阅读说明：本技术 顺序计划装置 (Sequence plan making device ) 是由 田原刚男 西村贤贵 巽慎太郎 于 2019-08-30 设计创作，主要内容包括：本发明提供一种顺序计划装置,其计划能够缩短入库以及出库所需要的时间并且使该时间平均化的托盘的移动顺序。该顺序计划装置具备：待机布局数据存储部,其存储指定了升降横移式仓库的多个架中的空架的待机时的布局；生成请求单元,其在请求入库或者出库并且配置在某个架中的托盘被选择为调用托盘的情况下,请求生成用于使调用托盘移动至入库口或者出库口的托盘的移动顺序,从与入库或者出库的请求对应的托盘的移动开始经过预定时间后未输入新的请求的情况下,请求生成用于变更为待机时的布局的托盘的移动顺序；顺序生成单元,其生成从生成请求单元请求的移动顺序；以及发送单元,其将生成的移动顺序发送给控制托盘的移动的控制装置。(The present invention provides a kind of sequence plan making device, and plan can shorten the time required for storage and outbound and make the mobile sequence of the pallet of the time averaged.The sequence plan making device has: standby layout data store, storage specify the empty frame in multiple framves in lifting cross-sliding type warehouse it is standby when layout；Generate request unit, it is in the case where the pallet of request storage or outbound and configuration in some frame is selected as calling pallet, request generates the mobile sequence for making the pallet for calling pallet to be moved to garage entrance or outbound mouth, in the case where not inputting new request after beginning to pass through the predetermined time from the movement of pallet corresponding with the request of storage or outbound, the mobile sequence of the pallet of layout when request is generated for being changed to standby；It is sequentially generated unit, is generated from the mobile sequence for generating request unit request；And transmission unit, the mobile sequence of generation is sent to the control device of the movement of control pallet.)

1. a kind of sequence plan making device, is directed to lifting cross-sliding type warehouse, plan moves the pallet for specifying storage or outbound The mobile sequence to garage entrance or outbound mouth is moved,

Multiple framves that the lifting cross-sliding type warehouse has the tray both slid that can make to carry deposit mobile,

It is characterized in that,

The sequence plan making device has:

Standby layout data store, storage specify the pallet that is not configured in multiple framves in the lifting cross-sliding type warehouse Empty frame it is standby when layout, that is, standby layout data；

Request unit is generated, is selected as calling pallet in the pallet of request storage or outbound and configuration in some frame In the case where, the movement that request generates the pallet for making selected calling pallet be moved to garage entrance or outbound mouth is suitable Sequence does not input the feelings of new request after beginning to pass through the predetermined time from the movement of pallet corresponding with the request of storage or outbound Under condition, the mobile sequence of the pallet of layout when request is generated for being changed to described standby；

It is sequentially generated unit, generates the mobile sequence requested from the generation request unit；And

Transmission unit fills the control for the movement that the mobile sequence for being sequentially generated unit generation is sent to control pallet It sets.

2. sequence plan making device according to claim 1, which is characterized in that

The sequence plan making device is also equipped with judging unit, and when having input the request of storage or outbound, the judging unit is defeated First timing signal out, first timing signal are the pallets generated for making that pallet is called to be moved to garage entrance or outbound mouth Mobile sequence timing, by pre- timing after the notice for the mobile control that pallet is completed from control device input Between during when not inputting the request of storage or outbound, the judging unit exports second timing signal, which believes Number be to it is described standby when the timing that changes of layout,

The generation request unit requests to generate mobile sequence from the judging unit according to the signal exported.

3. sequence plan making device according to claim 2, which is characterized in that

The judging unit is completed from control device input for being changed to after exporting second timing signal When having input the request of storage or outbound before the notice of the mobile control of the pallet of layout when stating standby, to the generation Request unit and it is described be sequentially generated unit output make to it is described standby when layout change stop stop signal.

Technical field

The present invention relates to a kind of sequence plan making device, it is used to plan mechanical warehouse, the object in industrial conveying device The mobile sequence of pallet when product storage outbound.

Background technique

In the past, in order to by more article storing lesser space and be easy enter and leave and mechanical warehouse is widely used. As the typical example in mechanical warehouse as described above, have and plane space is divided into trellis, and in each frame after division Configuration can carry the lifting cross sliding type parking field of the pallet of the vehicle of storage (for example, referring to patent document 1 and 2).

In addition, the device as article needed for efficiently being conveyed in factory, warehouse etc., using similarly by plane space stroke Be divided into trellis, and in each frame after division configuration can bearing article pallet industrial conveying device.

For example, there are multiple framves that parking space (plane space) is divided into trellis in lifting cross sliding type parking field, Configured with the pallet that can carry storage object article in each frame.In the frame of parking space, also have without matching tray Empty frame, the pallet configured in the adjoining frame adjacent with the sky frame can be moved to sky frame.For example, storage, outbound in article When, it moves pallet on each frame, makes to be moved to pool by the specified calling pallet of the operation of storage or outbound on one side Position (garage entrance or outbound mouth).At this point, the floor different from parking space is arranged in berth mostly, in this case, call Pallet is moved to elevator locations, and is moved to berth by elevator.

Here, being generally put in storage just since storage or outbound carry out after making that pallet is called to be moved to elevator Or after just outbound, the adjoining of elevator is put up as empty frame.After storage or outbound, usually input next operation signal it Preceding not move pallet, the adjoining frame of elevator is carried out standby with the state of empty frame.Believe when having input operation in the state of standby Number when, firstly, after the adjoining of the configuring frame for the calling pallet for making object is put up as empty frame, make that pallet is called to be moved to lifting Machine.Therefore, until putting up adjoining to need the time until empty frame, and exist corresponding with the allocation position of pallet is called inclined Difference.

As described above, previous, after input operation signal, make to be put in storage or go out making pallet is called to be moved to elevator Before library is completed, there is and call the corresponding deviation in the position of pallet.In addition, needing to make to call to hold in the palm to move calling pallet The adjoining of the configuring frame of disk is put up as empty frame, this also gives the time required for storage or outbound to impact.

Patent document 1: No. 4025701 bulletins of Japanese Patent No.

Patent document 2: Japanese Unexamined Patent Publication 2011-1760 bulletin

Summary of the invention

In view of the above subject, the present invention provides a kind of sequence plan making device, is used to plan that storage can be shortened and goes out Time required for library, and make the mobile sequence of the pallet of the time averaged.

In order to achieve the above objectives, the invention of first method is a kind of sequence plan making device, is directed to lifting cross-sliding type storehouse Library, plans the mobile sequence for making the pallet for specifying storage or outbound be moved to garage entrance or outbound mouth, and the lifting is horizontal Multiple framves that shifting formula warehouse has the tray both slid that can make to carry deposit mobile, the sequence plan making device have: standby Topology data storage unit, storage specify the empty frame that pallet is not configured in multiple framves in the lifting cross-sliding type warehouse to Layout, that is, standby layout data when machine；Request unit is generated, in request storage or outbound and is configured in some frame Pallet be selected as call pallet in the case where, request generate for make selected calling pallet be moved to garage entrance or The mobile sequence of the pallet of outbound mouth is beginning to pass through pre- timing from the movement of pallet corresponding with the request of storage or outbound Between after do not input new request in the case where, request generate for being changed to described standby when layout pallet movement it is suitable Sequence；It is sequentially generated unit, generates the mobile sequence requested from the generation request unit；And transmission unit, it will be described The mobile sequence for being sequentially generated unit generation is sent to the control device for controlling the movement of pallet.

In addition, the sequence plan making device is also equipped with judging unit in the invention of second method, when have input storage or When the request of person's outbound, which exports the first timing signal, which generated for making to call pallet It is moved to the timing of the mobile sequence of the pallet of garage entrance or outbound mouth, pallet is being completed from control device input After the notice of mobile control when by not inputting the request of storage or outbound during the predetermined time, the judging unit is defeated Second timing signal out, the second timing signal be to it is described standby when layout changing timing, the generation request unit Request to generate mobile sequence from the judging unit according to the signal exported.

In addition, in the invention of Third Way, the judging unit is after exporting second timing signal, when from the control Had input before the notice of the mobile control of the pallet of layout when device processed input is completed for being changed to described standby into When the request of library or outbound, to it is described generation request unit and it is described be sequentially generated unit output make to it is described standby when The stop signal that the change of layout stops.

In accordance with the invention it is possible to plan the mobile sequence of the pallet of time required for can shortening movement.

Detailed description of the invention

Fig. 1 is illustrated to the structure of the lifting cross-sliding type parking system for the sequence plan making device for having embodiment Block diagram.

Fig. 2 is the layout being illustrated to the structure in the warehouse of the lifting cross-sliding type parking system of Fig. 1.

Fig. 3 is the flow chart that the processing in the lifting cross-sliding type parking system to Fig. 1 is illustrated.

Fig. 4 is the flow chart being illustrated to the processing for generating the mobile sequence for calling pallet.

Fig. 5 is the flow chart seted the tone and be illustrated with the processing of the movement routine of pallet of fighting to the finish.

Fig. 6 is to the process generated for being illustrated the processing of the scheduled mobile sequence for putting up the pallet for empty frame Figure.

Description of symbols:

1 ... lifting cross-sliding type parking system；

10 ... sequence plan making devices；

11 ... judging units；

12 ... generate request unit；

13 ... are sequentially generated unit；

14 ... transmission units；

15 ... updating units；

M1 ... topology data storage unit；

M2 ... standby layout data store；

20 ... control devices；

30 ... warehouses；

100 ... parking spaces；

101 ... framves；

102 ... pallets；

103 ... elevators；

104 ... empty framves；

105 ... call pallet；

40 ... input units.

Specific embodiment

It is illustrated referring to sequence plan making device of the attached drawing to embodiments of the present invention.Sequence plan making device of the invention For planning mechanical warehouse, the sequence in industrial conveying device be in the following description for depositing to mechanical warehouse The case where lifting cross sliding type parking field of steam bleeding vehicle, is illustrated.For example, as shown in Figure 1, sequence plan making device 10 has liter It is used in drop cross sliding type parking field, that is, warehouse 30 lifting cross-sliding type parking system 1.

< lifting cross-sliding type parking system >

Lifting cross-sliding type parking system 1 is also equipped with input dress other than having sequence plan making device 10 and warehouse 30 40 are set, is used to input vehicle to the storage of warehouse 30 and vehicle from the operation signal of 30 outbound of warehouse；Control device 20, is pressed Warehouse 30 is controlled according to the sequence planned by sequence plan making device 10.Specifically, in lifting cross-sliding type parking system 1, it is suitable Sequence plan making device 10 is generated and is exported for executing when having input the operation signal of storage or outbound via input unit 40 Pass through the mobile sequence of the pallet of the movement of the operation signal determination of input.In addition, control device 20 is according to by sequentially planning The mobile sequence that device 10 is planned controls the pallet in warehouse 30, executes the dynamic of the operation determination inputted by input unit 40 Make.

The warehouse < >

As shown in Fig. 2, warehouse 30 has the parking space 100 that plane is divided into multiple framves 101.It is configured in each frame Can respectively be configured in 101 one can vehicle pallet 102.In the parking space 100, storage subject vehicle is carried on It is stored on pallet 102.In warehouse 30, the adjoining frame of the frame 101 where some pallet 102 is that there is no other pallets Empty frame 104, when between these be not present wall (not shown) when, by the driving of driving unit (not shown), can make The pallet 102 is slidably moved to adjacent frame.In parking space 100, when stopping to hold in the palm due to these with wall or when roadblock The movement of disk 102.

In warehouse 30, the garage entrance (not shown) for the vehicle that can will be stored and the outbound mouth for the vehicle stored The floor different from parking space 100 is arranged in (not shown).In addition, warehouse 30 has many storage layers space 100, thus, it is possible to Store more vehicles.In the case where the floor different from parking space 100 has garage entrance, outbound mouth, or having In the case where having many storage layers space 100, elevator 103 is set in parking space 100, pallet is made by the elevator 103 102 is upwards (or downwards) mobile, thus it enables that pallet 102 is moved to garage entrance or outbound positioned at other floors The parking space 100 of mouth, other floors.

The pallet 102 that the sliding of the pallet 102 carried out using driving unit is mobile, is carried out using elevator 103 up and down The movement in direction is executed according to the control signal inputted from control device 20.For example, with many storage layers space 100 and entering Library mouthful is present in the warehouse 30 of other floors, in storage, according to the control signal inputted from control device 20, deposits at some Make after being moved on elevator 103 there is no the idle pallet 102 of vehicle as calling pallet 105 in 100 between emptying, uses Elevator 103 makes that pallet 105 is called to be moved to garage entrance upwards (or downwards).Subject vehicle is carried when in garage entrance When on pallet 102, elevator 103 returns again to the parking space 100 of script, and the storage of vehicle is completed.

In addition, in the warehouse 30, in outbound, according to the control signal inputted from control device 20, when carrying pair As after being moved to the calling pallet 105 on elevator 103, using when the pallet 102 of vehicle, which is selected as, calls pallet 105 Elevator 103 makes that pallet 105 is called to be moved to outbound mouth upwards (or downwards).When being loaded in calling pallet in outbound mouthpiece When vehicle on 105 gets off, elevator 103 returns again to the parking space 100 of script, and outbound is completed.Garage entrance and outbound Mouth can be with flatly, be also possible to multiple mouths.In addition, the quantity of the elevator 103 in parking space 100 is not also limited It is fixed.Also, in warehouse 30, multiple garage entrances and outbound mouth also can be set.

In parking space 100 shown in Fig. 2, it is assumed that the pallet as shown in (a) of Fig. 2 by configuration in 4-c frame 101 In the case that 102 are selected as calling pallet 105, as shown in (b) of Fig. 2, need to be moved on the elevator 103 of 4-e.Here, After the completion of storage or outbound, as shown in (b) of Fig. 2, becomes empty frame 104 close to the frame 101 of elevator 103, wait next The operation of secondary storage or outbound.

Then, it in the case where any one pallet 102 is selected as calling pallet 105, needs to repeat following processing: moving It moves the adjoining that multiple pallets 102 make the frame for configuring the calling pallet 105 101 adjacent to put up as empty frame 104, makes to call pallet 105 are moved to sky frame 104.Thus, it is supposed that in the operation of storage or outbound, as shown in (c) of Fig. 2, close to elevator 103 frame 101 is selected as tune as the pallet 102 configured in the 1-b frame 101 that will be far from elevator 103 in the state of empty frame 104 In the case where with pallet 105, with will be close to elevator 103 frame 101 in the pallet 102 that configures be selected as and call pallet 105 Situation is compared, until putting up the adjoining configured with the frame 101 for calling pallet 105 to need the long period until empty frame 104.

Therefore, in the lifting cross-sliding type parking system 1 with sequence plan making device 10, even if in non-input operation signal In the case where, in the case where certain condition, as shown in (d) of Fig. 2, mobile each pallet 102 make to have leisure position of frame 104 is located at Near center in parking space 100.As a result, in lifting cross-sliding type parking system 1, it is empty that the position of empty frame 104 is located at storage Between near center in 100, therefore can shorten and the pallet 102 in the frame 101 for being disposed substantially away from elevator 103 is selected as tune Time required for control when with pallet 105.As a result, having carried out multiple storages or outbound in multiple input operation signal When, it can shorten time required for storage or outbound (average time).

< sequence plan making device >

Sequence plan making device 10 moves the pallet 102 in warehouse 30 according to the operation signal generation inputted via input unit 40 Dynamic sequence, in the case where non-input operation signal in the given time, in order to be set as standby layout, generation makes pallet 102 mobile sequences.Standby layout refers to that such sky frame 104 shown in (d) of Fig. 2 is located in parking space 100 Layout near centre.

As shown in Figure 1, sequence plan making device 10 has: storing the topology data storage of the topology data in current warehouse 30 Portion M1；Store the standby layout data store M2 of standby layout data；According to the input of storage or the operation signal of outbound Come determine pallet 102 control timing judging unit 11；The mobile sequence of generation pallet 102 is requested according to result is determined Generation request unit 12；The mobile sequence of pallet 102 is generated according to request is sequentially generated unit 13；By shifting generated Dynamic sequence is sent to the transmission unit 14 of control device 20；And the current layout in warehouse 30 is obtained to update topology data Updating unit 15.

In sequence plan making device 10, as depicted in the flow chart of fig.3, the operation signal (S01) of storage or outbound is waited, When input operation signal (being yes in S02), generated by being sequentially generated unit 13 through common control processing (storage Or the control processing of outbound) making the mobile sequence of pallet 102 for calling pallet 105 to be moved to elevator 103, (first movement is suitable Sequence) (S03).In addition, the first movement generated in step S03 sequence is sent to control device 20 by transmission unit 14 (S04)。

On the other hand, in sequence plan making device 10 in the case where non-input operation signal in the given time (In It is no in S02, is yes in S05), standby use is become by standby mode control processing by being sequentially generated unit 13 and generating The mobile sequence (the second mobile sequence) (S06) of the pallet 102 of layout.In addition, will be given birth in step S06 by transmission unit 14 At the second mobile sequence be sent to control device 20 (S07).

It is and frame 101 possessed by parking space 100 shown in Fig. 2 as the topology data storage unit M1 topology data stored And the identiflication number of pallet 102 of the identiflication number, configuration of the positional relationship of elevator 103, each frame 101 in each frame 101 Related data.In addition, also including parking space in topology data in the case where parking space 100 has wall, roadblock The positional relationship of wall, roadblock in 100.

It is and such standby mould shown in Fig. 2 (d) as the standby layout data store M2 standby layout data stored The related data of the layout of formula.Specifically, standby layout data are for determining frame 101 possessed by parking space 100 Layout, the frame 101 for being set as sky frame 104 in frame 101 position data.According to the layout of the frame 101 of parking space 100 come Determine the position of optimal empty frame 104 to generate standby layout data.

It is true for 1 parking space 100 in the case where the position of the empty frame 104 in parking space 100 is set as fixed Fixed 1 standby layout data.In addition, in the case where multiple floors have warehouse 30 of parking space 100, in each floor Frame 101 layout it is identical, and the quantity phase of the empty frame 104 of each parking space 100 is meanwhile, it is capable to respectively depositing in warehouse 30 Identical standby layout data are used in 100 between emptying.On the other hand, it is assumed that there is the storehouse of parking space 100 in multiple floors In library 30, empty frame can be mobile in each floor gap, and thus the quantity of the empty frame 104 in parking space 100 has the case where changing Under, need the standby layout data of quantity corresponding with the variation.

Judging unit 11 is according to the input of the operation signal from input unit 40 and come the control of self-control device 20 Completion notice come determine control timing, and to generate request unit 12 output determine result timing signal.Here, operation Signal includes the type of the operation of storage or outbound.In addition, operation signal also includes outbound subject vehicle in the operation of outbound The identiflication number of the pallet 102 (calling pallet 105) at place.

Specifically, judging unit 11 is sentenced when having input the operation signal of storage or outbound via input unit 40 It is set to the timing of the control (common control) of storage or outbound, is generated using the information for including in operation signal for true The timing signal (the first timing signal) of the fixed timing usually controlled, and the first timing signal is exported to request unit 12 is generated. Here, the first timing signal includes the type of the storage or outbound that include in operation signal.In addition, in the operation of outbound, First timing signal also includes the identiflication number for the calling pallet 105 for including in operation signal.Then, when common control is completed When, judging unit 11 is inputted from control device 20 usually controls completed completion notice (the first completion notice).

In addition, the timing that judging unit 11 when having input the first completion notice from control device 20, is completed with the control On the basis of start timing.It is not inputted during the timing completed from the control of storage or outbound begins to pass through the predetermined time In the case where new operation signal, judging unit 11 is determined as the timing changed to the layout of standby mode, asks to generation Unit 12 is asked to export timing signal (second timing signal), which changes for determination to the layout of standby mode Control timing.Then, at the end of the control changed to the layout of standby mode, judging unit 11 is from control device 20 input the completed completion notice of control (the second completion notice) changed to the layout of standby mode.

Consideration presets the predetermined time in judging unit 11, which is used to determine the layout to standby mode The timing changed, but the predetermined time can also be set according to the situation of storage and outbound in warehouse 30.Example Such as, also it can be set as 1 minute etc. at night in the case where daytime is set as 5 minutes, when setting different in the period Between.In addition, for example, also 1 can be set as other warehouses 30 in the case where being set as 5 minutes for some warehouse 30 Minute etc., it is set with being consistent with the frequency of the storage in warehouse 30 and outbound.

Request unit 12 is generated according to the timing signal inputted from judging unit 11, requests to generate to unit 13 is sequentially generated The mobile sequence of pallet 102.Specifically, generating request unit 12 when having input the first timing signal, read in cloth inning According to the topology data stored in storage unit M1, to the pallet for being sequentially generated the output of unit 13 request generation storage or outbound The request signal (the first request signal) of mobile sequence.Here, the first request signal includes the cloth for generating request unit 12 and reading Office data and the identification for calling pallet 105.In storage, distance elevating machine 103 is close and the knowledge of the pallet 102 of vehicle is not present It Bian Hao not be the identiflication number for calling pallet 105.On the other hand, in outbound, the identiflication number that includes in the first timing signal For the identiflication number for calling pallet 105.

In addition, generating request unit 12 when having input second timing signal, reads in topology data storage unit M1 and store Topology data and standby layout data store M2 in the standby layout data that store, to being sequentially generated the output request of unit 13 Generate the request signal (the second request signal) of the mobile sequence of the pallet 102 for the layout as standby mode.Here, the Comprising generating the topology data and standby layout data that request unit 12 is read in two request signals.

Unit 13 is sequentially generated according to from the request signal for generating the input of request unit 12, the movement for generating pallet 102 is suitable Sequence simultaneously outputs it to transmission unit 14.Specifically, being carried out using fig. 4 to fig. 6 aftermentioned, it is sequentially generated unit 13 and is having input When the first request signal, generate for making specified calling pallet 105 be moved to existing comprising calling pallet 105 for elevator 103 The mobile sequence (first movement sequence) of interior pallet 102.In addition, being sequentially generated unit 13 is having input the second request signal When, generate the mobile sequence (the second mobile sequence) of the pallet 102 for the layout as standby mode.

Here, being illustrated to the manhatton distance used when being sequentially generated 13 genesis sequence of unit.It is as used herein graceful Hatton's distance is the distance from some frame 101 to other framves 101.Specifically, being the row coordinate and column seat between two framves The aggregate value of target difference.In addition, it is assumed that with the roadblock that can not make pallet 102 mobile because of failure or in frame and frame Between be provided with wall in the case where, when finding out manhatton distance, do not consider these roadblocks, wall.Therefore, shown in Fig. 2 In example, when finding out the manhatton distance until from 2-a frame to 4-e frame, the difference of row coordinate is difference i.e. 4 of 2 Yu column coordinate Aggregate value 6 becomes manhatton distance.

Transmission unit 14 is suitable by the movement of input from when being sequentially generated unit 13 and having input the mobile sequence of pallet 102 Sequence is exported to control device 20.Control device 20 moves the pallet in warehouse 30 according to the mobile sequence inputted from the transmission unit 14 It is dynamic, it carries out " common control " or " control of standby mode ".

Updating unit 15 is sent to control device 20 for requesting to send the parking space 100 with warehouse 30 in predetermined timing The related topology data of layout request signal, obtain topology data from control device 20.In addition, updating unit 15 will obtain Topology data be stored in topology data storage unit M1.The predetermined timing that updating unit 15 obtains topology data is, for example, to generate to ask Unit 12 is asked to request to generate the timing of new mobile sequence or regularly timing.

Sometimes the behaviour of storage or outbound is inputted via input unit 40 during to the layout changing of standby mode Make signal.In this way, in the case where have input operation signal during to the layout changing of standby mode, be changed to Carry out storage after the layout of machine mode or the control of outbound compared, preferably carried out since the state of current layout storage or The control of person's outbound.Therefore, after inputting second timing signal, and before inputting the second completion notice, have input into The judging unit 11 of the operation signal of library or outbound to generate request unit 12, be sequentially generated unit 13 and control device 20 The stop signal that output stops the change to the layout of standby mode.

Request unit 12 is generated when single from judgement after inputting second timing signal and before the second request signal of output Member 11 is when having input stop signal, without the second request signal output and wait the timing signal newly inputted.In addition, sequence Generation unit 13 is when having input stopping letter after inputting the second request signal and before the mobile sequence of output second from judging unit 11 Number when, stop generating the second mobile sequence, and wait the input of new request signal.Also, control device 20 is when in input the Stopping is had input from judging unit 11 before terminating after two mobile sequences and with the control of the second mobile sequentially corresponding pallet 102 When signal, also stop the control of pallet 102, and wait the input of new mobile sequence.

< calls the generation of the mobile sequence of pallet to handle >

Illustrated in being sequentially generated unit 13 using the flow chart of fig. 4 to fig. 6, the shifting carried out in the step S03 of Fig. 3 The generation processing of dynamic sequence.The mobile sequence executed in step S03 is to call pallet for making to be put in storage or outbound 105 are moved to the mobile sequence (first movement sequence) of the pallet 102 of elevator 103 as a purpose.

Unit 13 is sequentially generated when having input the first request signal, determines that calling pallet 105 is in current layout It is no to be located on destination (S11).

When calling pallet 105 to be located at destination (being yes in S11), due to being not necessarily to make to call in parking space 100 Pallet 105 is mobile, and therefore, as the situation for not needing to keep pallet 102 mobile, elevator will only be passed through by being sequentially generated unit 13 103 make the sequence for calling pallet 105 to be moved to berth be determined as first movement sequence (S15).

When calling pallet 105 not to be located at destination (being no in S11), it is sequentially generated unit 13 and determines to call pallet 105 movement routine (S12).About the processing for the movement routine for determining the calling pallet 105, carried out using Fig. 5 aftermentioned.

When determining the movement routine for calling pallet 105 in step s 12, it is sequentially generated unit 13 and generates for making to adjust The mobile mobile sequence comprising the pallet 102 including calling pallet 105 is carried out according to the movement routine determined with pallet 105 (S13).About the processing for the mobile sequence for generating the pallet 102, carried out using Fig. 6 aftermentioned.Exist in addition, being sequentially generated unit 13 When generating the mobile sequence of pallet 102, the movement of generation is stored sequentially in memory (not shown), and generate according to The mobile sequence generated moves the layout of the analog result of pallet 102, and the layout is stored in memory (not shown), To be used in processing later.

Then, unit 13 is sequentially generated in the simulation knot for moving pallet 102 according to the mobile sequence generated in step S13 In the layout of fruit, determine to call pallet 105 whether on elevator 103 as a purpose (S14).

When calling pallet 105 not to be located at destination (being no in S14), it is sequentially generated unit 13 and is back to step S13, Repeat the processing of step S13~S14 before calling pallet 105 to arrive at the destination.It will be anti-at this point, being sequentially generated unit 13 The sequence savings storage of repetitive generation is in memory.On the other hand, (it is in S14 when calling pallet 105 to be located at destination It is), unit 13 is sequentially generated making according to savings mobile sequence in memory comprising calling the pallet including pallet 105 After 102 is mobile, the sequence for calling pallet 105 to be moved to berth is made to be determined as first movement sequence (S15).

< calls the decision of the movement routine of pallet to handle >

Using flow chart shown in fig. 5, determine to adjust by being sequentially generated unit 13 in the step S12 of the flow chart in Fig. 4 It is illustrated with an example of the processing of the movement routine of pallet 105.Firstly, being sequentially generated 13 Selection and call pallet of unit, 105 energy The adjoining frame (S21) being moved to.That is, being sequentially generated unit 13 using topology data, in the adjoining frame of Selection and call pallet 105 Due to for roadblock or due to making the adjoining frame other than the frame for calling pallet 105 that can not be moved to there are wall.

When having selected the adjoining frame that can be moved to, it is sequentially generated unit 13 and calculates for selected each adjacent frame from neighbour Connect frame to setting elevator 103 frame cost (S22).Specifically, being sequentially generated unit 13 for cost t (m), can make With the distance (for example, manhatton distance) from adjacent frame to the frame of configuration elevator 103 as a purpose.Alternatively, in addition to away from From unit 13 in addition, is sequentially generated the time required for elevator 103 can also will be moved to as cost t (m) from adjacent frame. M is the state variable for indicating to calculate a state (layout) during cost.Therefore, state during calculating cost In the case that the quantity of (layout) is 3, that is, in the case where having selected 3 adjacent framves in the step s 21, be sequentially generated unit 13 calculate t (1), t (2), t (3) this 3 costs.

When calculating cost for each adjacent frame, it is sequentially generated the minimum adjoining frame of 13 extraction cost of unit, and conduct It calls the path of the hypothesis of pallet 105 and is stored in memory (not shown) (S23).Here, with multiple identical costs In the case where adjacent frame, it is sequentially generated unit 13 and extracts the adjoining frame for leaning on near-space frame 104.

When extracting an adjacent frame, it is sequentially generated unit 13 and assumes that pallet 105 is called to be located at extracted adjoining Whether frame determines to call pallet 105 on elevator 103 as a purpose (S24).(the In when not being located on destination It is no in S25), unit 13 is sequentially generated before calling pallet 105 to reach elevator 103 as a purpose, is successively assumed There is the processing for calling pallet 105 to repeat step S21~S24 in the adjoining frame extracted in step S23.When repetition step When the processing of S21~S24, it is sequentially generated unit 13 and accumulates the adjacent path set up to call the hypothesis of pallet 105 of extraction Storage is stored in memory, to reprocess.

It is suitable due to having obtained calling the movement routine of pallet 105 when being located on destination (being yes in S24) So far the path of the hypothesis obtained is determined as calling the movement routine (S25) of pallet 105 by sequence generation unit 13.In step S25 In determine movement routine after, the movement routine of the hypothesis of the calling pallet 105 stored in memory becomes not needing, therefore suitable Sequence generation unit 13 deletes movement routine from memory.

The generation of the mobile sequence of < pallet handles >

Then, using flow chart shown in fig. 6, to the step of the flow chart of the step S13 or Fig. 3 of the flow chart in Fig. 4 It is illustrated in rapid S06 by an example for being sequentially generated the processing of the mobile sequence of the generation pallet 102 of unit 13.Specifically, In In the case where step S13, it is sequentially generated unit 13 and generates for making that pallet 105 is called to be moved according to movement routine generated The mobile sequence of dynamic pallet 102.On the other hand, in the case where step S06, be sequentially generated unit 13 generate for become to The mobile sequence (the second mobile sequence) of the pallet 102 of the layout of machine mode.

Firstly, being sequentially generated unit 13 according to the movement determined in the decision processing for calling the movement routine of pallet 105 Path and the current location for calling pallet 105, selection make the position (next shift position) for calling pallet 105 to next proceed to With the empty frame 104 (S31) near next shift position.

Then, unit 13 is sequentially generated in current layout, the option and installment from the adjoining frame of selected empty frame 104 There is the adjoining frame (S32) for the pallet 102 that can be moved to the sky frame 104.About layout as used herein, when storing in memory When the layout of analog result, the layout of analog result is used.

When having selected the adjoining frame of empty frame 104, it is sequentially generated unit 13 and calculates from selected each adjacent frame to next The cost (S33) of shift position.Specifically, being sequentially generated unit 13 for cost t (n), it is able to use from adjacent frame under The distance (for example, manhatton distance) of one shift position.Alternatively, being sequentially generated unit 13 can also will adjust other than distance Cost t (n) is set as from the traveling time that adjacent frame is moved to next shift position with pallet 105.N is indicated in search process The state variable of one state (layout).Therefore, in the case that the quantity of state (layout) in the search is 3, that is, in step In the case where having selected 3 adjacent framves in S32, t (1), t (2), t (3) this 3 costs are calculated.

When calculating cost for each adjacent frame, it is sequentially generated the minimum adjoining frame of 13 extraction cost of unit, will be configured Pallet 102 in the adjoining frame is stored in memory (not shown) (S34) to the mobile of empty frame as mobile sequence.

When being extracted adjoining frame at low cost, it is sequentially generated unit 13 and determines whether the adjoining frame extracted is next shifting Dynamic position (S35).When the adjoining frame extracted is next shift position (being yes in S35), due to having obtained pallet 102 Mobile sequence, therefore be sequentially generated unit 13 and the sequence so far obtained is set as to the support for being used to make target position to become empty frame 104 The mobile sequence of disk 102, in addition making that pallet 105 is called to be moved to the sequence as next shift position of the sky frame 104 and determine It is set to the mobile sequence (S36) of pallet.It will be in step when repeating the processing of step S32~S35 here, being sequentially generated unit 13 The mobile savings storage of the adjoining frame selected in S34 and the pallet 102 to configuration in the adjoining frame is in memory.

In the case where the adjoining frame extracted is not next shift position (being no in S35), it is sequentially generated unit 13 Before extracting next shift position as adjacent frame, the processing of step S32~S35 is repeated.Repeating step S32~S35 Processing during, the mobile sequence of the pallet 102 determined according to layout is stored by memory, but in step S36 certainly Determine to become not using after mobile sequence, therefore has been sequentially generated unit 13 and deletes memory storage after determining mobile sequence Sequence.

As described above, in the sequence plan making device 10 of embodiment, in the control of storage or outbound, processing terminate Afterwards, even if in the case where also not inputting the operation signal of new storage or outbound by the predetermined time, it is empty to be changed to storage Between 100 center be nearby the layout of the standby mode of empty frame 104.As a result, in the behaviour for having input storage or outbound next time It can make required time averaged until mobile calling pallet 105 in the case where work and shorten the time.

Embodiment used above is described in detail the present invention, but the invention is not limited to illustrate in the present specification Embodiment.The scope of the present invention is determined according to the record of claims and the range being equal with the record of claims It is fixed.