EP2319742B1 - Agencement et procédé de commande d'un entraînement d'un moyen de transport sans conducteur - Google Patents

Agencement et procédé de commande d'un entraînement d'un moyen de transport sans conducteur Download PDF

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Publication number
EP2319742B1
EP2319742B1 EP09013664A EP09013664A EP2319742B1 EP 2319742 B1 EP2319742 B1 EP 2319742B1 EP 09013664 A EP09013664 A EP 09013664A EP 09013664 A EP09013664 A EP 09013664A EP 2319742 B1 EP2319742 B1 EP 2319742B1
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EP
European Patent Office
Prior art keywords
ems
transportation means
driverless
transport
driverless transportation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP09013664A
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German (de)
English (en)
Other versions
EP2319742A1 (fr
Inventor
Oswald Müller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to ES09013664T priority Critical patent/ES2387237T3/es
Priority to PT09013664T priority patent/PT2319742E/pt
Priority to EP09013664A priority patent/EP2319742B1/fr
Priority to CN201010571823.1A priority patent/CN102069807B/zh
Priority to US12/915,858 priority patent/US20110106363A1/en
Publication of EP2319742A1 publication Critical patent/EP2319742A1/fr
Application granted granted Critical
Publication of EP2319742B1 publication Critical patent/EP2319742B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
    • B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
    • B61L23/18—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control

Definitions

  • the invention relates to an arrangement for controlling a drive of a self-propelled driverless means of transport according to the preamble of patent claim 1, and a method for controlling the drive of a self-propelled driverless transport means according to the preamble of patent claim 6.
  • EHB electric suspended tracks
  • EMS Electrical.
  • Monorail Systems consist of a rail system and the associated, usually hanging, vehicles. These means of transport have their own electric drive and are supplied with electrical power by means of current collectors (grinders) which are routed along a multiphase busbar system.
  • driverless transport means In special driving areas (production areas), work is usually carried out on the products being transported. In such driving areas, it is often required that the driverless means of transport travel at constant speeds and / or at constant distances from each other. This requirement can be met by the fact that the driverless transport means are each provided with a numerical control, which communicate with an external (stationary) control and drive the drive of the driverless transport each such that the driverless Transport means at the predetermined speed and / or synchronously drive each other.
  • the US 6,138,064 shows a control system for driverless vehicles with a moving target.
  • each of the driverless means of transport is equipped with a correspondingly powerful controller, for example a microprocessor system.
  • a correspondingly powerful controller for example a microprocessor system.
  • simple drives which are controlled by magnetic control switch firmly attached to the track control elements electromechanically, often only between the states "ride” and "stop” is distinguished, and wherein a collision protection switch the collision of two driverless transport through Shutdown of one or more of the driverless means of transport avoids.
  • a collision protection switch the collision of two driverless transport through Shutdown of one or more of the driverless means of transport avoids.
  • a mechanical drag conveyor which is formed for example as a revolving chain in the special driving areas in which a synchronous and / or constant ride of the driverless transport is required.
  • the own drive of the driverless means of transport is disengaged, and the driverless means of transport are rigidly coupled to the mechanical drag conveyor, so that all coupled driverless.
  • Transport means are moved synchronously and equidistantly.
  • the driverless means of transport are disconnected again from the drag conveyor and resume their autonomous operation.
  • a disadvantage of this solution is that for each of the special driving areas a separate drive in the form of the drag conveyor must be provided.
  • driverless means of transport are therefore already equipped with its own drive, additional input and Auskupplung, the additional drag conveyor, entrainment devices for the driverless transport, an additional power supply for the particular production areas considered etc. are provided.
  • Variable speeds and start / stop functions are controlled by a stationary system control via the speed control of the drive of the drag conveyor (drag chain).
  • the object is achieved in particular by an arrangement for controlling a drive of a self-propelled driverless means of transport, wherein the drive of one or more drives of a plurality of driverless means of transport is or are controlled by means of a stationary control device.
  • the driverless transport means designed as a running light chain of light sources (segments) is arranged, wherein the driverless transport in the direction of movement behind each other at least two optical sensors for scanning the running light are arranged, wherein the at least two sensors in such a way with the drive of the driverless Are interconnected, that the driverless transport means follows a luminous segment of the running light substantially synchronously, and wherein the stationary control means is arranged to control the running light.
  • the object is further achieved by a method for controlling the movement of one or more driverless means of transport along a route, wherein the movement of the one or more driverless means of transport is determined by a stationary control.
  • the steady-state controller controls a chain of light sources designed as a running light along the travel path, the speed and the position of the active light segments of the running light being a target for the driverless means of transport and the running light of at least two optical sensors arranged behind one another in the direction of travel at least one of the driverless means of transport is scanned.
  • the output signals of the at least two optical sensors are used to control a drive of the at least one driverless transport means, wherein the sensors are connected to the drive such that a substantially synchronous movement of the at least one driverless transport means with a luminous segment (light source) of Running light results.
  • the driverless means of transport advantageously has a speed controller, which is controlled by the at least two sensors. It is advantageous in cases where both successively arranged sensors each detect an active light segment, the current driving speed of the driverless transport maintained; it is assumed that synchronous ride. In the case of different states of the output signal of the at least two optical sensors, the speed controller accelerates or brakes accordingly; it is assumed that a non-synchronous ride.
  • the or the driverless means of transport stopped.
  • the output signals of the optical sensors are advantageously subjected to a low-pass filtering.
  • the stationary control for the purpose of acceleration and / or deceleration of the or the driverless means of transport to a variable control of the speed of the running light is set up.
  • the running light can also be divided along the track into different track segments, wherein the speed and the "phase" of the active elements of the light chain in each of the track segments are controlled separately.
  • FIG. 1 is schematically shown a self-propelled driverless transport EMS in an arrangement according to the prior art.
  • the means of transport EMS is connected via slider (pantograph) with a stationary busbar system SCHL, which in addition to the conductors L1, L2, L3, PEN to power supply with two other conductors FRG / QUIT ("release” / "Acknowledgment") and ALM ("Alarm”) is equipped.
  • FRG / QUIT release" / "Acknowledgment”
  • ALM Alarm
  • the stationary conductor of the busbar system SCHL are connected to a control EMS-D ("Electrical Monorail System - Driver") of the driverless transport EMS, which in turn controls a drive ANTR of the means of transport EMS.
  • EMS-D Electro Mechanical Monorail System - Driver
  • the controller EMS-D is connected to the sensors MRS, KLS, wherein the sensors MRS ("magnetic switch”) of stationary actuators (“cams”) are operated on the track by the movement of the means of transport EMS and in a simple way start, stop - and speed commands can record.
  • the sensor KLS (“collision”) switches off the drive ANTR in the event of an imminent collision (“collision") with another means of transport on the same route.
  • the transport EMS moves in such a driving range (special driving range), which requires a uniform and to other transport equidistant movement.
  • the transport EMS in the prior art is connected to a drag conveyor SF via a mechanical connection MV, the drag conveyor SF is connected to a stationary control device CTRG and is controlled by this control CTRL; the drive ANTR is temporarily disabled.
  • the control CTRG is connected to a programming device PRG via a data connection DB.
  • the control CTR specifies the speed (frequency) and the position (phase) of the light sources of the running light LL that are alternately controlled in chronological progression.
  • the active segments AS are arranged periodically and equidistantly in an advantageous embodiment of the invention; However, in other embodiments of the invention, which require a more complex wiring and control of the running light LL, but also, for example, each have its own active segment AS for each considered the means of transport EMS be provided. While in the illustrated solution the two optical sensors OS1, OS2 should each detect the same of the active segments AS, in particular with a periodic design of the running light LL, each of the optical sensors OS1, OS2 can "track" another of the synchronously advancing active segments AS.
  • the optical sensors OS1, OS2 are linked to the EMS-D control of the means of transport EMS, the control EMS-D being equipped with evaluation logic for evaluating the signals output by the optical sensors OS1, OS2.
  • the optical sensors OS1, OS2 each provide a binary output signal; it is only between the states "light” (logical "1") and "no light” (logical "0") distinguished. This leads according to the invention to a better reliability than in other embodiments in which, for example, gray levels (variable brightness values) are detected.
  • the optical sensors OS1, OS2 can be provided with optical filters which, for example, allow only individual spectral components of the light emitted by the active segments AS to pass.
  • spectral regions are used which are not or only to a limited extent emitted by the usual illumination devices of industrial production plants (fluorescent lamps, gas discharge lamps). It is also possible to provide external light scattering the optical sensors OS1, OS2 and the surface of the running light LL with mutually aligned Polfiltern that only a certain plane of polarization (for example, horizontal, vertical or one of the two possible polar directions) of the light happen ,
  • the control EMS-D (here: a power converter with multiple control inputs) of the driverless transport EMS and the evaluation logic contained therein for the optical sensors OS1, OS2 is connected such that the transport EMS follows the moving active segments AS of the running light LL.
  • the functionality of the evaluation logic is for a simple case in the FIG. 3 shown. There is a distinction between four different operating states.
  • the Indian FIG. 3 The case shown at the top results when the running light LL or the active segments AS contained therein and the means of transport EMS with the optical sensors OS1, OS2 permanently with the same speed (synchronously) move and detect the two optical sensors OS1, OS2 each light of an active segment AS. In this case, both optical sensors OS1, OS2 deliver a logic "1" as a binary output signal.
  • the optical sensors OS1, OS2 can deviate from the illustration in FIG. 3 also face different active segments AS of the running light LL;
  • the mounting distance of the optical sensors OS1, OS2 is advantageously an integer multiple of the distance of the active segments AS.
  • the drive energy of the drive ANTR is throttled by the controller EMS-D until the first state described again.
  • the evaluation logic of the controller EMS-D includes a numerical controller (eg PID controller), which is set such that the speed and position ("phase") of the transport EMS on the predetermined by the running light LL setpoint settles ,
  • the segments of the running light LL are not "hard” switched, so not only binary on and off, but regulated quasi-continuous in their brightness.
  • optical sensors OS1, OS2 which provide more detailed information about the detected brightness (for example with a resolution of 4 or 8 bits)
  • the control behavior of the evaluation logic in the EMS-D controller can be improved.
  • the "settling" of the movement of the means of transport EMS when entering such a special manufacturing area in which the running light control is used it can be shortened, and the movement can also be designed with less severe "overshoot".
  • the speed of the running light LL can be adapted to the "autonomous" speed of the means of transport EMS and can then be continuously brought to the set speed. This avoids speed jumps and load peaks.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (6)

  1. Agencement de commande d'un entraînement ( ANTR ) d'un moyen ( EMS ) de transport automoteur sans conducteur, dans lequel l'entraînement ( ANTR ) d'un moyen (EMS) de transport sans conducteur ou les entraînements (ANTR) de plusieurs moyens ( EMS ) de transport sans conducteur est ou sont commandé (s) au moyen d'un dispositif (STRG) à poste fixe,
    caractérisé
    en ce que, le long d'une voie du moyen ( EMS ) de transport sans conducteur, est placée une chaîne de sources lumineuses conformée en feu ( LL ) courant,
    en ce que, sur le moyen ( EMS ) de transport sans conducteur, sont disposés l'un derrière l'autre dans le sens de déplacement au moins deux capteurs (OS1, OS2) optiques de détection du feu ( LL ) courant,
    dans lequel les au moins deux capteurs ( OS1, OS2 ) sont câblés avec l'entraînement ( ANTR ) du moyen (EMS) de transport sans conducteur, de manière à ce que le moyen ( EMS ) de transport sans conducteur suive sensiblement de façon synchrone au moins un segment ( AS ) éclairant du feu ( LL ) courant, et
    en ce que le dispositif ( STRG ) de commande à poste fixe est conçu pour commander le feu ( LL ) courant.
  2. Agencement suivant la revendication 1,
    caractérisé
    en ce que le moyen ( EMS ) de transport sans conducteur a un régulateur de vitesse de l'entraînement (ANTR), qui peut être commandé par les au moins deux capteurs.
  3. Agencement suivant l'une des revendications précédentes,
    caractérisé
    en ce que les capteurs sont des détecteurs à spot mobile ayant respectivement un signal de sortie binaire.
  4. Agencement suivant l'une des revendications précédentes,
    caractérisé
    en ce que l'entraînement ( ANTR ) est conçu pour effectuer un arrêt d'urgence dans les cas où aucun des au moins deux capteurs ne détecte un éclairage des segments.
  5. Agencement suivant l'une des revendications précédentes,
    caractérisé
    en ce que la commande à poste fixe est conçue pour l'accélération et le freinage du moyen ( EMS ) de transport sans conducteur ou de tous les moyens ( EMS ) de transport sans conducteur par une commande de la vitesse du feu ( LL ) courant.
  6. Procédé de commande du déplacement d'un moyen (EMS) de transport sans conducteur ou de plusieurs moyens ( EMS ) de transport sans conducteur le long d'une voie,
    dans lequel on prescrit le mouvement du moyen ( EMS ) de transport sans conducteur ou des plusieurs moyens ( EMS ) de transport sans conducteur par une commande à poste fixe,
    caractérisé
    en ce qu'on commande par la commande à poste fixe une chaîne de sources lumineuses conformée en feu ( LL ) courant le long de la voie, la vitesse et la position de l'un des segments (AS) éclairants ou de plusieurs des segments ( AS ) éclairants du feu ( LL ) courant représentent une prescription de consigne pour le moyen ( EMS ) de transport sans conducteur ou pour les moyens ( EMS ) de transport sans conducteur,
    en ce que le feu ( LL ) courant est détecté par au moins deux capteurs optiques, disposés l'un derrière l'autre dans le sens de la marche, d'au moins l'un des moyens ( EMS ) de transport sans conducteur,
    en ce qu'on utilise les signaux de sortie des au moins deux capteurs optiques pour la commande d'un entraînement ( ANTR ) du au moins un moyens ( EMS ) de transport sans conducteur, les capteurs étant câblés avec l'entraînement ( ANTR ), de manière à obtenir un déplacement sensiblement synchrone du au moins un moyen (EMS) de transport sans conducteur et du au moins un segment (AS) éclairant du feu ( LL ) courant.
EP09013664A 2009-10-30 2009-10-30 Agencement et procédé de commande d'un entraînement d'un moyen de transport sans conducteur Active EP2319742B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
ES09013664T ES2387237T3 (es) 2009-10-30 2009-10-30 Disposición y procedimiento para el control de un accionamiento de un medio de transporte autopropulsado sin conductor
PT09013664T PT2319742E (pt) 2009-10-30 2009-10-30 Disposição e método para o controlo de uma propulsão de um meio de transporte sem condutor
EP09013664A EP2319742B1 (fr) 2009-10-30 2009-10-30 Agencement et procédé de commande d'un entraînement d'un moyen de transport sans conducteur
CN201010571823.1A CN102069807B (zh) 2009-10-30 2010-10-29 用于控制自行式无人驾驶运输工具驱动装置的装置和方法
US12/915,858 US20110106363A1 (en) 2009-10-30 2010-10-29 Arrangement and Method for Controlling a Drive of an Automotive, Driverless Transportation Device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09013664A EP2319742B1 (fr) 2009-10-30 2009-10-30 Agencement et procédé de commande d'un entraînement d'un moyen de transport sans conducteur

Publications (2)

Publication Number Publication Date
EP2319742A1 EP2319742A1 (fr) 2011-05-11
EP2319742B1 true EP2319742B1 (fr) 2012-06-13

Family

ID=42026790

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09013664A Active EP2319742B1 (fr) 2009-10-30 2009-10-30 Agencement et procédé de commande d'un entraînement d'un moyen de transport sans conducteur

Country Status (5)

Country Link
US (1) US20110106363A1 (fr)
EP (1) EP2319742B1 (fr)
CN (1) CN102069807B (fr)
ES (1) ES2387237T3 (fr)
PT (1) PT2319742E (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102114859B (zh) * 2011-02-26 2012-10-24 白净 提高轨道车辆运行密度及预防相互碰撞追尾方法
DE102014013500A1 (de) * 2014-09-10 2016-03-10 Eisenmann Ag Förderanlage mit Sicherheitsfunktion
EP3282600B1 (fr) * 2016-08-09 2021-10-06 Leuze electronic GmbH + Co KG Systeme de transmission de donnees
JP7201381B2 (ja) * 2018-10-05 2023-01-10 日立Astemo株式会社 電子制御装置、並列処理方法

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JPS5512605B2 (fr) * 1971-11-30 1980-04-03
EP0007790A1 (fr) * 1978-08-01 1980-02-06 Imperial Chemical Industries Plc Véhicule sans conducteur porteur de détecteurs non-directionnels et autoguidé par signaux lumineux
DE2966785D1 (en) * 1978-08-01 1984-04-19 Ici Plc Driverless vehicle carrying directional detectors auto-guided by light signals
US4626995A (en) * 1984-03-26 1986-12-02 Ndc Technologies, Inc. Apparatus and method for optical guidance system for automatic guided vehicle
CN85107666A (zh) * 1985-10-19 1987-05-06 西屋电气公司 无人驾驶的车辆之导航系统
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JP3268213B2 (ja) * 1996-10-02 2002-03-25 三菱重工業株式会社 走行車両制御方法
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Also Published As

Publication number Publication date
EP2319742A1 (fr) 2011-05-11
US20110106363A1 (en) 2011-05-05
CN102069807B (zh) 2014-04-09
CN102069807A (zh) 2011-05-25
ES2387237T3 (es) 2012-09-18
PT2319742E (pt) 2012-08-03

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