Logistics facility operation methods and management systems

Abstract

To provide an operation method and a management system for a physical distribution facility whereby an electrical current value output from a common power supply device is kept less than an allowable electrical current value by finely and easily adjusting the operation timings of a large number of cranes.SOLUTION: An operation method for a physical distribution facility 1 in which each of a plurality of cranes 5 that load and unload a load 3 includes a control device 7 and an electric motor 8 that uses power supplied from a common power supply device 9, comprises repeating, for each predetermined period T: a permission step S200 in which an operation of each of the plurality of cranes 5 is permitted by an arithmetic device 11; and an operation start step S300 in which the control device 7 causes a target crane 5 to start the operation permitted in the permission step S200 by the arithmetic device 11. In the permission step S200, the number of operations allowed at the same time is limited to a predetermined number Na or less.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an operation method and a management system for a logistics facility, and more particularly, to an operation method and a management system for a logistics facility that maintains a current value output from a common power supply device that supplies power to respective electric motors of a plurality of cranes below an allowable current value. [Background Art]

[0002] A plurality of cranes that handle cargo in logistics facilities such as container terminals perform operations such as container cargo handling operations and own traveling operations by means of electric motors that use power supplied from a common power supply device (e.g., a substation). The allowable current value of the power supply device is set on the premise that all respective devices and equipment of the logistics facility (including the respective electric motors of the plurality of cranes) are driven at their rated currents. In other words, if the respective electric motors of the plurality of cranes are driven at their rated currents, the current value output from the power supply device will not exceed the allowable current value.

[0003] However, each of the plurality of cranes operates individually, and the timing of occurrence of inrush current (starting current) may overlap immediately after the start of power running drive of each electric motor of the plurality of cranes. The peak current value of the inrush current is larger than the rated current value, and when the overlapping number of timings at which inrush currents occur becomes excessive, the current value output from the power supply device temporarily exceeds the allowable current value, causing the power supply device to stop. As a result, the overall cargo handling of the logistics facility is stagnated.

[0004] Various systems and methods have been proposed for adjusting the operation timing of each of a plurality of cranes so that the power amount of a common power supply device does not exceed a threshold value (see Patent Documents 1 and 2). In the inventions described in Patent Documents 1 and 2, the operation schedules of the plurality of cranes are exchanged based on the power consumption amount and power generation amount for each cargo handling operation such as a cargo hoisting operation, a cargo lowering operation, and a horizontal movement operation of cargo.

[0005] The inventions described in Patent Documents 1 and 2 aim to reduce the total power consumption of multiple cranes and minimize the capacity of power generation equipment, but they do not address the issue of the current value of the power supply device becoming temporarily excessive due to the overlapping timing of inrush current generation. Specifically, the power consumption and power generation amounts used in the inventions described in Patent Documents 1 and 2 are for the period from the start to the end of a predetermined operation, and therefore do not take into account the situation in which the number of overlapping timings of inrush current generation that occur immediately after the start of the actual operation becomes excessive. Therefore, the inventions described in Patent Documents 1 and 2 require measures to address the current value that becomes temporarily excessive due to the overlapping timings of inrush current generation. Furthermore, the method of rearranging the schedule of each operation based on the power consumption and power generation amount for each operation, as in the inventions described in Patent Documents 1 and 2, is complex, and the rearrangement of operations reduces responsiveness, lengthens the delay of the actual operation, and reduces cargo handling efficiency. Therefore, there is room for improvement in making the adjustment of the operation timing of multiple cranes more precise and simpler, and in maintaining the current value output from a common power supply device below the allowable current pair. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2000-038285 [Patent Document 2] Japanese Patent Publication No. 2019-137523 [Overview of the project] [Problems that the invention aims to solve]

[0007] The objective of the present invention is to provide a logistics facility operation method and management system that allows for more precise and simple adjustment of the operating timing of multiple cranes and maintains the current value output from a common power supply device below the allowable current pair. [Means for solving the problem]

[0008] The present invention provides a method for operating a logistics facility that achieves the above objective, in which each of the numerous cranes used for handling cargo is equipped with a control device and an electric motor that uses power supplied from a common power supply device, The update process, authorization process, and operation start process are repeated at predetermined intervals based on the period of inrush current generation immediately after the start of power driving of the electric motor. In the update process, a data set containing multiple commands for power driving and regenerative driving of the electric motor, transmitted from the control device, is updated by the computing device. In the authorization process, the computing device selects from the data set... The aforementioned actions that are permitted simultaneously Commands for the aforementioned powering operation The number Set based on the allowable power value of the aforementioned power supply device. Limit the number to a predetermined number or less. Based on selection criteria including conditions, the control device selects at most a predetermined number of power operation commands and regenerative operation commands present in the dataset, simultaneously authorizes the selected operation commands, and in the operation start step, the control device, upon receiving the authorized operation commands, causes the target crane among the numerous cranes to begin the operation indicated by those operation commands. It is characterized by the following:

[0009] The port facility management system of the present invention, which achieves the above objective, is a logistics facility management system in which each of a number of cranes that handle cargo has an electric motor that uses power supplied from a control device and a common power supply device, The update process and authorization process performed by the computing device and the operation start process performed by the control device are configured such that the operation start process is repeated at predetermined intervals based on the period of inrush current generation immediately after the start of power driving of the electric motor, in the update process the computing device performs data processing to update a dataset which is a collection of multiple power driving commands and regenerative driving commands for the electric motor as operation commands for the crane transmitted from the control device, in the authorization process the computing device selects from the dataset The aforementioned actions that are permitted simultaneously The number of commands for the powering operation among the commands is set based on the allowable power value of the power supply device. Limit the number to a predetermined number or less. Based on selection criteria including conditions, the control device selects at most a predetermined number of power operation commands and regenerative operation commands present in the dataset, performs data processing to simultaneously authorize the selected operation commands, and in the operation start step, the control device, upon receiving the authorized operation command, executes control to initiate the operation indicated by the operation command on the target crane among the many cranes. It is characterized by the following: [Effects of the Invention]

[0010] According to the present invention, by adjusting the start of operations by multiple cranes in a logistics facility through an authorization process by a computing device, a predetermined number of operations or less are started at predetermined intervals. In other words, the number of overlapping inrush currents due to the power drive of electric motors can be limited to a predetermined number or less. This makes it possible to avoid excessive current values ​​in the power supply device caused by inrush currents. Furthermore, compared to methods that significantly rearrange the operation schedules of multiple cranes, the adjustment of operation timing becomes more precise, which is advantageous in suppressing the decrease in cargo handling efficiency due to adjustments in operation timing. Thus, the present invention, while using a relatively simple method, can suppress the decrease in cargo handling efficiency and maintain the current value of the common power supply device below the allowable current value by taking measures against inrush currents. [Brief explanation of the drawing]

[0011] [Figure 1] This is an explanatory diagram illustrating a logistics facility. [Figure 2] This is an explanatory diagram illustrating the fluctuation of current values ​​over time in an electric motor under traction. [Figure 3]This is an explanatory diagram illustrating an example of a logistics facility management system. [Figure 4] This is an explanatory diagram illustrating cargo handling data. [Figure 5] This is an explanatory diagram illustrating a dataset containing multiple action commands. [Figure 6] This flowchart illustrates the procedure for an example of an implementation method for operating a logistics facility. [Figure 7] This flowchart illustrates the procedure between a portion of the update process (Figure 6) performed by the control device and the cargo handling commencement process. [Figure 8] This flowchart illustrates the procedure between a part of the update process and the authorization process performed by the computing unit in Figure 6. [Figure 9] This is an explanatory diagram illustrating an example of an authorization dataset in which the operation commands to be permitted have been selected from each operation command in the dataset shown in Figure 5. [Modes for carrying out the invention]

[0012] The operating method and management system for the logistics facility of the present invention will be described below based on the embodiments shown in the figures.

[0013] The logistics facility 1 illustrated in Fig. 1 is a container terminal. Various known logistics facilities such as container terminals and warehouse facilities that serve as logistics bases can be employed as the logistics facility 1. The logistics facility 1 also includes manufacturing facilities that manufacture and ship multiple types of steel plates and the like. In the logistics facility 1, cargoes 3 transported by a plurality of transport devices 2 are temporarily stored in a storage area 4, and the stored cargoes 3 are transported to the outside by the plurality of transport devices 2. The transport devices 2 are various known vehicles for transporting cargoes 3, and examples thereof include ships and vehicles that transport containers as the cargoes 3 at a container terminal. The storage area 4 is an area for temporarily storing the cargoes 3. In a container terminal, the storage area 4 corresponds to storage lanes where a large number of containers as the cargoes 3 are stored. Various known cranes that perform cargo handling of the cargoes 3 in the logistics facility 1 can be used as the plurality of cranes 5. The plurality of cranes 5 in a container terminal correspond to gantry cranes and transfer cranes (yard cranes). In addition to the plurality of cranes 5 as cargo handling equipment, a container terminal also includes on-site chassis 6 for transporting containers.

[0014] Each of the plurality of cranes 5 includes a control device 7 and an electric motor 8. Various known computers can be used as the control device 7. The control device 7 is not limited to a single computer, and can also be constituted by a plurality of computers, for example, a combination of a personal computer and a programmable logic controller (PLC). Various known motors that use power supplied from a common power supply device 9 can be employed as the electric motor 8. The plurality of cranes 5 each include a plurality of electric motors 8, and when each electric motor 8 is driven by the control device 7, the crane performs hoisting of the cargo 3, lowering of the cargo 3, horizontal movement of the cargo 3, and self-traveling operation. It is not necessary for all power consumed by the plurality of electric motors 8 of the crane 5 to be covered by power supplied from the power supply device 9. The crane 5 may be provided with a generator that uses fuel such as hydrogen fuel, and part of the power for the plurality of electric motors 8 may be covered by power generated by the generator.

[0015] The operations of the plurality of cranes 5 are classified into automatic operations controlled by the control device 7 based on commands generated by the control device 7, and manual operations controlled by the control device 7 based on commands generated by the driver's operation. All of the operations of the plurality of cranes 5 may be automatic operations, all of them may be manual operations, some of the operations may be automatic operations and the remaining operations may be manual operations. Note that automatic operations and manual operations may coexist in the operations of one crane 5. In one example, a part of the operations of the crane 5a are manual operations, the remaining operations are automatic operations, and all of the operations of the crane 5b are manual operations.

[0016] The power supply device 9 supplies power to the respective electric motors 8 of the plurality of cranes 5, and is a device common to the plurality of cranes 5. A known private power plant, an extra-high voltage substation, or the like can be used as the power supply device 9. In an example of the logistics facility 1, an extra-high voltage substation is used as the power supply device 9. For supplying power from the power supply device 9 to the respective electric motors 8 of the plurality of cranes 5, various known power feeding devices indicated by the one-dot chain line in the drawing can be used. Examples of the power feeding device include a combination of a trolley wire or a bus bar and a current collector, a combination of a cable reel and a power cable, and the like.

[0017] FIG. 2 shows an example of fluctuations in current value over time in an operation period ΔT from the start to the end of a predetermined operation for powering a predetermined electric motor 8. Immediately after powering driving is started, an inrush current larger than the rated current occurs in the current value of the electric motor 8, the current value increases to a peak current value Ip, and then becomes a substantially constant rated current value Ir. A generation period ΔTp during which the inrush current occurs exists at the initial stage of the operation period ΔT. The rated current value Ir, the peak current value Ip, and the generation period ΔTp are respectively predetermined in accordance with the specifications of the electric motor 8 and an inverter not shown in the drawing. The peak current value Ip is, for example, about 1.7 times to 2.2 times the rated current value Ir. The generation period ΔTp is, for example, about 1.5 seconds to 2.5 seconds.

[0018] The allowable current value Ia of the power supply device 9 is set based on the total power consumption of the logistics facility 1. For example, in a container terminal, in addition to numerous cranes 5 and computing devices 11, a wide variety of devices and equipment consume power, such as lighting equipment, power supplies for reefer containers in storage area 4, and gate devices. The allowable current value Ia of the power supply device 9 is set assuming that all of these devices and equipment are driven at their rated current. Similarly, for the numerous cranes 5, the value is set assuming that each electric motor 8 is driven at its rated current value Ir. Specifically, the allowable current value Ia is set to a value greater than the current value output from the power supply device 9 if all of the devices and equipment in the logistics facility 1 were driven at their rated current.

[0019] As mentioned above, the peak current value Ip due to inrush current is greater than the rated current value Ir. Therefore, as a countermeasure against inrush current, it is possible to set the allowable current value Ia of the power supply device 9 based on the peak current value Ip, but this will increase the cost of the power supply device 9. For this reason, in order to reduce the cost of the power supply device 9 while stably operating the logistics facility 1, countermeasures against inrush current are necessary.

[0020] The operation method for the logistics facility 1 is implemented using an embodiment of the management system 10 illustrated in Figure 3. This operation method is a method to counteract the overlapping timing of inrush current generation, which is a cause of excessive current value in the power supply device 9. This operation method is a method in which a permission process (permission process S200, described later) in which the calculation device 11 permits the operation of each of the numerous cranes 5, and an operation start process (operation start process S300, described later) in which the control devices 7 initiate the operation permitted by permission process S200 for the numerous cranes 5, are repeated at predetermined cycles T.

[0021] The management system 10 is equipped with multiple computing units 11a and 11b. The management system 10 may consist of a single computing unit, but by consisting of multiple computing units 11a and 11b, it becomes possible to distribute data processing, thereby further reducing the load on data processing and improving efficiency.

[0022] Each of the arithmetic units 11a and 11b receives and stores various data, and performs data processing using this data. Each of the arithmetic units 11a and 11b can use various known computers. Each of the arithmetic units 11a and 11b has a central processing unit (CPU) 12, a main memory unit (memory) 13, an auxiliary storage unit (e.g., HDD) 14, and an input / output unit (keyboard, mouse, display, printer, communication device) 15.

[0023] The computing units 11a and 11b may be connected to each other in a manner that allows them to communicate with one another. Furthermore, the computing units 11a and 11b are connected to each of the control devices 7 of the numerous cranes 5 in a manner that allows them to communicate with one another. The computing units 11a and 11b and their respective control devices 7 may be connected to each other via the same network (LAN), via a wide area network (WAN) in which multiple networks are interconnected via an internet router, or via the internet.

[0024] One computing unit 11a manages cargo 3 at the logistics facility 1 and instructs multiple cranes 5 to handle cargo 3. Specifically, one computing unit 11a creates cargo handling data 20 indicating the cargo 3 to be handled by the cranes 5, based on the scheduled arrival and departure dates of the transport equipment 2 and the number of cargo 3 entering and leaving the storage area 4. It then transmits each piece of cargo handling data 20 to the respective control devices 7 to instruct the multiple cranes 5 to handle cargo. At the container terminal, one computing unit 11a has multiple programs, including a program to manage the handling of cargo 3 to the transport equipment 2 vessels, a program to manage cargo 3 in the storage area 4, and a program to transmit cargo handling data 20 as work instructions to multiple cranes 5 and on-site chassis 6. One computing unit 11a is not limited to a single computer, but may consist of multiple computers, each dedicated to a specific program.

[0025] The other computing device 11b performs the authorization process S200. Specifically, the other computing device 11b authorizes the operation indicated by each operation command 30 by transmitting each operation command 30 to the respective control device 7 of each target crane 5.

[0026] The numerous cargo handling data 20 illustrated in Figure 4 are created by the computing unit 11a. The numerous cargo handling data 20 aggregates data for cargo 3 to be handled for each of the numerous cranes 5. Each cargo handling data 20 aggregates the cargo number, handling source, and handling destination of cargo 3 for each crane number (A1, A2, ..., Ai, B1, ..., Bj) in the leftmost column of the table. The crane numbers (A1 to Ai) indicate the numbers of cranes 5a, and the crane numbers (B1 to Bj) indicate the numbers of cranes 5b. The cargo number indicates the number assigned to each piece of cargo 3 and represents the container number at the container terminal. The handling source and handling destination indicate the handling location of cargo 3 and the designated location of the target transport equipment 2 or storage area 4.

[0027] The dataset 40, which is an aggregate of multiple operation commands 30 as illustrated in Figure 5, is updated by the arithmetic unit 11b at predetermined cycles T. The update of the dataset 40 is performed at predetermined cycles T and includes the addition of each operation command 30 received by the arithmetic unit 11b and the deletion of each operation command 30 authorized by the authorization process S200. The dataset 40 is arranged in the order of the cycles (T(n-1), Tn) in which the multiple operation commands 30 were received. In one example, the previous cycle is T(n-1) and the current cycle is Tn. In the dataset 40, the operation commands 30 authorized by the authorization process S200 in the previous cycle T(n-1) are deleted, the operation commands 30 that were not authorized by the authorization process S200 remain, and the operation commands 30 received in the current cycle Tn are added. Note that all operation commands 30 received in the previous cycle T(n-1) may have been authorized in the previous cycle T(n-1) and may not remain in the current cycle Tn. If the update of the dataset 40 consists only of adding each received operation command 30, the amount of data in the dataset 40 increases with each predetermined period T. Therefore, including the deletion of each operation command 30 authorized by the authorization process S200 in the update of the dataset 40 is advantageous in suppressing the growth of the amount of data in the dataset 40 and reducing the proportion of the auxiliary storage unit 14 of the arithmetic unit 11b that is occupied.

[0028] The operation command 30 indicates the next operation to be performed for each crane number (A1-Aj, B1-Bj). The operations are classified into hoisting operation of load 3, lowering operation of load 3, horizontal movement operation of load 3, and traveling operation. Hoisting operation, horizontal movement operation, and traveling operation are powered operations, which begin when the electric motor 8 is driven powered. Lowering operation is a regenerative operation, which begins when the electric motor 8 is driven regeneratingly. In other words, hoisting operation, horizontal movement operation, and traveling operation are operations in which an inrush current is generated in the electric motor 8 immediately after the start of each operation. Note that in the case of horizontal movement operation and traveling operation, regenerative operation may occur after powered operation, and the electric motor 8 may be driven powered at the start of the operation and then regenerative operation midway through the operation, but since the electric motor 8 is driven powered at the start of the operation, it is considered a powered operation.

[0029] Figure 6 shows an example of the procedure for an embodiment of the operation method of logistics facility 1. In this procedure, the update process S100 (S110-S150), the authorization process S200 (S210, S220), and the operation start process S300 (S310, S320) are performed at predetermined intervals T. In the update process S100, the dataset 40 is updated. In the authorization process S200, an operation command 30 selected from among the operation commands 30 present in the dataset 40 is authorized. In the operation start process S300, the operation indicated by the operation command 30 authorized in the authorization process S200 is started by the target crane 5. Note that the operation start process S300 shows the process up to the start of the operation and does not include the process up to the completion of the operation.

[0030] The predetermined period T can be set arbitrarily. The predetermined period T serves as the reference for the start timing of the operation of the crane 5. Therefore, the predetermined period T should be such that it is possible to stagger the start timing of the operation of each crane 5 in the previous operation process S300 and the start timing of the operation of each crane 5 in the current operation process S300. By staggering these timings, it becomes possible to stagger the timing at which the current value of the electric motor 8 reaches its peak current value Ip due to the inrush current immediately after the start of the traction operation of the electric motor 8 in each operation process S300. The predetermined period T can also be set to a period longer than the occurrence period ΔTp during which the inrush current occurs. In this way, by pre-setting the predetermined period T based on the occurrence period ΔTp, it is advantageous to avoid overlapping occurrence periods ΔTp in each operation process S300 and to more reliably stagger the timing at which the current value of the electric motor 8 reaches its peak current value Ip. However, since the length of the predetermined period T is directly related to the responsiveness of the operation of the crane 5, it is preferable to set it to a shorter period. Therefore, it is desirable that the predetermined period T is a period that is longer than the occurrence period ΔTp and more closely approximates that occurrence period ΔTp. In one example, since the occurrence period ΔTp is 1.5 seconds, the predetermined period T was set to 2.0 seconds.

[0031] The following details each process (S100, S200, S300), divided into steps performed by the control device 7 (S110-S130, S310, S320) and steps performed by the arithmetic unit 11b (S140, S150, S210, S220).

[0032] Figure 7 shows an example of the procedure (S110-S130, S310, S320) performed by each control device 7. In this procedure, first, some steps of the update process S100 (S110-S130) are performed, followed by the steps of the operation start process S300 (S310, S320). Some steps within each process (S120, S130, S310, S320) are repeated by loop processing (loop1) until the cargo 3, which is the target of the cargo handling data 20, is loaded from the loading source to the loading destination and the cargo handling is completed. The following describes each step (S110-S130, S310, S320) in detail.

[0033] In the step of receiving cargo handling data 20 (S110), data processing is performed in which the control device 7 receives the cargo handling data 20 created and transmitted by the arithmetic unit 11a. Note that each control device 7 is not limited to receiving only one piece of cargo handling data 20, and may receive multiple pieces of cargo handling data 20 at once.

[0034] In step (S120), which generates the operation command 30, the control device 7 generates operation commands 30 (30a, 30b) based on the cargo handling data 20 received by the control device 7. The operation commands 30 include automatic operation commands 30a, which indicate automatic operation, and manual operation commands 30b, which indicate manual operation. Automatic operation commands 30a are generated by the control device 7, while manual operation commands 30b are generated by the driver's operation. When generating automatic operation commands 30a, the control device 7 performs data processing to generate automatic operation commands 30a based on the received cargo handling data 20. When generating manual operation commands 30b, the control device 7 presents the received cargo handling data 20 to the driver, and the control device 7 performs data processing to convert the driver's operation based on the presented cargo handling data 20 into manual operation commands 30b. The operation commands 30 generated in this step (S120) differ with each iteration of the loop processing. Examples of operation commands 30 in loop processing, in the order they are generated, include: driving to the source of the cargo handling, lifting only the lifting device to lift the cargo 3, horizontal movement, lowering, lifting the cargo 3, horizontal movement, lowering, and lifting only the lifting device.

[0035] In step (S130), which involves transmitting the operation command 30, data processing is performed to transmit the operation command 30 generated by the control device 7 to the computing device 11b. In this step (S130), it is preferable to transmit the operation command 30 just before the crane 5 is to perform the operation indicated in the generated operation command 30, that is, after the preparation for the operation is complete. For example, in a container terminal, the hoisting operation of the cargo 3, which is a container, involves connecting the lifting equipment to the cargo 3, and the operation command 30 for the hoisting operation is transmitted after the connection work is completed and the preparation for the hoisting operation is complete. By transmitting the operation command 30 after the preparation for the operation is complete, when the operation command 30 is authorized in the authorization process S200, it becomes possible to start the operation indicated in the operation command 30 immediately, which is advantageous for adjusting the timing of the start of the operation. Furthermore, if the preparation for operation includes a safety check of the operation, and after the operation command 30 has been authorized in the authorization process S200, if the conditions around the crane 5 change and a safety check is required, the operation command 30 should be sent to the calculation unit 11b again after the safety check has been performed.

[0036] In step (S310), where the operation command 30 is received, the control device 7 performs data processing to receive the operation command 30 authorized by the authorization process S200 performed by the arithmetic unit 11b. Between step (S130) and step (S310), there may be a waiting period while waiting for the operation command 30 to be received. During this waiting period, the crane 5 remains stopped and does not operate. The waiting period is an integer multiple of a predetermined period T.

[0037] In the step of starting the operation (S320), data processing is performed in which the electric motor 8 is driven based on the operation command 30 received by the control device 7, causing the crane 5 to start the operation indicated by the operation command 30. Step (S320) is performed immediately after step (S310). In other words, upon receiving an authorized operation command 30, the control device 7 immediately causes the crane 5 to start the operation indicated by that operation command 30. Once the crane 6 starts the operation indicated by the operation command 30, the process returns to step (S120). After the start of the operation, the control device 7 controls the operation of the crane 5 using a different control flow.

[0038] Figure 8 shows an example of the procedure (S140, S150, S210, S220) performed by the arithmetic unit 11b. In this procedure, first, some steps of the update process S100 (S140, S150) are performed, followed by the steps of the authorization process S200 (S210, S220). Each step (S140, S150, S210, S220) is described in detail below.

[0039] The step of receiving the operation command 30 (S140) involves data processing in which the operation command 30 transmitted by the control device 7 is received by the arithmetic unit 11b. Depending on the timing of the execution of step (S140), there may be no operation command 30 transmitted from the control device 7, and the arithmetic unit 11b may not receive the operation command 30.

[0040] In step (S150), which updates the dataset 40, the arithmetic unit 11b performs data processing to update the dataset 40. Specifically, the arithmetic unit 11b deletes the operation commands 30 that were authorized in the previous authorization step S200, and adds a plurality of newly received operation commands 30 in the order of a predetermined period T, thereby updating the dataset 40. Note that this step (S150) can be omitted if, in step (S140), each operation command 30 received in the order of a predetermined period T is stored in the auxiliary storage unit 14 of the arithmetic unit 11b as shown in the dataset 40, and the transmitted operation commands 30 are deleted in step (S220), which will be described later.

[0041] In the step of selecting the permitted operation command 30 (S210), the arithmetic unit 11b performs data processing to select the permitted operation command 30 from among the operation commands 30 in the dataset 40. Specifically, the arithmetic unit 11b selects the permitted operation command 30 based on pre-set selection conditions C1 to C4. In this selection step, only selection condition C1 is required, and the other selection conditions C2 to C4 do not need to be adopted. However, it is desirable to use the other selection conditions in addition to selection condition C1.

[0042] More specifically, selection condition C1 is a condition that limits the number of operation commands 30 permitted simultaneously to a predetermined number Na or less. The predetermined number Na is set in advance based on the allowable current value Ia of the power supply device 9. Specifically, the predetermined number Na is set based on the difference between the current value output from the power supply device 9 and the allowable current value Ia, assuming that each device and equipment in the logistics facility 1 (including the numerous cranes 5) is driven at its rated current, divided by the peak current value Ia. In other words, the predetermined number Na indicates the number of inrush currents that can overlap due to power driving. If the peak current values ​​Ia due to the inrush current in each of the numerous electric motors 8 of the cranes 5 are different, it is advisable to use the maximum peak current value Ia when setting the predetermined number Na. The predetermined number Na can be set according to the magnitude of the allowable current value Ia and is set to a positive integer (including "1"). By selecting the permitted operation command 30 using the selection condition C1, it is possible to avoid a situation where the current value output from the power supply device 9 exceeds the allowable current value Ia, even if all the operations indicated by the permitted operation command 30 are power drives and the timing of the inrush currents generated by all of these power drives overlaps.

[0043] Selection condition C2 is a condition in which the number of operation commands 30 that are limited to a predetermined number Na or less in selection condition C1 are limited to the number of operation commands 30 that indicate power operation, but the number of operation commands 30 that indicate regenerative operation are excluded, and only the number of operation commands 30 indicating power operation are included. In regenerative operation, power is generated by the electric motor 8. Therefore, even if multiple regenerative operations are started simultaneously, the current value output from the power supply device 9 will not become excessive. Thus, there is no need to set restrictions on the selection of operation commands 30 that indicate regenerative operation. By selecting the operation commands 30 to be permitted using selection condition C2 in addition to selection condition C1, power operation and regenerative operation are started simultaneously. This makes it possible to narrow the increase in the current value output from the power supply device 9, which increases due to the overlapping inrush current caused by power operation, by generating power through regenerative operation.

[0044] In selection condition C2, a larger number of operation commands 30 indicating regenerative operations that are permitted simultaneously is advantageous in narrowing the increase in the current value. However, if many regenerative operations are started at once, the fluctuation in the current value output from the power supply device 9 becomes large. Therefore, it is desirable that the number of operation commands 30 indicating regenerative operations that are permitted simultaneously in selection condition C2 is based on the number of operation commands 30 indicating power operations that are permitted simultaneously, and it is even more desirable that the number of operation commands 30 indicating regenerative operations that are permitted simultaneously and the number of operation commands 30 indicating power operations are equal. Furthermore, it is desirable that selection condition C2 selects the operation commands 30 indicating regenerative operations that are permitted simultaneously in such a way that the difference between the amount of power generated in the simultaneously executed regenerative operations and the amount of power consumed in the power operations becomes small. This equalizes the difference between the amount of power consumed and the amount of power generated for each simultaneously executed power and regenerative operation, balancing the amount of power consumed and the amount of power generated, which is advantageous in minimizing the overall power consumption of the logistics facility 1.

[0045] Selection condition C3 is a condition that allows manual operation command 30b before automatic operation command 30a. By using selection condition C3 in addition to selection condition C1, or by selecting an operation command 30 that allows using all of selection conditions C1 to C3, it is advantageous to suppress delays in the operation of the crane 5b based on manual operation command 30b. In this way, prioritizing the authorization of manual operation command 30b and minimizing the discomfort to the operator is advantageous in suppressing operational errors and a decrease in drivability caused by discomfort.

[0046] Selection condition C4 is a condition that allows the operation command 30 with the earlier received period to be permitted first. When selection conditions C3 and C4 are used together, it is preferable to set the priority of selection condition C3 higher than that of selection condition C4 so that the selection based on selection condition C4 is performed first.

[0047] In this step (S210), selection conditions other than the selection conditions C1 to C4 exemplified above can also be used. For example, a selection condition may be used to select which operation command 30 to permit based on the priority of the source and destination of cargo handling performed by the operation indicated by the operation command 30. Specifically, by setting the priority of transport equipment 2 higher than the priority of storage area 4, or setting the priority of ships within transport equipment 2 higher than the priority of vehicles, it becomes possible to perform cargo handling that should be prioritized at logistics facility 1 first. In addition, selection conditions can be added according to the cargo handling status at logistics facility 1 and the operating status of the numerous cranes 5.

[0048] Figure 9 shows an example of an authorization dataset 50 in which, for each operation command 30 of the dataset 40 illustrated in Figure 5, the operation command 30 to be authorized is selected using selection conditions C1 to C4. In this example, the predetermined number Na of selection condition C1 is set to "3".

[0049] First, based on selection conditions C1, C3, and 4, an automatic operation command 30a indicating the hoisting operation of crane number A3, a manual operation command 30b indicating the hoisting operation of crane number B1, and a manual operation command 30b indicating the traveling operation of crane number B3 are selected. Next, based on selection condition C2, an automatic operation command 30a indicating the lowering operation of crane number A10, an automatic operation command 30a indicating the lowering operation of crane number A9, and an automatic operation command 30a indicating the lowering operation of crane number A2 are selected. In total, three operation commands 30 indicating powering operations and three operation commands 30 indicating regenerative operations are selected.

[0050] In the step of transmitting the selected operation command 30 (S220), the arithmetic unit 11b performs data processing to transmit the selected operation command 30 to each control device 7 of the target crane 5. When the selected operation command 30 is transmitted from the arithmetic unit 11b to each control device 7, the execution of the operation indicated by the operation command 30 is permitted.

[0051] The operation indicated by the operation command 30 authorized by the arithmetic unit 11b in authorization process S200 is initiated on the target crane 5 in the operation start process S300 described above. Specifically, the three power operations of crane number B1 (hoisting), crane number B3 (traveling), and crane number A3 (hoisting) are started almost simultaneously, and the timing of the generation of inrush currents due to each power operation overlaps. Even though the timing of the generation of each inrush current overlaps, the current value output by the power supply device 9 is maintained below the allowable current value Ia. Also, almost simultaneously, three regenerative operations of crane number A10 (lowering), crane number A9 (lowering), and crane number A2 (lowering) are started. Therefore, the increase in the current value output from the power supply device 9 due to the overlapping timing of the inrush currents is narrowed by the power generation from each regenerative operation. This makes it possible to more reliably avoid a situation where the current value output by the power supply device 9 exceeds the allowable current value Ia. Furthermore, the balance between electricity consumption and electricity generation will be restored, minimizing the overall electricity consumption of logistics facility 1.

[0052] Similarly, in the next period T(n+1), the operation indicated by the operation command 30 authorized by the arithmetic unit 11b in the authorization process S200 is initiated on the target crane 5 in the operation start process S300 described above. There is a predetermined interval of period T between the start timing of each operation in the current period Tn and the start timing of each operation in the next period T(n+1). In other words, the timing at which the current value output from the power supply device 9 increases due to the inrush current in the current period Tn and the timing at which the current value output from the power supply device 9 increases due to the inrush current in the next period T(n+1) are staggered and do not overlap.

[0053] As described above, in this embodiment, the start of operations by multiple cranes 5 at the logistics facility 1 is adjusted by the authorization process S200 by the calculation unit 11b, so that operations of a predetermined number Na or less are started at predetermined cycles T. In other words, the number of overlapping inrush currents due to the power driving of the electric motors 8 can be limited to a predetermined number Na or less. This is advantageous in avoiding an overcurrent in the power supply device 9 caused by inrush current. Furthermore, compared to a method that significantly rearranges the operation schedules of each of the multiple cranes 5, the adjustment of the operation timing becomes finer, which is advantageous in suppressing a decrease in cargo handling efficiency due to the adjustment of the operation timing. Thus, this embodiment, while using a relatively simple method, can suppress a decrease in cargo handling efficiency and maintain the current value of the common power supply device 9 below the allowable current value by taking measures against inrush current.

[0054] An operation command 30 that is not permitted in the permission process S200 by the calculation device 11b in the current period Tn will be permitted in the next period T(n+1) or the period after that T(n+2). If the period T is set to a time that approximates the occurrence period ΔTp, the delay time from when the operation command 30 is transmitted from the control device 7 to the calculation device 11b until the operation indicated by the operation command 30 actually starts will be only about the time required for multiple occurrence periods ΔTp to elapse. Thus, this embodiment is very advantageous in suppressing the decrease in cargo handling efficiency at the logistics facility 1 due to countermeasures against inrush current.

[0055] Although embodiments of the present invention have been described above, the logistics facility operation method and management system of the present invention are not limited to specific embodiments, and various modifications and changes are possible within the scope of the gist of the present invention.

[0056] Each operation command 30 is not limited to those transmitted from each control device 7 to the arithmetic unit 11b. For example, each operation command 30 may be generated by the arithmetic unit 11a, and each generated operation command 30 may be transmitted to the arithmetic unit 11b.

[0057] Specifically, first, the arithmetic unit 11a in the embodiment described above stores the cargo handling data 20 it has created and the data used in the creation process (such as the scheduled departure and arrival dates of the transport equipment 2 and the number of cargo 3 being moved in and out of the storage area 4), as well as the operation commands 30 generated by each control device 7 and the data used in the generation process (such as data indicating the completion of preparation for operation). Next, using the large amount of stored data as training data, a predictive model is generated using various known machine learning methods. Then, the operation commands 30 can be generated using the data used in the creation process of each cargo handling data 20, the data used in the generation process of the operation commands, and the generated predictive model. In this way, the authorization process S200 by the arithmetic unit 11b can also authorize each operation command 30 generated by the arithmetic unit 11a.

[0058] The predetermined number Na in selection condition C1 may be varied according to the amount of electricity consumed at logistics facility 1. For example, in a container terminal, the amount of electricity consumed differs between nighttime when lighting equipment is used and daytime when lighting equipment is not used. Therefore, by varying the predetermined number Na in selection condition C1 according to the amount of electricity consumed at logistics facility 1, the number of operation commands 30 that are permitted at the same time can also be increased.

[0059] Furthermore, the predetermined number Na in selection condition C1 may be varied depending on whether selection condition C2 is adopted or not. By adopting selection condition C2, it becomes possible to cover the inrush current generated by the powering operation with the power generated by the regenerative operation. In other words, the increase in the current value output from the power supply device 9 due to the overlap of inrush currents is narrowed by the power generated by the regenerative operation, making it possible to set the predetermined number Na to a larger value.

[0060] Selection condition C2 does not require that some of the powering operations be included in the number of operation commands 30 limited to a predetermined number Na or less in selection condition C1. For example, if the peak current value Ip due to inrush current in the horizontal movement operation or the traveling operation is lower than the peak current value Ip due to inrush current in the hoisting operation, the powering operation commands 30a representing those horizontal movement and traveling operations do not need to be included in the number of operation commands 30 limited to a predetermined number Na or less in selection condition C1. Furthermore, the operations to be included in the number of operation commands 30 limited to a predetermined number Na or less in selection condition C1 may be set for each crane 5. For example, the traveling operation of crane 5a does not need to be included in that number, but the traveling operation of crane 5b may be included. In this way, the operations to be included in the number of operation commands 30 that are simultaneously permitted in selection condition C1 can be set as appropriate.

[0061] The timing at which the control device 7 transmits the operation command 30 to the computing device 30b is not limited to the timing at which preparations for the operation indicated by the operation command 30 are complete. For example, in the hoisting operation of the cargo 3, before the hoisting operation is performed, the lifting device is lowered to the bottom, and the lifting device and cargo 3 are coupled (e.g., twist-locked). The control device 7 detects the bottoming or coupling. Therefore, the control device 7 may transmit the operation command 30 indicating the hoisting operation to the computing device 11b at the timing when the bottoming or coupling is detected. This method is limited to automatic operations where the time between bottoming or coupling and the start of the hoisting operation can be controlled, but transmitting the operation command 30 to the computing device 11b in advance is advantageous in shortening the waiting time until the operation. [Explanation of Symbols]

[0062] 1. Warehouse facilities 2 Transport equipment 3. Luggage 4. Storage Area 5 Cranes 6. On-site chassis 7 Control device 8 Power source 9 Power supply device 10 Management Systems 11a, 11b Arithmetic unit 20. Cargo handling data 30 Cargo handling command 40 datasets 50 permission datasets

Claims

1. In a method of operating a logistics facility in which each of the numerous cranes used for handling cargo has an electric motor that uses power supplied from a control device and a common power supply device, The update process, the authorization process, and the operation start process are repeated at predetermined cycles based on the period of inrush current generation immediately after the start of power drive of the electric motor. In the update process, the arithmetic unit updates a dataset containing multiple commands for the operation of the crane transmitted from the control device, including commands for the operation of the electric motor to perform power driving and commands for the operation of the regenerative driving. In the authorization step, the computing device selects, based on selection conditions including a condition that limits the number of power operation commands among the operation commands to be authorized simultaneously from the dataset to a predetermined number or less, based on the allowable power value of the power supply device, the power operation commands limited to at most the predetermined number and the regenerative operation commands present in the dataset, and simultaneously authorizes the selected operation commands. The method for operating a logistics facility is characterized in that, in the operation initiation step, the control device that receives the authorized operation command initiates the operation indicated by the operation command to a target crane among the numerous cranes.

2. The update step involves deleting the operation command that was permitted in the previous permission step and adding the newly received operation command. The method for operating a logistics facility according to claim 1, wherein the selection conditions include a condition that permits earlier operation commands that were added to the dataset in the update process first.

3. The method for operating a logistics facility according to Claim 2, wherein the selection condition includes a condition for equalizing the difference between the amount of power consumed in the powering operation initiated in the operation start step and the amount of regenerated power.

4. The method for operating a logistics facility according to Claim 3, wherein the selection condition includes a condition that grants permission for a manual operation command generated by the driver's operation among the operation commands before granting permission for an automatic operation command generated by the control device.

5. A method for operating a logistics facility according to any one of Claims 1 to 4, wherein the control device transmits the operation command to the computing device after the preparation for the operation indicated by the operation command is completed, and if the conditions around the crane change after the operation command has been transmitted to the computing device and preparation for the operation is required again, the operation command is transmitted to the computing device again after the preparation for the operation has been completed.

6. In a logistics facility management system where each of the numerous cranes used for handling cargo has an electric motor that uses power supplied from a control device and a common power supply device, The update process and authorization process performed by the computing unit and the operation start process performed by the control unit are configured such that the operation start process is repeated at predetermined intervals based on the period of inrush current generation immediately after the start of power drive of the electric motor. In the update process, the computing device performs data processing to update a dataset that contains multiple commands for motorizing the electric motor and commands for regenerative operation, which are transmitted from the control device as operation commands for the crane. In the authorization step, the computing unit selects, based on selection conditions including a condition that limits the number of power operation commands among the operation commands to be authorized simultaneously from the dataset to a predetermined number or less, set based on the allowable power value of the power supply device, the power operation commands limited to at most the predetermined number and the regenerative operation commands present in the dataset, and performs data processing to simultaneously authorize the selected operation commands. A logistics facility management system characterized in that, in the operation start step, the control device, upon receiving the authorized operation command, executes control to initiate the operation indicated by the operation command on the target crane among the numerous cranes.

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