A method of controlling a plurality of gantry loaders that reciprocates on a single guide beam 20 installed in a horizontal direction by sharing control information among each gantry loader through a communication line 40, the method comprising:
- an information acquisition step (S10) for acquiring control information of each gantry loader 10 from respective control devices 30 equipped in the plurality of gantry loaders 10;
- a movement path and priority calculation step (S20) for calculating a predetermined work priority according to a movement path and a performed work (Dn) of each gantry loader 10 based on the control information acquired in the information acquisition step (S10);
- a transport command and transport determination step (S30) including a transport determination step (S31) to determine whether the gantry loader 10 is currently transporting by confirming the command information, and a transport command determination step (S32) to determine whether the transport command has been updated for each gantry loader 10 when it is determined that the gantry loader 10 is not transporting in the transport determination step (S31), wherein when the transport command is input to each gantry loader 10 in the transport command determination step (S32), the movement path and priority calculation step (S20) is executed again;
- a movement path interference determination step (S40) including a current position interference determination step (S41) to determine whether the movement path calculated in the movement path and priority calculation step (S20) interferes with a current position (An) of the adjacent gantry loader (10) when the transfer command has not been updated for each gantry loader 10 in the transport command and transport determination step (S30), and a movement path interference determination step (S42) to determine whether the movement path calculated in the movement path and priority calculation step (S20) interferes with the movement path of the adjacent gantry loader 10 when it is determined that the movement path of the gantry loader 10 does not interfere with the current position (An) of the adjacent gantry loader 10 in the current position interference determination step (S41) or when it is determined that the gantry loader 10 is being transported in the transfer determination step (S31);
- a priority determination step (S50) in which when the movement path of the gantry loader 10 interferes with the current position (An) or the movement path of the adjacent gantry loader 10 in the current position interference determination step (S41), a work priority value of a current gantry loader 10 is compared with a work priority value of the adjacent gantry loader 10, and then a standby command is executed so that a current gantry loader 10 may not depart and wait at the current position when the work priority value is smaller than the work priority value of the adjacent gantry loader 10;
- a transport command step (S60) in which when the movement path of the gantry loader 10 does not interfere with the current position (An) or the movement path of the adjacent gantry loader 10 in the current position interference determination step (S41), or when the work priority value determined in the priority determination step (S50) is greater than the work priority value of the adjacent gantry loader 10, a transport command is given to move the gantry loader to a transport target position (Bn) acquired in the information acquisition step (S10);
- a safety distance maintenance step (S70) in which when the gantry loader 10 is determined to be transporting in the transport determination step (S31) or the transport command is given in the transport command step (S60), a distance calculation step (S71) is executed to calculate a distance to the adjacent gantry loader 10 by calculating a difference value between the current position (An) of the gantry loader 10 being transported and the current position (An) of the adjacent gantry loader 10, a safety distance determination step (S72) is executed to determine whether the distance to the adjacent gantry loader 10 satisfies a predetermined safety distance range as a result of the distance calculation step (S71), a normal speed maintenance step (S73) is executed to command a transport speed of the gantry loader 10 to be accelerated to a predetermined maximum speed when the distance from the adjacent gantry loader 10 satisfies the predetermined safety distance range as a result of the safety distance determination step (S72), and a deceleration step (S74) is executed to command a transport speed of the gantry loader 10 to be decelerated according to a pre-determined deceleration ratio when the distance from the adjacent gantry loader 10 does not satisfy a pre-determined safety distance range;
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- a target point arrival determination step (S80) in which it is determined whether each gantry loader has reached a transport target point as it moves after the safety distance maintenance step (S70), and a process returns to the information acquisition step (S10) when each gantry loader 10 has reached the transport target point, but the safety distance maintenance step (S70) is repeated when each gantry loader 10 has not reached the transport target point.