| 摘要 |
<p>PURPOSE:To improve loading efficiency by determining waiting time until a fork device is operated by detecting a parameter having an influence on rocking of a stacker crane prior to the time when the crane is stopped, and estimating a state of the rocking thereafter wit use of the parameter. CONSTITUTION:Upon controlling the operation of a stacker crane 1 adapted to move along a traveling rail 3 on a floor and a guide rail 4 on a ceiling surface, a computer first evaluates a speed pattern and controls a motor 10 for traveling the crane in accordance with the pattern. In addition, respective detectors 14, 15 detect elevated height of an elevator 7 of the stacker crane where it is stopped as well as the weight of a load 13, and estimates a state of rocking of the crane after said stoppage with use of those variable parameters. It further determines waiting time until the rocking state gets less than an allowable amount thereof for operating a fork device 8 disposed on the elevator immediately after the passage of said waiting time from the time of stoppage of the stacker crane 1.</p> |
