JP7799595B2 - Overhead crane system - Google Patents

Description

The present invention relates to overhead crane system technology.

Coils wrapped with steel sheets are transported using overhead crane systems. Patent Document 1 discloses technology for such overhead crane systems.

Patent Document 1 discloses a route search method for searching for a route for a moving object 1 to travel from a starting position (From) to a target position (To) in an XZ plane represented by multiple grids, in which an evaluation value related to the travel time of the moving object 1 from the target position (To) to each grid is set for each grid based on the X-direction velocity Vx and Z-direction velocity Vz of the moving object 1. The shortest time route 10 from the starting position (From) to the target position (To) is searched for based on the set evaluation value" and a method for creating a crane operation pattern (see abstract).

Japanese Patent Application Laid-Open No. 2020-21312

In conventional technology, the coil storage area is divided into meshes, and transport management is performed based on absolute positions defined for those meshes. However, this type of transport management makes it difficult to flexibly respond to the inbound and outbound transport of transported items.

The present invention was made in light of this background, and its objective is to enable flexible response to the inbound and outbound transport of goods.

In order to solve the above-mentioned problems, the present invention provides a method for transporting a coil of steel sheet, which is a transported object, comprising: an overhead crane device that lifts the coil upward and transports the coil in a predetermined direction and in a direction perpendicular to the predetermined direction in a transport area for transporting the coil ; and an overhead crane control device that generates a transport path for the overhead crane device that does not interfere with the coil placed in the transport area, wherein the overhead crane control device stores yard management information that stores at least placement location information for specifying a placement location of the coil and transported object size information that is information about the size of the coil ; and a map element that is an individual mesh area that divides the transport area into a predetermined mesh. The storage unit stores three-dimensional map information in which map element identification information that identifies a location in a transport area and the storage location information are stored in association with each other, and map element identification information that associates the transport area with the map elements and is used to identify the map elements, the coils are loaded in multiple tiers, and the storage location management information stores information regarding the tier on which the coils are loaded, the map elements are identified based on the storage location information in the storage location management information and the map element identification information in the three - dimensional map information, and height information based on the size information of the transported item is stored in the identified map elements.
Other solutions will be described as appropriate in the embodiments.

This invention allows for flexible handling of incoming and outgoing goods.

1 is a diagram illustrating a configuration example of an overhead crane system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a detailed configuration of a management device according to the present embodiment. 1 is a schematic diagram of an overhead crane device according to a first embodiment. FIG. 1 is a diagram (part 1) showing an example of a coil used as a suspended load in this embodiment. FIG. 2 is a diagram (part 2) showing an example of a coil used as a suspended load in this embodiment. FIG. 10 is a diagram (part 3) showing an example of a coil used as a suspended load in this embodiment. FIG. 4 is a diagram (part 4) showing an example of a coil used as a suspended load in this embodiment. FIG. 1 is a diagram (part 1) showing the calculation of the coil loading height. FIG. 2 is a diagram (part 2) showing the calculation of the coil loading height. FIG. 1 is a diagram (part 1) showing a three-dimensional route map. FIG. 1 is a diagram (part 1) showing the placement state of the coil. FIG. 2 is a diagram (part 2) showing the placement state of the coil. FIG. 2 is a diagram showing a three-dimensional route map (part 2). 1 is a diagram (part 1) showing the placement and loading states of the coils; FIG. FIG. 10 is a diagram (part 2) showing the coil placement and loading states. FIG. 10 is a diagram illustrating an example of yard inventory information. FIG. 10 is a diagram showing examples of "columns," "rows," and "columns." FIG. 10 is a diagram illustrating an example of three-dimensional map information. FIG. 10 is a diagram illustrating an example of system information. 1 is a flowchart showing the overall processing procedure of an inventory management method according to the present embodiment. 10 is a flowchart showing a processing procedure for creating yard inventory information. 10 is a flowchart (part 1) showing a processing procedure for creating a three-dimensional route map. 10 is a flowchart (part 2) showing the processing procedure for creating a three-dimensional route map. FIG. 10 is a diagram showing a specific example of creating a three-dimensional route map. 10 is a flowchart showing a procedure for updating yard inventory information and a three-dimensional route map.

Next, a mode for implementing the present invention (hereinafter referred to as "embodiment") will be described in detail, with reference to the drawings as appropriate.

(System configuration)
FIG. 1 is a diagram showing an example of the configuration of an overhead crane system Z according to this embodiment.
The overhead crane system Z includes a management device 1, a host system 2, a control device 3, and an overhead crane device 6. The management device 1, which is an overhead crane control device, communicates with the host system 2 and, in response to a loading/unloading instruction from the host system 2, transmits a command to the control device 3 to transport the transported item, a coil C. In this embodiment, the coil C is a rolled steel sheet, which is a thinly rolled iron. When transporting the coil C, the management device 1 uses a three-dimensional route map 124 (see FIG. 2) created from storage area inventory information 121 (see FIG. 2) to determine a route that avoids obstacles in the coil storage area, which is the transport area, and transmits a command to the control device 3 to transport the coil C. In other words, the management device 1 generates a transport route for the overhead crane device 6 that does not interfere with the coil C placed in the coil storage area. In FIG. 1, the dashed arrow A1 indicates information transmitted from the host system 2 to the management device 1, and the dashed arrow A2 indicates information transmitted from the management device 1 to the host system 2. The information transmitted from the host system 2 to the management device 1 (dashed arrow A1) includes host inventory information 21 (details of which will be described later), storage instructions, shipping instructions, etc. The storage instructions and shipping instructions are instructions created by an operator entering information into the host system 2. The information transmitted from the management device 1 to the host system 2 (dashed arrow A2) includes inquiries about inventory requirements, storage records, and shipping records. The storage records are information regarding which coils C have been stored where in the coil storage area, and the shipping records are information regarding where in the coil storage area the coils C have been shipped.

The control device 3 controls the overhead crane device 6 based on commands sent from the management device 1, and transports the suspended load, the coil C.

Inventory information for coil C is centrally managed by the host system 2 as host inventory information 21 (see Figure 2). When the management device 1 starts operations and the overhead crane system Z is switched to automatic operation mode, the management device 1 acquires host inventory information 21 from the host system 2 and creates storage yard inventory information 121 based on the acquired host inventory information 21. The management device 1 also creates a three-dimensional route map 124 based on the storage yard inventory information 121, etc. The three-dimensional route map 124 will be described later, and associates height information and location information for coils C placed in the coil storage yard, which is the transport area of the overhead crane device 6. The management device 1 updates the storage yard inventory information 121 and the three-dimensional route map 124 each time a coil C is transported. The details and operation of the management device 1 will be described later.

(Management device 1)
2 is a diagram showing a detailed configuration of the management device 1 according to this embodiment, with reference to FIG. 1 as needed.
The management device 1 is a PC (Personal Computer) or the like, and includes a memory 11 configured as a volatile memory, a CPU (Central Processing Unit) 13, and a storage device 12 configured as an HD (Hard Disk), an SSD (Solid State Drive), etc. The management device 1 also includes a communication device 14 that communicates with the higher-level system 2 and the control device 3.

The storage device 12, which is a storage unit, stores yard inventory information 121, three-dimensional map information 122, system information 123, and a three-dimensional route map 124.
The storage location inventory information 121, which is storage location management information, stores the location where the coils C are placed and the stack height of the coils C. The stack height is the height of the stacked coils C when multiple coils C are stacked. Details of the storage location inventory information 121 will be described later.
In the three-dimensional map information 122, when the coil placement area is expressed by a plurality of meshes, each mesh is associated with information on the coil C. Details of the three-dimensional map information 122 will be described later.

System information 123 stores a safety height, which is a preset height to prevent interference between the coil C being transported by the ceiling crane device 6 and the coil C placed in the coil storage area.

The three-dimensional route map 124 associates height information and location information for the coils C placed in the transport area (coil storage area) of the overhead crane device 6. The three-dimensional route map 124 is created as a CSV file or the like, and stores the heights (numerical values) of obstacles in the transport area for each mesh set in the coil storage area. Details of the three-dimensional route map 124 will be described later.

In addition, programs are stored in the storage device 12. The programs stored in the storage device 12 are loaded into the memory 11 and executed by the CPU 13, thereby realizing the communication processing unit 111, mode control unit 112, yard inventory information processing unit 113, 3D route map processing unit 114, and crane control command unit 115.

The communication processing unit 111 receives from the host system 2 the upper inventory information 21 stored in the host system 2, as well as warehousing instructions and shipping instructions. The communication processing unit 111 also transmits inquiries about the upper inventory information 21, as well as warehousing records and shipping records to the host system 2.
The mode control unit 112 switches the automatic operation mode of the overhead crane system Z based on instructions received from the higher-level system 2. The automatic operation mode is a mode in which the overhead crane system Z transports the coil C based on a three-dimensional route map 124.

The yard inventory information processing unit 113 creates yard inventory information 121 based on the upper inventory information 21 acquired from the upper system 2 .
The three- dimensional route map processing unit 114 creates a three-dimensional route map 124 based on the storage location inventory information 121 , the three-dimensional map information 122 , and the system information 123 .
The crane control command unit 115 creates a control command for the overhead crane device 6 based on the three-dimensional route map 124 and transmits the created control command to the control device 3 .

(Ceiling crane device 6)
FIG. 3 is a schematic diagram of the overhead crane device 6 according to the first embodiment.
The overhead crane device 6 has a crab trolley 601 , a girder 602 , and a traveling rail 604 .
The club trolley 601 has traversing wheels 612 for traversing on the girder 602, and a winding device 611 for winding up or down a wire 605. A hoisting tool 606 for suspending a load S is provided at the tip of the wire 605. The load S is a coil C made of a rolled iron plate.

The girder 602 is provided with a lateral rail 603 along which the club trolley 601 travels, and is also provided with running wheels 613 for the girder 602 to travel on the running rails 604.
The traverse wheels 612 of the club trolley 601 cause the club trolley 601 to traverse in the longitudinal direction of the girder 602. In addition, the running wheels 613 of the girder 602 cause the girder 602 to travel in the longitudinal direction of the running rail 604.

Here, the movement of the girder 602 in the longitudinal direction is referred to as "lateral movement," and the movement of the traveling rail 604 in the longitudinal direction is referred to as "traveling." Note that "lateral movement" and "traveling" will be collectively referred to as "movement" as appropriate. In this way, the ceiling crane device 6 of this embodiment transports the load S (coil C) by simultaneously controlling the traveling direction, which is a predetermined direction, and the lateral movement direction, which is a direction perpendicular to that direction.
The load S is transported to the target position by the girder 602 traveling on the traveling rails 604 and the club trolley 601 moving laterally on the girder 602. The winding device 611 provided on the club trolley 601 then winds up and down the wire 605, thereby raising and lowering the load S.

The control system Z1 controls the travel of the club trolley 601 and the winding of the wire 605 by the winding device 611.

(Coil C)
4A, 4B, 5A, and 5B are diagrams showing examples of the coil C used as a suspended load in this embodiment.
4A and 4B show an example of a large coil C11(C), and FIGS. 5A and 5B show an example of a small coil C21(C).
4A and 4B, the coil C11 has a radius R11 and a width W11. Therefore, the height H11 (H) of the coil C11 is the diameter of the coil C11, which is expressed as 2×R11.

Furthermore, in the coil C21 shown in Figures 5A and 5B, the radius of the coil C21 is R21, and the width of the coil C21 is W21. Therefore, the height H21 (H) of the coil C21 is the diameter of the coil C21, which is expressed as 2 x R21.

In addition, as shown in Figures 4A and 5A, coil C has a through hole E for suspending coil C with a suspender 606 (see Figure 3).

(Calculation of loading height LH)
6A and 6B are diagrams showing calculation of the loading height LH of the coil C. Please refer to FIG. 1 as needed.
In the diagram shown in FIG. 6A, two coils C11(C) and a coil C12(C) having a smaller diameter than coil C11 are loaded. The radius of coil C11 is R11, and the radius of coil C12 is R12. For example, R11 = 500 mm, and R12 = 450 mm. Coils C11 and C12 are loaded in two tiers, with coils C11 and C12 loaded on the lower tier and coil C11 loaded on the upper tier. Note that hereinafter, the lower tier may be referred to as the first tier and the upper tier as appropriate.

Here, (Y1) the stacking height LH10 (LH) of coils C11 and C12 is calculated based on the larger of the coils C11 and C12 stacked on the lower level. This is to avoid interference between the coil C placed in the coil storage area and the coil C being transported when the coil C is transported by the overhead crane device 6. Also, (Y2) Although a gap actually occurs between the coils C11 and C12 on the lower level, they are considered to be in close contact when calculating the stacking height LH10 of coil C. If a gap occurs between the coils C11 and C12 on the lower level, the stacking height LH10 will be lower. However, when calculating the stacking height LH10, the calculation is performed assuming that the coils C11 and C12 on the lower level are in close contact to avoid interference between the coil C placed in the coil storage area and the coil C being transported. These calculation conditions (Y1, Y2) allow the calculation to achieve the highest possible stacking height LH10. This makes it possible to avoid interference between the coil C placed in the coil storage area and the coil C being transported when the coil C is transported by the overhead crane device 6. This ensures the safety of the transport of the coil C by the overhead crane device 6.

In the example shown in Figure 6A, coil C11 is larger than coil C12, so the management device 1 calculates the loading height LH10 by assuming that coil C11 is placed in the coil storage area at the location of coil C12. In Figure 6A, the dashed circle shown around coil C12 indicates the outline of coil C11.

The coil C (C11) on the upper tier fits into the gap between the coils C11 and C12 on the lower tier. Therefore, the management device 1 calculates the triangle formed by the center of the coil C on the lower tier and the center of the coil C11 on the upper tier (an equilateral triangle in the example of Figure 6A). In this case, the coil C12 on the lower tier is smaller than the coil C11. As mentioned above, when coils C of different sizes are loaded, the size of the coils C is adjusted to the largest coil C. For this reason, the stack height LH is calculated assuming that coil C11 is placed in the location of the coil C12 on the lower tier (dotted circle around coil C12). Therefore, the center of the coil C on the lower tier is set to the center when it is assumed that coil C11 is placed on the lower tier.

Then, the management device 1 calculates the lower coil difference DH12 (DH), which is the height of the equilateral triangle that is formed. The management device 1 then calculates the height of the stacked coil C (loading height LH10) by adding the calculated lower coil difference DH12 to H11, which is the diameter of the lower coil C11. In other words, loading height LH10 = H11 (2 x R11) + lower coil difference DH12. As mentioned above, if R11 = 500 mm, then the height H11 of coil C11 = 1000 mm, and the lower coil difference DH12 = 867 mm, so the loading height LH10 = 1867 mm.

In this way, when coils C are stacked in two tiers and the radii of the multiple coils C placed on the lower tier are different, the management device 1 calculates the loading height based on the coil C with the largest radius. In other words, when the loaded coils C are of different sizes, the management device 1 adjusts the sizes to match using the largest coil C and then calculates the loading height LH. By doing this, when the overhead crane device 6 transports coils C, interference between the coils C that have been loaded and placed in the storage area and the coil C being transported can be prevented.

In the diagram shown in Figure 6B, two coils C21 (C) and a coil C22 (C) with a smaller diameter than coil C21 are loaded. The radius of coil C21 is R21, and the radius of coil C22 is R22. For example, R21 = 300 mm, R22 = 250 mm. Coils C21 and C22 are loaded in two layers, with coils C21 and C22 on the lower layer and coil C21 on the upper layer. Here, as with Figure 6A, the calculation conditions (Y1, Y2) are applied to calculate the loading height LH20 (LH).

In the example shown in Figure 6B, coil C21 is larger than coil C22, so the management device 1 calculates the loading height LH20 (LH) by assuming that coil C21 is placed in the coil storage area at the location of coil C22. In Figure 6B, the dashed circle shown around coil C22 indicates the outline of coil C21.

The coil C (C21) on the upper tier fits into the gap between the coils C21 and C22 on the lower tier. Therefore, the management device 1 calculates the triangle formed by the center of the coil C on the lower tier and the center of the coil C21 on the upper tier (an equilateral triangle in the example of Figure 6B). In this case, the coil C22 on the lower tier is smaller than the coil C21. As mentioned above, when coils C of different sizes are loaded, the size of the coils C is adjusted to the largest coil C. For this reason, the stack height LH is calculated assuming that coil C21 is placed in the location of the coil C22 on the lower tier (the dashed circle around coil C22). Therefore, the center of the coil C on the lower tier is set to the center when it is assumed that coil C21 is placed on the lower tier.

The management device 1 then calculates the lower coil difference DH22 (DH) of the formed equilateral triangle. The management device 1 then calculates the height of the stacked coil C (stack height LH20) by adding the calculated lower coil difference DH22 to H21, which is the diameter of the lower coil C21. That is, stack height LH20 = H21 (2 x R21) + lower coil difference DH22. As mentioned above, if R21 = 300 mm, then the height H21 of coil C21 = 600 mm, and the lower coil difference DH22 = 520 mm, resulting in stack height LH20 = 1120 mm.

[Conceptual diagram of three-dimensional route map 124]
Next, with reference to FIGS. 7 to 10B, there are shown conceptual diagrams illustrating the management state of the coil C according to the three-dimensional route map 124. FIG.
(1 layer stacked)
First, referring to FIGS. 7 to 8B, an example in which coils C are placed in a coil storage area one layer at a time is shown.
FIG. 7 is a diagram showing the three-dimensional route map 124. As shown in FIG.
In Figure 7, the running direction is the x-axis direction, and the lateral direction is the y-axis direction. In the example shown in Figure 7, the coil storage area is 8.5 m (8,500 mm) in the running direction and 6.5 m (6,500 mm) in the lateral direction. Meshes are set every 50 cm (500 mm) in both the running direction and the lateral direction. Each square divided by the meshes is called a map element. A map element is an individual mesh area obtained by dividing the coil storage area into a predetermined mesh. Coordinates are assigned to the map elements in the x-axis direction and the y-axis direction. In Figure 7, the numbers "0" to "8,500" in the x-axis direction and "0" to "6,500" in the y-axis direction indicate the distance from the origin. The numbers "0" to "16" in the x-axis direction and "0" to "12" in the y-axis direction indicate the coordinates of the map elements. For example, the map element indicated by the reference numeral 701 is associated with the coordinates of "1" on the x-axis and "2" on the y-axis.

Figure 8A shows the placement of coil C as viewed from the x-axis direction (axis in the running direction) of Figure 7. Figure 8B shows the placement of coil C as viewed from the y-axis direction (axis in the traverse direction) of Figure 7.

Note that the size of the coil storage area is not limited to the example shown in Figure 7. For example, it may be 30 m in the running direction and 15 m in the lateral direction. Also, in the example shown in Figure 7, map elements are defined every 50 cm (500 mm), but they are not limited to every 50 cm, and may be every 10 cm, 70 cm, or other intervals.

In Figures 7 to 8B, the mounted coil C is indicated by a dashed line. As shown in Figures 8A and 8B, a large coil C11 and a small coil C21 are mounted. The radius R11 of the large coil C11 is, for example, 500 mm (50 cm), and the radius R21 of the small coil C21 is, for example, 300 mm (30 cm).

In addition, in Figure 7, map elements on which coil C is placed are indicated by dots, and each map element shows the map coil height MH (see Figures 8A and 8B) as a numerical value. The map coil height MH is the coil C loading height LH plus the safety height HS (see Figures 8A and 8B). For example, the map element on which coil C11 is placed shows the map coil height MH as a numerical value of "1500". Furthermore, the map element on which coil C21 is placed shows the map coil height MH as a numerical value of "1100". In the example shown in Figure 7, the map coil height MH is shown in mm.

As shown in Figures 8A and 8B, the map coil height MH11 (MH) of the map element on which the coil C11 is placed is the height H11 of the coil C11 (outer diameter: = R11 x 2 = 1000 mm) + safety height (HS = 500 mm) = 1500 mm. Note that when the coil C11 is not loaded, as in the examples shown in Figures 7 to 8B, the height H11 of the coil C11 becomes the loading height LH of the coil C11.

Similarly, the map coil height MH21 of the map element on which coil C21 is placed is the height H21 of coil C21 (outer diameter: = R21 x 2 = 600 mm) + safety height HS (500 mm) = 1100 mm.

In Figure 7, areas where map elements without dots are surrounded by thick lines indicate the planned placement locations of coil C. However, the planned placement location of coil C does not have to be set.

In this way, in the three-dimensional route map 124, coil locations are associated with map elements, and coordinates represented by the x-axis and y-axis are stored as map element identification information for identifying the map element.

In the example shown in Figure 7, the map coil height MH, which is the height obtained by adding the safety height HS to the height H of the coil C, is stored for the map element as height information based on the transported item size information.

(2-tier: multiple tiers)
Next, referring to FIGS. 9 to 10B, an example will be shown in which the coils C are stacked in two layers in the coil storage area.
Fig. 9 is a diagram showing a three-dimensional route map 124. In Fig. 9, the traveling direction is the x-axis direction and the lateral direction is the y-axis direction. Note that the map elements shown in Fig. 9 are created under the same conditions as in Fig. 7, and therefore their explanation in Fig. 9 will be omitted.

Figure 10A is a diagram showing the placement and stacking state of coil C when viewed from the x-axis direction (axis in the travel direction) of Figure 9. Figure 10B is a diagram showing the placement and stacking state of coil C when viewed from the y-axis direction (axis in the traverse direction) of Figure 9.

In Figures 9 to 10B, the coils C placed on the first tier (lower tier) are indicated by dashed rectangles. Furthermore, the coils C placed on the second tier (upper tier) are indicated by dotted lines. In this way, in the example shown in Figures 9 to 10B, the coils C are stacked in multiple tiers (two tiers in the example shown in Figures 9 to 10B).

At the location indicated by reference numeral 711 in Figure 9, a coil C11 of the same size as the coil C on the lower level is placed on top of two coils C11. Note that in Figure 9, the map element corresponding to the location where the first coil C is placed is indicated by a dot, and the map element corresponding to the location where the second coil C is placed is indicated by a diagonal line. Note that at reference numeral 721 in Figure 9, the coil C111 shown by a dotted line overlaps with the line indicating the map element. In such a case, as shown in the diagonal line in Figure 9, all of the map elements including that line are for the map corresponding to the location where coil C111 is placed.

Furthermore, at the location indicated by reference numeral 712 in Figure 9, a coil C21 of the same size as the coil C21 on the lower level is stacked on top of the two coils C21.

As in Figures 7 to 8B, in Figures 9 to 10B, the radius (R1) of the large coil C11 is, for example, 500 mm (50 cm). Furthermore, the radius (R2) of the small coil C21 is, for example, 300 mm (30 cm).

As in Figure 7, in Figure 9, each map element shows the map coil height MH (see Figures 10A and 10B) as a numerical value. For example, the map element in which coil C11 is stacked on top of coil C11 shows the map coil height MH as a numerical value of "2367." Furthermore, the map element in which coil C21 is stacked on top of coil C21 shows the map coil height MH as a numerical value of "1620." In the example shown in Figure 9, the map coil height MH is measured in mm. The map coil height MH is calculated by adding the safety height HS to the stack height LH of the placed coil C. In the examples shown in Figures 9 to 10B, the safety height HS is set to 500 mm, as in Figure 7.

Note that in reference numeral 712, the upper coil C21 is placed slightly offset relative to the lower coil C21.

Therefore, as shown in Figures 10A and 10B, the map coil height MH12 (MH) of a map element in which coil C11 is stacked on top of coil C11 is the stacking height LH10 (1867 mm) + safety height HS (= 500 mm) = 2367 mm. Similarly, the map coil height MH22 of a map element in which coil C21 is stacked on top of coil C21 is the stacking height LH20 of coil C21 (see Figure 6B) 1120 (mm) + safety height HS (500 mm) = 1620 mm. The method for calculating the stacking height LH10 (1867 mm) of coil C11 is as shown in Figure 6A, and the method for calculating the stacking height LH20 (1120 mm) of coil C21 is as shown in Figure 6B.

Then, the crane control command unit 115 shown in Figure 2 creates a path so that the lower end of the coil C suspended by the ceiling crane device 6 (see Figure 3) is greater than the map coil height MH from the floor of the coil storage area shown in Figures 7 and 9.

In addition, in Figures 7 and 9, maps other than those indicated by dots are assumed to store "0 (mm)" as the floor height of the coil storage area, but the height of installed machinery such as work machinery other than coil C may also be stored. The height of such installed machinery is stored in the three-dimensional route map 124 based on equipment information (not shown).

[Storage space inventory information 121]
FIG. 11 is a diagram showing a specific example of the yard inventory information 121. As shown in FIG.
As shown in Figure 11, the yard inventory information 121 has fields for "Target Coil,""Center Distance x-Axis,""Center Distance y-Axis,""First Lower Adjacent," and "Second Lower Adjacent." The yard inventory information 121 also has fields for "Lower Adjacent 2 Columns,""Lower Adjacent 2 Rows,""Lower Adjacent 2 Rows,""StackingHeight," and "Lower Coil Difference." Furthermore, the yard inventory information 121 has fields for "Coil Number,""LotNo.,""OuterDiameter,""InnerDiameter," and "Weight." Note that in the yard inventory information 121 shown in Figure 11, each record indicates information about one coil C.

For example, the storage yard inventory information 121 is initially created based on the upper inventory information 21 (see Figure 2) obtained from the upper system 2. Thereafter, the storage yard inventory information processing unit 113 (see Figure 2) manages the movement of the coil C by the overhead crane system Z, thereby updating the storage yard inventory information 121. The updating of the storage yard inventory information 121 will be described later.

The "target coil" field stores the position information of the coil C that is the source of the information stored in the record.
As shown in Figure 11. "Target coil" has fields for "column", "row", and "stage".
The terms "column,""row," and "tier" represent the placement locations of the coils C based on the alignment of the coils C placed in the coil placement area. Regarding "column" and "row," for example, assume that the coils C are placed in the coil placement area as shown in FIG. 12 . In the example of FIG. 12 , the thin solid arrow A111 indicates the "first column" of the first tier, and the thin solid arrow A112 indicates the "second column" of the first tier. Similarly, the thin solid arrow A113 indicates the "third column" of the first tier, the thin solid arrow A114 indicates the "fourth column" of the first tier, and the thin solid arrow A115 indicates the "fifth column" of the first tier. Furthermore, the thick dashed arrow A121 indicates the "first column" of the second tier, and the thick dashed arrow A124 indicates the "fourth column" of the second tier. The reason why the thick dashed arrow A124 does not indicate "two columns" is because, although not currently placed, the second and third columns of the second row can be placed between the thick dashed arrow A121 and the thick dashed arrow A124. Furthermore, the thin solid arrow A211 indicates "one row," and the arrow A212 indicates "two rows." Similarly, the thin solid arrow A213 indicates "three rows," the thin solid arrow A214 indicates "four rows," and the thin solid arrow A215 indicates "five rows." In this way, the "rows" are common to both the first and second rows.

As shown in Figure 12, "columns" and "rows" are defined separately from the map elements. Note that "columns" and "rows" are predetermined and fixed based on the number of coils C that can be placed or stacked in the coil storage area.

"Layer" is information about the row on which the coil C is stacked. Specifically, "Layer" indicates the vertical relationship of the placed coils C, with "1" stored in the coil C placed on the lower row and "2" stored in the coil C placed on the upper row.

Note that when coils C are stacked in two layers, "columns" and "rows" are defined for each layer. For example, when coils C are stacked in two layers as shown in Figure 12, as mentioned above, the thin solid arrow A111 indicates the first column of the lower row, and the thin solid arrow A112 indicates the second column of the lower row. Furthermore, the thick dashed arrow A121 indicates the first column of the upper row, and the thick dashed arrow A124 indicates the fourth column of the upper row.

In other words, in the example shown in Figure 12, coil C11a is "1st column" - "1st row" - "2nd row," coil C11b is "1st column" - "1st row" - "1st row," and coil C11c is "2nd column" - "1st row" - "1st row." Similarly, coil C21a is "4th column" - "1st row" - "2nd row," coil C21b is "4th column" - "1st row" - "1st row," and coil C21c is "5th column" - "1st row" - "1st row."

In this way, the "column," "row," and "tier" of the target coil are placement location information for identifying at least the placement location of the transported item. In particular, the "column" and "row" indicate the relative positions of the coils C, and the "tier" is loading information.

The "center distance x-axis" and "center distance y-axis" refer to the x-axis and y-axis distances at which the center of the target coil C is located. These distances are defined in Figures 7 and 9.

Each of the "first lower adjacent" and "second lower adjacent" has fields for "column", "row", and "column".
For example, if coils C11a, C11b, and C11c are stacked in two tiers as shown in FIG. 12, coils C11b and C11c are the coils C adjacent to coil C11a in the tier below. Coil C11b is the first adjacent coil C below, and coil C11c is the second adjacent coil C below. As described above, coil C11a is the "1st column"-"1st row"-"2nd row" coil C. Also, as described above, coil C11b is "1st column"-"1st row"-"1st row," and coil C11c is "2nd column"-"1st row"-"1st row." Therefore, "1"-"1"-"2" for coil C11a is stored in the "column"-"row"-"tier" column of the target coil, and "1"-"1"-"1" is stored in the "column"-"row"-"tier" column of the first adjacent coil below of this record. Then, "2"-"1"-"1" are stored in the "column"-"row"-"column" fields of the second adjacent record below.

For example, if coils C21a, C21b, and C21c are stacked in two tiers as shown in Figure 12, coils C21b and C21c are the coils C adjacent to coil C21a in the tier below. Coil C21b is the first adjacent coil C below, and coil C21c is the second adjacent coil C below. As mentioned above, coil C21a is a "4th column" - "1st row" - "2nd tier" coil C. Also, as mentioned above, coil C21b is "4th column" - "1st row" - "1st tier," and coil C21c is "5th column" - "1st row" - "1st tier." Therefore, the "4" - "1" - "2" of coil C21a is stored in the "column" - "row" - "tier" column of the target coil, and "4" - "1" - "1" is stored in the "column" - "row" - "tier" column of the first adjacent coil below for this record. Then, "5"-"1"-"1" is stored in the "Column"-"Row"-"Column" fields of the second adjacent record below.

"Load height" stores the load height LH (see FIGS. 6A and 6B) of the coil C associated with the map element.
The "lower coil difference" is the lower coil difference DH12 shown in Fig. 6A and the lower coil difference DH22 shown in Fig. 6B. In the case of a single stack (coil C is not stacked), the lower coil difference DH is 0.

In the "coil number" field, a coil C number that is uniquely assigned to the coil C is stored.
The "Lot No." stores the number of the lot that includes the target coil C.
The "outer diameter" stores the outer diameter of the target coil C, and the "inner diameter" stores the diameter of the hole of the target coil C.
The "width" corresponds to the length of the coil C.
In "weight", the weight of the coil C is stored.

The outer diameter is the item size information, which is information about the size of the coil C being transported, and the height of the item being transported.

[3D map information 122]
FIG. 13 is a diagram showing an example of the three-dimensional map information 122 used in this embodiment.
As shown in FIG. 13, the three-dimensional map information 122 has fields for "map element ID,""column,""row,""tier,""map coordinate x-axis," and "map coordinate y-axis."
The "map element ID" stores an ID that is uniquely assigned to each map element. Although not shown in Figures 7 and 9, each map element is uniquely assigned a map element ID. In this way, the records of the three-dimensional map information 122 store information about map elements.

The "column," "row," and "tier" indicate which of the set "columns," "rows," and "tiers" correspond to the target map element. For example, the map element with map element ID "157" is associated with coil C in "column 1"-"row 1"-"tier 1." Furthermore, map element ID "158," indicated by a dot, stores "column 1"-"row 1"-"tier 1" and "column 1"-"row 1"-"tier 2." This indicates that the coil C in the first tier is placed, and the coil C in the second tier above it is also placed on this map element.

In addition, in the three-dimensional map information 122, map elements indicated by records having the same numerical values for "column," "row," and "tier" indicate that the same coil C is placed. For example, the map element IDs "251," "252," "282," and "283" each store "1st column" - "2nd row" - "1st tier." Therefore, these map elements indicate that the coil C corresponding to "1st column" - "2nd row" - "1st tier" is placed.

The "map coordinate x-axis" is the x-axis coordinate corresponding to the map element, and the "map coordinate y-axis" is the y-axis coordinate corresponding to the map element. Here, the coordinates are those shown on the x-axis and y-axis in Figures 7 and 9.

The map coordinate x-axis and map coordinate y-axis are map element identification information that identifies the location of the map element in the transport area. Furthermore, "column," "row," and "row" are placement location information. In this way, the three-dimensional map information 122 stores map element identification information and placement location information in association with each other, and because the locations are fixed, the three-dimensional map information 122 does not change even if the placement location information changes.

In addition, in the storage location inventory information 121, data is stored in the order of bottom row → top row.

[System Information 123]
FIG. 14 is a diagram showing an example of the system information 123 used in this embodiment.
The safety height HS (see FIGS. 8A, 8B, 10A, and 10B) as a system parameter is stored as a parameter value in the system information 123. In FIG. 14, "500 (mm)" is stored as the parameter value of the safety height LS.

[flowchart]
(Overall processing)
15 is a flowchart showing the overall processing procedure of the inventory management method according to this embodiment, with reference to FIGS. 1 and 2 as needed.
First, when the power supply of the overhead crane system Z is turned on, the mode control unit 112 switches the coil C transport mode to the automatic operation mode (S1). In step S1, in response to the operator switching the coil C transport mode to the automatic operation mode in the upper system 2, the mode control unit 112 switches the coil transport mode to the automatic operation mode.

Next, the communication processing unit 111 inquires about the upper system 2 about the upper inventory information 21 (S2).
Then, the upper system 2 transmits the upper inventory information 21 to the management device 1, and the management device 1 receives the transmitted upper inventory information 21 (S3).
Next, the yard inventory information processing unit 113 creates yard inventory information 121 based on the received upper inventory information 21 (S4). Details of step S4 will be described later.
Then, the three-dimensional route map processing unit 114 creates a three-dimensional route map 124 based on the yard inventory information 121, three-dimensional map information 122, and system information 123 created in step S4 (S5). As shown in Fig. 2, the three-dimensional map information 122 and system information 123 are information stored in the storage device 12 of the management device 1. Details of step S5 will be described later.

Next, the operator inputs a transport instruction, a warehousing instruction, or a shipping instruction (shipping/shipping instruction) to the host system 2. The host system 2 then transmits the transport instruction or the shipping/shipping instruction to the management device 1. The communication processing unit 111 then receives the transport instruction or the shipping/shipping instruction (S6).
The crane control command unit 115 then creates a transport route based on the three-dimensional route map 124 in accordance with the received transport instructions and warehousing/retrieval instructions. The transport route is created using machine learning, etc. The crane control command unit 115 then creates a control command for the overhead crane device 6 based on the created transport route. The crane control command unit 115 then sends a control command to the control device 3, which then controls the overhead crane device 6. As a result, the overhead crane device 6 transports the coil C based on the transport route (S7). Incidentally, the hoisting position of the coil C is determined by an encoder, and the current positions of the girder 602 and the crab trolley 601 are determined by laser ranging.

Next, the three-dimensional route map processing unit 114 updates the storage location inventory information 121 and the three-dimensional route map 124 (S8). Details of step S8 will be described later.
Then, the communication processing unit 111 transmits the performance information to the host system 2, and the host system 2 receives the transmitted performance information (S9). The performance information includes warehousing/shipping performance information.
Thereafter, the host system 2 updates the host inventory information 21 with the performance information (S10).
Then, the overhead crane system Z returns the process to step S6.

(Creation of storage yard inventory information 121)
16 is a flowchart showing the processing procedure for creating the yard inventory information 121. FIG. 16 shows the detailed processing procedure of step S4 in FIG.
First, the yard inventory information processing unit 113 initializes the yard inventory information 121 (S41). In step S41, the yard inventory information processing unit 113 clears the following items for all records of the yard inventory information 121. Specifically, the yard inventory information processing unit 113 stores "0" in the "Stacking Height" column and stores "0" in the "Lower Coil Difference" column for all records of the yard inventory information 121. The yard inventory information processing unit 113 also leaves the "Coil Number" and "Lot No." columns blank for all records of the yard inventory information 121. Furthermore, the yard inventory information processing unit 113 stores "0" in the "Outer Diameter,""InnerDiameter,""Width,""Weight,""StackingHeight," and "Lower Coil Difference" columns for all records of the yard inventory information 121. The yard inventory information processing unit 113 also leaves the "Coil Number" and "Lot No." columns blank for all records of the yard inventory information 121. Note that the "column,""row,""tier,""center distance x-axis,""center distance y-axis" of the target coil in the storage inventory information 121, the "column,""row," and "tier" of the first adjacent lower tier, and the "column,""row," and "tier" of the second adjacent lower tier are not cleared.

Next, the yard inventory information processing unit 113 reflects the information in the upper inventory information 21 in the yard inventory information 121 (S42). Specifically, the yard inventory information processing unit 113 updates the "Coil Number," "Lot No.," "Outer Diameter," "Inner Diameter," "Width," and "Weight" columns in the yard inventory information 121 with the values stored in the upper inventory information 21.

Next, the yard inventory information processing unit 113 acquires one record from the yard inventory information 121 (S43). The records are acquired from the yard inventory information 121 in order from the top.
Then, the yard inventory information processing unit 113 determines whether or not the coil C is in stock for the acquired record (S44). The yard inventory information processing unit 113 determines that the coil C is in stock if the "coil number" field in the yard inventory information 121 is not blank. Furthermore, the yard inventory information processing unit 113 determines that the coil C is out of stock if the "coil number" field in the yard inventory information 121 is blank.

If it is determined that there is no stock (S44→No), the yard stock information processing unit 113 proceeds to step S47.
If it is determined that the item is in stock (S44 → Yes), the yard inventory information processing unit 113 calculates the stack height LH (see FIGS. 6A and 6B) and the lower coil difference DH (see FIGS. 6A and 6B) for the record being processed (S45). The stack height LH and the lower coil difference DH are calculated using the method described in FIGS. 6A and 6B. Records in stock in the yard inventory information 121 are records in which the "coil number" column is not blank.

Then, the storage yard inventory information processing unit 113 stores the calculated loading height LH and lower coil difference DH in the "loading height" and "lower coil difference" columns of the record being processed (S46).
Then, the yard inventory information processing unit 113 determines whether or not the processing of steps S44 to S46 has been completed for all records of the yard inventory information 121 (S47).
If the processing has not been completed for all records (S47→No), the yard inventory information processing unit 113 returns the processing to step S43.
Also, if the processing has been completed for all records (S47→Yes), the overhead crane system Z returns the processing to step S5 in FIG.

As mentioned above, data is stored in the yard inventory information 121 in the order of bottom row → top row, so steps S44 to S46 are performed in the order of bottom row → top row.

Then, the yard inventory information processing unit 113 returns processing to step S5.

(Creation of 3D route map 124)
17 is a flowchart showing the processing procedure for creating the three-dimensional route map 124. FIG. 17 shows the detailed processing procedure of step S5 in FIG.
First, the three-dimensional route map processing unit 114 initializes all the altitude information of the three-dimensional route map 124 to "0" (S51).
Next, the three-dimensional route map processing unit 114 reflects the yard inventory information 121 on the three-dimensional route map 124 (S52).

The detailed process of step S52 will be described with reference to FIGS.
FIG. 18 is a flowchart showing the processing procedure for creating the three-dimensional route map 124, and shows the detailed processing of step S52 in FIG.
Fig. 19 is a diagram showing a specific example of creating a three-dimensional route map 124. Fig. 19 shows yard inventory information 121, three-dimensional map information 122, system information 123, and a part of the three-dimensional route map 124. Note that the three-dimensional route map 124 shown in Fig. 19 is different from those shown in Figs. 7 and 9.

The three-dimensional route map processing unit 114 first acquires one record from the storage location inventory information 121 (S521).
Next, the three-dimensional route map processing unit 114 determines whether the "coil number" field is blank in the record acquired in step S521 (S522). If the "coil number" field is blank in step S522 (S522 → Yes), the three-dimensional route map processing unit 114 proceeds to step S527.

In step S522, if the "Coil Number" field is not blank (S522 → No), the 3D route map processing unit 114 acquires the numerical values stored in the "Column," "Row," and "Column" of the acquired record (S523). The numerical values stored in the "Column," "Row," and "Column" of the acquired record are the information corresponding to reference numeral 801 in Figure 19.

Next, the three-dimensional route map processing unit 114 refers to the three-dimensional map information 122 and searches for a record in the three-dimensional map information 122 that matches the numerical values stored in the "column,""row," and "column" acquired in step S522 (thick dashed arrow 811 in FIG. 19). Then, the three-dimensional route map processing unit 114 acquires from the three-dimensional map information 122 a record (reference numeral 802 in FIG. 19) that matches the numerical values stored in the "column,""row," and "column" acquired in step S523.
The three-dimensional route map processing unit 114 then searches for map elements on the three-dimensional route map 124 that correspond to the coordinates of the "map coordinate x-axis" and "map coordinate y-axis" in the record acquired at 802 in Fig. 19 (S524, thick solid arrow 812 in Fig. 19). The searched map elements are indicated by dots in Fig. 19.

In steps S523 to S524, map elements in the three-dimensional route map 124 are identified based on the "column," "row," and "tier" information in the storage yard inventory information 121 and the coordinates of the "map coordinate x-axis" and "map coordinate y-axis" in the three-dimensional map information 122. Furthermore, based on information about the tier on which the coil C is loaded (the "tier" information in the storage yard inventory information 121, described below), information about the loading height LH, which is the height at which the coil C is loaded (map coil height MH), is stored in the identified map element in the three-dimensional route map 124.

The three-dimensional route map processing unit 114 calculates the map coil height MH (see FIGS. 8A, 8B, 10A, and 10B) (S525). In step S525, the three-dimensional route map processing unit 114 calculates the map coil height MH by adding the safety height HS stored in the system information 123 (reference numeral 822 in FIG. 19) to the value stored in the "loading height" of the record acquired in step S522 (reference numeral 821 in FIG. 19).
The three-dimensional route map processing unit 114 stores the map coil height MH calculated in step S525 in the map element searched for in step S524 (S526, thin solid arrow 823 in FIG. 19 ). Note that, if the map coil height MH is already stored in the map element in step S526, the map coil height MH is updated with the newly calculated value in step S525. For example, if processing is currently being performed for the coil C in the upper row ("row" is "2") and the map coil height MH for the lower row ("row" is "1") has already been stored in the map element, the map element is updated with the newly calculated map coil height MH for the upper row.

In step S526, the map coil height MH based on the load height LH is updated to height information based on the transported item size information and stored in the map element on the identified three-dimensional route map 124.

Then, the three-dimensional route map processing unit 114 determines whether or not the processes of steps S522 to S526 have been performed for all records of the yard inventory information 121 (S527).
If the processes of steps S522 to S526 have not been performed for all records of the yard inventory information 121 (S527→No), the three-dimensional route map processing unit 114 returns the process to step S521.
If the processing of steps S522 to S526 has been completed for all records of the yard inventory information 121 (S527→Yes), the overhead crane system Z returns the processing to step S6 in FIG.
Since the data is stored in the yard inventory information 121 in the order of bottom row → top row, the processing of steps S521 to S526 is performed in the order of bottom row → top row.

(Updating of the storage yard inventory information 121 and the three-dimensional route map 124)
20 is a flowchart showing the procedure for updating the yard inventory information 121 and the three-dimensional route map 124. In FIG. 20, the detailed procedure of the process shown in step S8 in FIG.
First, the three-dimensional route map processing unit 114 backs up the three-dimensional route map 124 (S801).
Next, the yard inventory information processing unit 113 determines whether the performed action is warehousing (S802).
If the performed action is storage (S802 → Yes), the yard inventory information processing unit 113 updates the yard inventory information 121 (S811). Specifically, the yard inventory information processing unit 113 stores the values of the "coil number,""lotnumber,""outerdiameter,""innerdiameter,""width," and "weight" in the storage instruction information in the corresponding columns of the yard inventory information 121. At this time, the yard inventory information processing unit 113 calculates and updates the position information of the "column,""row," and "tier" of the target coil in the yard inventory information 121 based on the placement position of the coil C measured by laser ranging or the like using a traverse position detector (not shown) and a travel position detector (not shown) provided in the ceiling crane device 6 (see FIG. 3).

Next, the storage yard inventory information processing unit 113 calculates the loading height LH and the lower coil difference DH (see Figures 6A and 6B) based on the outer diameter (S812). The loading height LH and the lower coil difference DH are calculated using the method shown in Figures 6A and 6B.

Next, the three-dimensional route map processing unit 114 reflects the yard inventory information 121 in the three-dimensional route map 124 (S813). The specific method of step S813 is the same as the method shown in steps S521 to S526 in Figure 17, so a detailed explanation of step S813 will be omitted.

In steps S811 to S813, when the inventory information for coil C is input, the management device 1 updates the storage location inventory information 121 and the three-dimensional route map 124 based on the inventory information.

On the other hand, if step S802 does not indicate an inbound shipment (a shipment is made) (S802 → No), the yard inventory information processing unit 113 updates the yard inventory information 121 (S821). In step S821, the yard inventory information processing unit 113 first obtains the coil number stored in the shipment instruction information. Next, the yard inventory information processing unit 113 updates each field in the yard inventory information 121 for the record that has the coil number obtained from the shipment instruction information. Specifically, the yard inventory information processing unit 113 updates the "Loading Height" and "Lower Coil Difference" fields in the yard inventory information 121 for the record that has the coil number obtained from the shipment instruction information to "0." The yard inventory information processing unit 113 also leaves the "Coil Number" and "Lot No." fields of the record blank. Furthermore, the yard inventory information processing unit 113 updates the "Outer Diameter," "Inner Diameter," "Width," "Weight," "Loading Height," and "Lower Coil Difference" fields of the record to "0."

Then, the three-dimensional route map processing unit 114 updates the three-dimensional route map 124 based on the updated storage location inventory information 121 (S822). The processing of step S522 is the same as the processing in Figure 17, so its description in Figure 20 will be omitted.

In steps S821 and S822, when the shipping information for coil C is input, the management device 1 updates the storage location inventory information 121 and the three-dimensional route map 124 based on the shipping information.

After step S813 or step S822, the overhead crane system Z returns processing to step S9 in Figure 15.

In this embodiment, the coils C are stacked in a maximum of two layers, but this is not limited to this and they may be stacked in three or more layers.

In this embodiment, the management device 1 has storage location information 121, which stores at least storage location information ("column," "row," "tier") for identifying the storage location of the coil C, and transported item size information (such as "outer diameter"), which is information related to the size of the coil C. The management device 1 also has three-dimensional map information 122, which stores map element identification information (coordinates) that identifies the location in the coil storage area of map elements, which are individual mesh areas obtained by dividing the coil storage area into a predetermined mesh, in association with the storage location information. A three-dimensional route map 124 is then created based on the storage location information 121 and the three-dimensional map information 122. By having the three-dimensional map information 122 as information linking the storage location information 121 and the three-dimensional route map 124, even if the storage location information 121 is changed, the three-dimensional map information 122 makes it easy to associate the storage location information 121 with the three-dimensional route map 124. This enables flexible response to the inbound and outbound shipments of coils C.

In addition, the map coil height MH, which is the height stored in the three-dimensional route map 124 and is calculated by adding the safety height HS to the loading height LH, can be stored, thereby improving the safety of transportation.

In this embodiment, the coils C are stacked in multiple layers, and the storage location inventory information 121 stores information about the layer on which the coils C are stacked. Then, based on the information about the layer on which the coils C are stacked, the identified map element stores information about the stacking height LH, which is the height at which the coils C are stacked (specifically, the map coil height). In this way, it is possible to handle cases where the coils C are stacked in layers.

In addition, in this embodiment, the storage location inventory information 121 and the three-dimensional route map 124 are updated based on the incoming and outgoing information. This makes it possible to respond to the incoming and outgoing of coils C.

Furthermore, in this embodiment, the storage location of coils C is managed in the storage location inventory information 121 and 3D map information 122 using the relative positions of the coils ("columns" and "rows") and loading information ("tiers"). This type of management enables flexible management of the inbound and outbound shipments of coils C.

The present invention is not limited to the above-described embodiment and includes various modifications. For example, the above-described embodiment has been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to having all of the configurations described.

Furthermore, the above-described configurations, functions, units 111 to 115, storage device 12, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. As shown in FIG. 2 , the above-described configurations, functions, etc. may be implemented in software by a processor, such as CPU 13, interpreting and executing programs that implement the respective functions. Information such as programs, tables, and files that implement the respective functions can be stored in a recording device, such as memory 11 or an SSD (Solid State Drive), or in a recording medium, such as an IC (Integrated Circuit) card, an SD (Secure Digital) card, or a DVD (Digital Versatile Disc).
In addition, in each embodiment, the control lines and information lines shown are those that are considered necessary for explanation, and not all control lines and information lines in the product are necessarily shown. In reality, it can be considered that almost all components are interconnected.

1. Management device (overhead crane control device)
2 Upper system 3 Control device 6 Ceiling crane device 111 Communication processing unit 112 Mode control unit 113 Storage yard inventory information processing unit 114 Three-dimensional route map processing unit 115 Crane control command unit 121 Storage yard inventory information (storage yard management information: including placement location information, transported item size information, information on tiers, relative positions of coils, and loading information)
122 Three-dimensional map information (including map element identification information and placement location information)
123 System information 124 3D route map (including map elements and transported item size information)
C, C11, C12, C11a to C11c, C21, C21a to C21c, C22, C111 Coil (carried object)
LH, LH10, LH20 Loading height H, H11, H21 Height (height of transported object)
DH, DH12, DH22 Lower coil difference HS Safety height MH, MH11, MH12, MH21, MH22 Map coil height (height information based on transported item size information)
Z Ceiling Crane System

Claims (8)

an overhead crane device that lifts the coil upward and transports it in a predetermined direction and in a direction perpendicular to the predetermined direction in a transport area where the coil is transported, the coil being an object to be transported and having a steel plate wound thereon;
an overhead crane control device that generates a transport path for the overhead crane device so as not to interfere with the coil placed in the transport area;
and
The overhead crane control device includes:
storage location management information that stores at least placement location information for identifying a placement location of the coil and transported item size information that is information about the size of the coil ;
three-dimensional map information in which map element identification information that identifies the location in the transport area of map elements, which are individual mesh areas obtained by dividing the transport area into predetermined meshes, and the storage location information are stored in association with each other;
map element identification information that associates the transport area with the map element and is used to identify the map element;
is stored in the storage unit,
The coils are stacked in multiple stages,
The storage location management information stores information about the level on which the coil is loaded,
Identifying the map element based on the storage location information in the storage location management information and the map element identification information in the three-dimensional map information;
and storing height information based on the size information of the transported object in the identified map element. the size information of the transported object is a height of the transported object, which is the height of the coil ;
a safety height is set as a preset height so that the coil being transported by the overhead crane device does not interfere with the coil placed in the transport area;
The overhead crane control device includes:
2. The overhead crane system according to claim 1, wherein the height obtained by adding the safety height to the height of the transported object is stored in the map element as height information based on the transported object size information . the size information of the transported object is a height of the transported object, which is the height of the coil ;
a safety height is set as a preset height so that the coil being transported by the overhead crane device does not interfere with the coil placed in the transport area;
The overhead crane control device includes:
calculating a loading height, which is the height at which the coil is loaded, based on information about the level at which the coil is loaded and the height of the transported object;
The overhead crane system according to claim 1, characterized in that the height obtained by adding the safety height to the load height is stored in the identified map element as height information based on the transported object size information. The overhead crane control device includes:
When the coil inventory information is entered,
The overhead crane system according to claim 1, wherein the storage yard management information and the map elements are updated based on the storage information. The overhead crane control device includes:
When the coil shipping information is input,
The overhead crane system according to claim 1, wherein the storage yard management information and the map elements are updated based on the delivery information. The storage location management information stores, as the storage location information, "columns," "rows," and "tiers" that represent the locations where the coils are placed based on the alignment of the coils placed in the coil storage location.
2. The overhead crane system according to claim 1. 2. The overhead crane system according to claim 1 , wherein the storage location management information and the three-dimensional map information manage the placement locations of the coils based on relative positions of the coils and loading information. an overhead crane device that lifts the coil upward and transports it in a predetermined direction and in a direction perpendicular to the predetermined direction in a transport area where the coil is transported, the coil being an object to be transported and having a steel plate wound thereon;
an overhead crane control device that generates a transport path for the overhead crane device so as not to interfere with the coil placed in the transport area;
and
The overhead crane control device includes:
storage location management information that stores at least placement location information for identifying a placement location of the coil and transported item size information that is information about the size of the coil ;
three-dimensional map information in which map element identification information that identifies the location in the transport area of map elements, which are individual mesh areas obtained by dividing the transport area into predetermined meshes, and the storage location information are stored in association with each other;
map element identification information that associates the transport area with the map element and is used to identify the map element;
is stored in the storage unit,
The coils are stacked in multiple stages,
The storage location management information stores information about the level on which the coil is loaded,
Identifying the map element based on the storage location information in the storage location management information and the map element identification information in the three-dimensional map information;
storing height information based on the size information of the transported object in the identified map element;
creating a transport route for the overhead crane device based on the map elements ;
The overhead crane device is
An overhead crane system that transports the coil based on the transport path.