command assigned from the transport command candidates, the alternative command, and the evacuation command, as described above.

[0076] The control unit controls the execution of the transport command requested by the request unit and received by the receiving unit. Specifically, the control unit controls the crane to execute the transport process of steps SC1 to SC6 according to the transport route information included in the transport command. This allows the crane equipment 1 to efficiently execute the transport plan for the transport object. EXAMPLES

[0077] As an embodiment of the present invention, a result of carrying out transport control of a crane based on the transport instruction data shown in Fig. 2 in the transport control system of the crane facility shown in Figs. 1 and 3 will be described. Fig. 9 is a schematic diagram showing the execution status of the transport plan for the transport object in the embodiment. In Fig. 9, T1 is the time when crane CR1 carries out transport process O1 (priority: 1) and unloads cargo X1 at transport position A, and T2 is the time when crane CR2 carries out transport process O2 (priority: 2) and unloads cargo X2 at transport position F.

[0078] Here, at time T1, the crane CR1 requested the transfer command generation device 32 to send a transfer command from the request unit 33a1 of the control controller 33a. The transfer command generation unit 321 of the transfer command generation device 32 set the transfer command candidate to the high priority transfer process O3 (priority: 3) with the crane CR1 as the crane to be evaluated, and determined interference with the other crane, crane CR2. As a result, it was determined that the transfer command candidate, the transfer process O3, does not interfere with the transfer route of the crane CR2. As a result, the transfer command allocation unit 321h allocated the transfer process O3 to a transfer command for the crane CR1, and transmitted the transfer command to the crane CR1.

[0079] After that, when the crane CR2 completed the transfer process O2 that it had received as a transfer command, at time T2, the request unit 33b1 of the control controller 33b requested the transfer command generation device 32 to transmit a transfer command. The transfer command generation unit 321 of the transfer command generation device 32 set the crane CR2 as the crane to be evaluated as the transfer command candidate to the transfer process O5 (priority: 4) with a high priority, and determined interference with the other crane, crane CR1. As a result, it was determined that the transfer process O5 interferes with the transfer route (transfer position C → transfer position E) of the transfer command transmitted to the other crane CR1 at time T2. Therefore, the alternative command search unit 321g searched for the transfer process O7 (priority: 7) as an alternative command with a higher priority from the transfer instruction data and that does not interfere with the transfer route of the crane CR1, and assigned it to the transfer command of the crane CR2.

[0080] Next, the crane CR1, which has finished unloading the luggage X3 in the transport process O3, requests the transport command generation device 32 to transmit a transport command from the request unit 33a1 of the control controller 33a at time T3. The transport command generation unit 321 of the transport command generation device 32 sets the high-priority transport process O5 (priority: 4) as a transport command candidate, with the crane CR1 as the crane to be evaluated. However, the transport process O5 interferes with the transport route (transport position G → transport position F) of the transport command transmitted to the other crane CR2 at time T3. For this reason, the alternative command search unit 321g searches for the transport process O4 (priority: 6) as an alternative command. As a result, the crane CR1 receives the transport process O4 as a transport command, and control of the crane CR1 is started accordingly.

[0081] Furthermore, at time T4, the crane CR2, which had finished unloading the cargo X7 in the transport process O7, requested the transport command generation device 32 to send a transport command from the request unit 33b1 of the control controller 33b. The transport command generation unit 321 of the transport command generation device 32 set the high priority transport process O5 (priority: 4) as a transport command candidate, with the crane CR2 as the crane to be evaluated. In this case, the transport route of the transport process O5 (transport position D → transport position F) does not interfere with the transport route (transport position A → transport position B) of the transport command sent to the crane CR1 at time T4. Therefore, the transport command allocation unit 321h allocated the transport process O5 as a transport command for the crane CR2, and the crane CR2 was controlled.

[0082] As described above, in the transport control of the crane equipment in this embodiment, an alternative command is searched for from the transport instruction data regardless of the priority assigned to the transport route information, so that the transport plan can be executed without issuing an evacuation command to any of the cranes.

[0083] On the other hand, FIG. 10 is a schematic diagram showing the execution status of the transportation plan of the transport object in the comparative example. In the comparative example, the system issues an evacuation command to a crane with a low priority when the interference determination unit 321d determines that interference will occur without executing the function of the alternative command search unit 321g. Specifically, as in the above embodiment, it is assumed that the crane CR1 completes the transportation process O1 (priority: 1) at time T1, and while the crane CR2 is performing the transportation process O2 (priority: 2), the crane CR1 is assigned the transportation process O3 (priority: 3) with a high priority. Then, when the crane CR2 completes the transportation process O2 (priority: 2) that it received as a transportation command, at time T2, the request unit 33b1 of the control controller 33b requests the transportation command generation device 32 to transmit a transportation command. The transportation command generation unit 321 of the transportation command generation device 32 sets the transportation command candidate to the transportation process O5 with a high priority (priority: 4) with the crane CR2 as the evaluation target crane. Then, when interference with another crane, crane CR1, was judged, it was determined that the transfer process O5 interfered with the transfer route (transfer position C -> transfer position E) of the transfer command transmitted to the crane CR1 at time T2.

[0084] However, since the transfer step O3 (priority: 3) of the transfer command transmitted to the crane CR1 at the time T2 has a higher priority than the transfer step O5 (priority: 4), an evacuation command was transmitted to the crane CR2 to evacuate from the section of the transfer route of the transfer step O3 (transfer position C → transfer position E). As a result, the crane CR2 waited at the transfer position F where there was no interference with the crane CR1. In this case, while the crane CR2 was waiting at the transfer position F, the request unit 33b1 of the control controller 33b requested the transfer command generating device 32 to send a transfer command. However, the transfer command generating device 32 determined that the request to send a transfer command from the crane CR2 would interfere with the transfer route (transfer position C → transfer position E) of the transfer command output to the other crane CR1, and therefore continuously transmitted an evacuation command to the crane CR2 to wait at the transfer position F.

[0085] Then, the crane CR1, which has finished unloading the baggage X3 in the transport process O3, requested the transport command generating device 32 to transmit a transport command from the request unit 33a1 of the control controller 33a at time T3. At this time, the crane CR2 has requested the transport command generating device 32 to transmit a transport command, so the transport command generating unit 321 prioritized and processed the request to transmit a transport command from the crane CR2 at time T3. That is, the transport command generating unit 321 set the crane CR2 as the crane to be evaluated and set the high-priority transport process O5 (priority: 4) as a transport command candidate. In this case, the other crane CR1 is located at the transport position E at time T3, so when the crane CR2 executes the high-priority transport process O5, it interferes with the crane CR1. For this reason, the transport command generating device 32 assigned the transport process O5 as a transport command to the crane CR2, and transmitted an evacuation command to the crane CR1 to evacuate from the section of the transport route (transfer position D → transfer position F) of the transport process O5. Therefore, the crane CR1 waited at the transfer position C where no interference occurred with the crane CR1.

[0086] In this way, in the comparative example, high priority transport route information was selected from the transport instruction data and executed in preference to other transport instruction data, so that the transport plan for the crane equipment 1 could not be executed efficiently.

[0087] From the above, it has been confirmed that according to the embodiment of the present invention, it is possible to efficiently execute a transport plan for a crane facility because candidate transport commands are set based on the transport route information in the transport instruction data without performing a strict operation simulation of the crane for each transport process, and alternative commands are searched for when interference occurs.

[0088] Although the embodiments of the present invention have been described above, the present invention is not limited by the descriptions and drawings that form part of the disclosure of the present invention according to the present embodiments. In other words, other embodiments, examples, and operation techniques, etc., made by those skilled in the art based on the present embodiments are all included in the scope of the present invention. [Explanation of symbols]

[0089] 1 Crane equipment 31 Upper computer 32 Transport command generation device 321 Transport command generation unit 321a Transport instruction data acquisition unit 321b Command request acquisition unit 321c Transport command candidate setting unit 321d Interference detection section 321e Wait count determination unit 321f Priority judgment unit 321g Alternative instruction search unit 321h Transport command allocation section 322 Input section 323 Output section 324 Storage section 33a, 33b Controller 33a1,33b1 Request part 33a2, 33b2 Receiving section 33a3, 33b3 Control section CR,CR1,CR2 Crane

Claims

1. A transport command generating device for an automatic crane that generates transport commands for objects to be transported to a plurality of automatic cranes traveling on the same rail, comprising: a transport instruction data acquisition unit that acquires transport instruction data in which a plurality of pieces of transport route information are set, the transport route being specified for each of the transport objects; a command request acquisition unit that acquires a transmission request for the transport command from each of the plurality of automated cranes; a transport command candidate setting unit that sets the transport route information extracted from the transport instruction data as a transport command candidate for the crane to be evaluated, the automatic crane that requested the transmission of the transport command being an evaluation target crane; an interference determination unit that determines whether interference occurs between the evaluation target crane and other automatic cranes based on a transfer route of the transfer command candidate and a transfer route of a transfer command currently being transmitted to other automatic cranes; an alternative command search unit that searches, when the interference determination unit determines that interference between the crane to be evaluated and another automatic crane will occur, for transport route information that will not cause interference with any of the other automatic cranes from the transport instruction data as an alternative command; a transport command allocation unit that allocates the alternative command searched for by the alternative command search unit as a transport command for the crane to be evaluated; A transport command generating device for an automatic crane comprising:

2. a waiting count determination unit that, when the interference determination unit determines that interference will occur between the crane to be evaluated and another automatic crane, determines the number of times that a transport command for the transport route information of the transport command candidate has been avoided as a waiting count, The waiting count determination unit If the number of wait times is equal to or less than a predetermined threshold, the number of wait times is incremented by one and a search for an alternative instruction is performed by the alternative instruction search unit; When the number of waiting times exceeds a predetermined threshold, the transport command candidate is assigned to the evaluation target crane as a transport command without executing a search for an alternative command by the alternative command search unit, and an evacuation command is assigned to other automated cranes determined to cause interference, to evacuate them from the transport route of the transport command candidate. The transportation command generating device for an automatic crane according to claim 1.

3. the transport route information includes information regarding a priority of the transport of the object; the transportation command candidate setting unit sets the transportation command candidates according to the priority. The transportation command generating device for an automatic crane according to claim 1.

4. a priority determination unit that, when the interference determination unit determines that interference will occur between the crane to be evaluated and another automatic crane, determines a transport route in accordance with the priority prior to the alternative command search unit searching for an alternative command, The priority determination unit When the priority of the transportation command candidate is equal to or lower than the priority of the transportation command for the other automatic crane determined to cause interference, a search for an alternative command is performed by the alternative command search unit; When the priority of the transport command candidate is higher than the priority of the transport command for the other automated crane determined to cause interference, the transport command candidate is assigned to the transport command for the crane to be evaluated without executing a search for an alternative command by the alternative command search unit, and an evacuation command is assigned to the other automated crane determined to cause interference to evacuate it from the transport route of the transport command candidate. The transportation command generating device for an automatic crane according to claim 3.

5. An automatic crane transport control system that uses the automatic crane transport command generation device according to any one of claims 1 to 4 to control the transport of objects to be transported by a plurality of automatic cranes traveling on the same rail, Each of the plurality of automated cranes includes a request unit that requests the transport command generating device to transmit a transport command, a receiving unit that receives the transport command output by the transport command generating device, and a control unit that transports the object to be transported in accordance with the transport command received by the receiving unit. An automatic crane transport control system comprising:

6. 6. The automatic crane transportation control system according to claim 5, wherein each of the plurality of automatic cranes requests the transportation command generating device to transmit a transportation command from the request unit when a transportation process based on a currently received transportation command is completed.

7. A method for generating transport commands for an automatic crane that generates transport commands for an object to be transported to a plurality of automatic cranes traveling on the same rail, comprising the steps of: a data acquisition step of acquiring transport instruction data in which a plurality of pieces of transport route information are set, the transport route being specified for each of the transport objects; a request acquisition step of acquiring a transmission request for the transport command from each of the plurality of automated cranes; a setting step of setting the automated crane that requested the transmission of the transport command as an evaluation target crane, and setting the transport route information extracted from the transport instruction data as a transport command candidate for the evaluation target crane; a determination step of determining whether interference occurs between the evaluation target crane and other automatic cranes based on a transfer route of the transfer command candidate and a transfer route of a transfer command currently being transmitted to other automatic cranes; a search step of searching, when it is determined in the determination step that interference between the crane to be evaluated and another automatic crane will occur, for transport route information that will not interfere with any of the transport routes of any of the other automatic cranes as an alternative command from the transport instruction data; an allocation step of allocating the alternative command searched for in the search step as a transport command for the crane to be evaluated; A method for generating transport instructions for an automatic crane, comprising:

8. a waiting number determination step of determining, when it is determined in the determination step that interference between the crane to be evaluated and another automatic crane will occur, the number of times that a transport command for the transport route information of the transport command candidate has been avoided as a waiting number, The waiting count determination step includes: If the number of wait times is equal to or less than a predetermined threshold, the number of wait times is incremented by one and a search for an alternative instruction is performed by the search step; When the number of waiting times exceeds a predetermined threshold, the search for an alternative command is not performed in the search step, and the transport command candidate is assigned as a transport command for the crane to be evaluated, and an evacuation command is assigned to the other automated cranes determined to cause interference to evacuate them from the transport route of the transport command candidate. The method for generating transport commands for an automatic crane according to claim 7.

9. the transport route information includes information regarding a priority of the transport of the object; The setting step sets the transportation instruction candidates according to the priority. The method for generating a transport command for an automatic crane according to claim 7 or 8.

10. a priority determination step of determining a transport route according to the priority prior to searching for an alternative command by the search step when it is determined in the determination step that interference will occur between the crane to be evaluated and another automatic crane; The priority determination step includes: When the priority of the transportation command candidate is equal to or lower than the priority of the transportation command for the other automatic crane determined to cause interference, a search for an alternative command is performed by the search step; When the priority of the transport command candidate is higher than the priority of the transport command for the other automated crane determined to cause interference, the transport command candidate is assigned to the transport command for the crane to be evaluated without executing the search for an alternative command in the search step, and an evacuation command is assigned to the other automated crane determined to cause interference to evacuate it from the transport route of the transport command candidate. The method for generating transport commands for an automatic crane according to claim 9.

11. A program for generating a transport command for an automatic crane that generates transport commands for an object to be transported to a plurality of automatic cranes traveling on the same rail, Computer, a transport instruction data acquisition unit that acquires transport instruction data in which a plurality of pieces of transport route information are set, the transport route being specified for each of the transport objects; a command request acquisition unit that acquires a transmission request for the transport command from each of the plurality of automated cranes; a transport command candidate setting unit that sets the transport route information extracted from the transport instruction data as a transport command candidate for the crane to be evaluated, the automatic crane that requested the transmission of the transport command being an evaluation target crane; an interference determination unit that determines whether interference occurs between the evaluation target crane and other automated cranes based on the transport route of the transport command candidate and the transport route of the transport command currently being issued to other automated cranes; an alternative command search unit that searches, when the interference determination unit determines that interference between the crane to be evaluated and another automatic crane will occur, for transport route information that will not cause interference with any of the other automatic cranes from the transport instruction data as an alternative command; a transport command allocation unit that allocates the alternative command searched for by the alternative command search unit as a transport command for the crane to be evaluated; This is a program that generates transport commands for an automatic crane.

Images