| 摘要 |
<p>A movement range of each transfer vehicle (18) is determined and input (step S1). Assuming failure of one of the transfer vehicles (18), the movement range of the remaining transfer vehicles (18) is determined and input (step S2). The state of each transfer vehicle (18) is judged (step S3). If all the transfer vehicles (18) are normal, the movement range determined in step S1 is applied (step S4) and if any one of the transfer vehicles (18) has failed, the movement range determined in step S2 is applied. A carrying-out origin and a carrying-in destination of the transfer vehicle (18) are determined (step S6) and the transfer route is searched for (step S7). After this, searched route candidates are listed (step S8), the transfer route is corrected so as to be a rational route (step S9), and the transfer time is calculated for each of the route candidates (step S10). The transfer route of the shortest transfer time is selected and a branching device (22) is reserved so as to prevent collision of the transfer vehicles (18) when they move (step S11).</p> |
