JP2003267219A - Carrying system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily prevent collision of a fire-proof door with a truck in a carrying system to carry cargoes between cargo loading/unloading stations. <P>SOLUTION: This carrying system comprises a traveling track 1, a plurality of trucks 10 movable along the traveling track 1, and a fire-proof door 20 disposed in the middle of the traveling track 1 to shut off the traveling track 1 when a fire occurs, and further comprises a first detecting means 1 which is disposed on the trucks 10 to detect the proceeding traveling truck 10, members SA and SB disposed on the traveling track 1 on the proximal side of the fire- proof door 20 toward the advancing direction of the trucks 10, and a second detecting means 12 which is disposed on each truck 10 to detect the members SA and SB. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transportation system in which a traveling track is arranged between stations for unloading packages and a package is transported by a carriage that moves along the traveling track.

[0002]

2. Description of the Related Art In recent years, when transporting luggage to each room in a building having a large number of rooms such as hospitals, an unmanned transport system has been used, which is more efficient in transporting luggage than personnel. There is. The unmanned transportation system is, for example, as shown in FIG. 7, a system in which a carriage 51 carrying a luggage travels on a traveling track 52 connecting each room in the building to transport the luggage to each room in the building. That is. In this transfer system, a plurality of carriages 51 are used.

The bogie 51 includes a traveling device for traveling on the traveling track 52, a control device, and a preceding vehicle sensor. The front vehicle sensor is in the traveling direction of the carriage 51 (G direction).
This is for detecting another carriage 51 traveling in front and preventing collision between the carriages 51, and the control device is for controlling the traveling speed of the carriage 51.

Further, in this transfer system, a fire door 53 is installed at an intermediate position of the running track 52 in order to prevent the spread of fire when a fire occurs in the room of the building. When a fire occurs, the fire door 53 descends from above the traveling track 52 toward the lower side (H direction) and blocks the traveling track 52. However, when the truck 51 is stopped just below the fire door 53, there is a disadvantage that the truck 51 becomes an obstacle and the fire door 53 cannot block the running track 52. That is, for example, when one bogie 51 is stopped immediately after the fire door 53 in the traveling direction of the bogie 51, another bogie 51 traveling from the rear is detected by the front vehicle sensor. It may stop immediately below the fire door 53 so as not to collide with the carriage 51, and when the fire door 53 descends in the H direction in this state, it collides with the carriage 51 and the traveling track 52 cannot be blocked.

Therefore, conventionally, trolley sensors 54 and 55 for detecting passage of the trolley 51 are provided on the running track 52 before and after the fire door 53 in the traveling direction of the trolley 51. The trolley sensor 55 is arranged at a position sufficiently separated from the fire door 53 so that one trolley 51 can enter. In addition, the carriage sensor 5 is provided on the traveling track 52.
A transmitter 56 that transmits a signal to the trolley 51 to permit entry into the section L sandwiched by 4, 55 is also provided.
Further, the dolly 51 is provided with a receiver for receiving the entry permission signal transmitted by the dolly sensor 54. With the above configuration, zone control is performed so that only one truck 51 can enter this section L.

That is, when the trolley 51 passes through the trolley sensor 54 and is in the section L, the other trucks 51 traveling from the rear of the trolley 51 receive an entry permission signal for the section L from the transmitter. Not sent from 56. Therefore, the other dolly 51 stops outside the section L. Then, when the preceding trolley 51 passes the trolley sensor 55, the transmitter 56 transmits an entry permission signal to the trolley 51, so that the succeeding trolley 51 can enter the section L. As a result, the carriage 51 does not stop immediately below the fire door 53, so that a collision between the carriage 51 and the fire door 53 can be prevented.

[0007]

However, in the conventional transfer system, in order to perform zone control, two carriage sensors 54 and 55 and a transmitter 56 are arranged on the traveling track.
In addition, since the trolley 51 is also provided with a receiver for receiving the entry permission signal, there is a problem that the cost of constructing the transport system increases. Also, the dolly 51
In order to receive the signal from the transmitter 56, it is necessary to decelerate the dolly 51, which causes an obstacle to shorten the transportation time of the luggage. The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a transport system capable of preventing a collision between a fire door and a carriage and easily preventing the collision.

[0008]

In order to solve the above problems, the present invention proposes the following means. The invention according to claim 1 is a traveling track, a plurality of carriages movable along the traveling track, and arranged at an intermediate position of the traveling track,
A transport system including a fire door for shutting off a traveling track in the event of a fire, the first detection means being provided on the trolley for detecting a preceding trolley traveling in front of the trolley, and a traveling direction of the trolley. There is proposed a transport system including a detected member arranged on the traveling track on the front side of the fire door and a second detection unit provided on each of the carriages and detecting the detected member.

According to the transport system of the present invention, since the second detecting means provided in the truck detects the member to be detected arranged on the traveling track, it is possible to detect that the truck is in front of the fire door. It will be detected by itself. In this state,
When the first detection means provided in the truck detects the preceding truck, it is possible to stop the truck at the front side of the fire door so that the truck does not stop at the position where the fire door blocks the running track. That is, since the trolley speed can be controlled by the first and second detecting means provided on the trolley and the detected member provided on the traveling track, the control for controlling the trolley speed on the traveling track. There is no need to install a device. Further, since the trolley speed is controlled by the first and second detecting means provided on the trolley, the trolley is not unnecessarily decelerated. Therefore, it is possible to shorten the transportation time of the parcel.

The invention according to claim 2 is the transport system according to claim 1, wherein a plurality of the detected members are arranged at intervals in the traveling direction of the carriage, and the plurality of detected members are provided. In the sandwiched area, the first
Has proposed a transport system for decelerating the carriage so that the carriage is stopped when the preceding carriage is detected.

According to the transport system of the present invention, when the trolley detects the preceding trolley by the first detecting means in the area sandwiched by the plurality of detected members, the trolley decelerates so as to stop. . Therefore, it is possible to prevent the truck from stopping at the position where the fire door shuts off the traveling track by changing the speed of the truck by the detection of the detected member by the second detecting means. That is, since the bogie speed can be controlled by the first and second detecting means provided on the bogie and the plurality of detected members provided on the traveling track, the bogie speed is controlled on the traveling track. It is not necessary to provide the control device of.

According to a third aspect of the present invention, in the transport system according to the second aspect, when the trolley is traveling when the trolley detects the detected member closer to the fire door. , A transport system that allows the carriage to travel without stopping is proposed.

According to the transport system of the present invention, the trolley travels without stopping when it reaches the member to be detected which is closer to the fire door. Therefore, when deceleration of the bogie is insufficient in the area sandwiched by the plurality of detected members, the bogie can pass through the position where the fire door closes the running track. Therefore, it is possible to prevent the trolley from stopping at the blocking position by the fire door.

The invention according to claim 4 is the transport system according to claim 2 or claim 3, wherein the first detection means detects two preceding bogies at two different detection distances or less. When the preceding bogie is detected by the first detecting means in the first detection area outside the area sandwiched by the plurality of detection target members, the vehicle is decelerated and travels. Then, when the preceding vehicle is detected by the first detection means in the second detection area having a detection distance shorter than that of the first detection area, the transport system is decelerated so as to stop the vehicle. is suggesting.

According to the transport system of the present invention, when the preceding bogie is detected in the first detection area having a long detection distance, the bogie is decelerated in advance, so that the second detection area having a short detection distance is again detected. When the preceding bogie is detected, the bogie can be stopped in a short distance. Therefore, it is possible to stop the carriage so as not to collide with the preceding carriage.

[0016]

1 to 6 show an embodiment of a transfer system according to the present invention. The transport system 100 according to the present embodiment is for efficiently transporting luggage to each room in a building such as a hospital having a plurality of floors, and as shown in FIG. , A plurality of containers (bogies) 10 that can travel along the traveling track 1
And a plurality of stations ST that are arranged in the middle of the traveling track 1 and that load and unload luggage on the container 10. In addition, the transport system 100 is provided with a fire door 20 that shuts off each room at an intermediate position of the traveling track 1 in order to suppress the spread of fire to another room when a fire occurs in the room. There is.

The station ST is used for loading and unloading of luggage in the container 10, and is provided with an operating device for instructing the transportation of the luggage to another station ST. This station ST is installed not only on the same floor of the building but also on another floor. Therefore, the cargo is transported from one floor to another floor by the lifter 5 that moves the container 10 up and down.

As shown in FIG. 2, the fire door 20 is housed above the running track 1 so that the container 10 can pass through the blocking position W of the running track 1 in a state where no fire has occurred. . When a fire occurs, the fire door 20 is lowered from above the traveling track 1 toward the lower side (direction B) to shut off the traveling track 1.

A section X extending from the fire door 20 to the front and rear in the direction along the running track 1 is an empty space of the running track 1 required to close the fire door 20. That is, when the fire door 20 is closed while the container 10 is in this section X, the fire door 20 comes into contact with the container 10 and the traveling track 1 cannot be blocked.

Bar code labels S _A and S _B are attached to the upper surface 1a of the traveling track 1, and the bar code label S _{B is used.}
Is attached to a position immediately before the container 10 enters the section X in the direction A. Also, the bar code label S
_A is attached to the front side of the barcode label S _B facing the fire door 20 at a position with a constant interval. These barcode labels S _A and S _B are used to control the traveling speed of the container 10 on the front side of the container 10 entering the section X from the A direction.

The container 10 is for loading luggage at one station ST and transporting it to another station ST.
And a bar code reader (second detecting means) 12 and also includes a container 1 (not shown).
A control device for controlling the traveling speed of zero is provided.

The front vehicle sensor 11 is for detecting the container 10 preceding in the traveling direction (direction A) of the container 10 and has two detection distances. The first detection distance (first detection area) B1 is set so that when the container 10 traveling at the maximum speed detects another container 10 stopped forward, the container 10 is gently moved from the maximum speed. Even if the vehicle decelerates to 1, the distance is such that it does not collide with the preceding container 10. When the stopped container 10 is detected, the second detection distance (second detection area) B2 immediately stops the container 10 in order to prevent a rear-end collision with the preceding container 10. It is the distance that must be met.

The bar code reader 12 is for detecting the bar code labels S _A and S _B affixed to the traveling track 1, and is located at the lower end of the container 10 facing the upper surface 1a side of the traveling track 1. It is provided. By reading the barcode labels S _A and S _B by the barcode reader 12, it can be understood that the container 10 is located on the front side of the section X. The control device is the container 10 obtained by the front vehicle sensor 11 and the bar code reader 12.
The traveling speed of the container 10 will be controlled based on the information around the.

A transport system configured as described above
At 100, the traveling speed of the container 10 is preceded by
Inter-vehicle distances B1 and B2 with container 10 and barcode
Bell S _A, S_BWill be changed by less than
The traveling control of the container 10 will be described.

That is, as shown in FIG.
The controller drives the container 10 to travel at the first set speed V ₁ (step S1). This first set speed V ₁
Is a speed in a state in which the container 10 travels on the traveling track 1 for transporting luggage and the front vehicle sensor 11 does not detect the container 10 preceding the container 10. Next, in step S2, the front vehicle sensor 11 determines whether the inter-vehicle distance to the preceding container 10 is less than or equal to the first detection distance B1, and the inter-vehicle distance is the first
If the detection distance B1 is larger than the detection distance B1, the process returns to step S1 and the subsequent container 10 is run at the first set speed V ₁ .

If the inter-vehicle distance to the preceding container 10 is less than or equal to the first detection distance B1, step S
The process proceeds to 3 and the preceding vehicle sensor 11 determines whether the inter-vehicle distance is less than or equal to the second detection distance B2. As a result, when the inter-vehicle distance to the preceding container 10 is larger than the second detection distance B2, the process proceeds to step S4, and the succeeding container 10 is within the section sandwiched by the barcode labels S _A and S _B. Whether the bar code reader 12 is present is determined by the bar code reader 12.

As a result, when the succeeding container 10 is not within the section sandwiched by the bar code labels S _A and S _B , the process proceeds to step S5, where the control device controls the succeeding container 1
The vehicle speed of 0 is changed to the _second set speed V ₂ . Here, the second set speed V ₂ is a speed slower than the first set speed V ₁ . That is, when the succeeding container 10 is traveling at the _first set speed V ₁ , and the inter-vehicle distance from the preceding container 10 becomes the first detected distance B1,
The speed will be reduced toward the second set speed V ₂ . Then, after the processing of this step S5 is completed, the processing shown in step S2 is performed.

In step S3, if the preceding vehicle sensor 11 determines that the inter-vehicle distance to the preceding container 10 is less than or equal to the second detection distance B2, the process proceeds to step S6, and the control device controls the vehicle speed. Change the goal to 0,
The subsequent container 10 is decelerated so as to be stopped. Then, in step S7, it is determined whether or not the subsequent container 10 has stopped. If the container 10 has not stopped, the processing shown in step S2 is performed.

Further, in step S4, when the barcode reader 12 determines that the subsequent container 10 is within the section of the barcode labels S _A and S _B , it is the same as the above steps S6 and S7. The processing shown in is performed. That is, when the inter-vehicle distance to the preceding container 10 is equal to or less than the first detection distance B1 and the inter-vehicle distance is equal to or less than the second detection distance B2, or the succeeding container 10 has the barcode label S _A , When entering the section of S _B , the subsequent container 10 is decelerated so as to stop.

When the subsequent container 10 is stopped in step S7, the inter-vehicle distance from the preceding container 10 becomes the first detection distance B1 or more within the section of the bar code labels S _A and S _B. In the case where the distance is equal to or more than the second detection distance B2 outside the section of the bar code labels S _A and S _B , the succeeding container 10 starts traveling.

The graphs in FIGS. 4 to 6 show an example of speed control. The horizontal axis of each graph indicates the position of the traveling track, and the container 10 is assumed to move from left to right on the paper surface along this horizontal axis. The vertical axis of each graph shows the target speed of the container 10 by the control device and the actual vehicle speed of the container 10.

For example, as shown in FIG.
When the inter-vehicle distance from the preceding container 10 is less than or equal to the first detection distance B1 at the position S _C on the front side of the barcode label S _{A in} the traveling direction of, the process of step S5 is performed. , The speed of the subsequent container 10 is the second
Decelerate toward the set speed V ₂ of. This deceleration is
In order to prevent damage to the load placed on the container 10, it is performed gently over a long distance. When the barcode label S _A is passed, the process of step S6 is performed, the container 10 is decelerated so as to stop, and stops immediately before the barcode label S _B.

Further, for example, as shown in FIG. 5, on the front side of the position S _C in the traveling direction of the container 10, the inter-vehicle distance to the preceding container 10 becomes the first detection distance B1 or less. In this case, the processing of step S5 is performed so that the vehicle speed of the subsequent container 10 is the second set speed V.
Decelerate to ₂ . When the vehicle passes the barcode label S _A at this vehicle speed, the process of step S6 is performed, and the subsequent container 10 is stopped within the section sandwiched between the barcode labels S _A and S _B.

Further, for example, as shown in FIG.
_If the inter-vehicle distance from the preceding container 10 between _C and the bar code label S _A is less than or equal to the first detection distance B1, the process of step S5 is performed to determine the vehicle speed of the succeeding container 10 as follows. The speed is reduced toward the second set speed V ₂ . Then, when the succeeding container 10 passes the barcode label S _A at this vehicle speed, the subsequent container 10 performs the process of step S6 and decelerates so as to stop. However, when the succeeding container 10 passes the bar code label S _B , the process of step S5 is performed again to accelerate to the _second set speed V ₂ , and the shut-off position W of the fire door 20 is reached.
Will pass through.

That is, the position S _C and the bar code label S _B
Between the front vehicle sensor 11 and the first detection distance B
When 1 is detected, the succeeding container 10 cannot stop before the barcode label S _B even when decelerated. Therefore, when the succeeding container 10 is at the position S _C , as shown in FIG.
Between the front end boundary X1 of the section X and the front end boundary X1 of the section X, a gap is required such that at least one container 10 can be positioned.

Therefore, the first detection distance B1 is the braking distance (the length from the position S _C to the bar code label S _B ) until the container 10 stops from the first set speed V ₁ ,
It is preferable to set it as the sum of the length of the section X, the second detection distance B2, and the length of one container 10.

Further, the transport system 100 is provided with an emergency stop mechanism 150 so that the collision between the container 10 and the fire door 20 can be prevented more reliably. The emergency stop mechanism 150 includes a transmitter 31 provided on the ceiling wall surface 30 above the traveling track 1 and a receiver (not shown) provided on the container 10 and receiving a signal transmitted from the transmitter 31. And bar code labels S _B and S _D provided on the traveling track 1.

The transmitter 31 transmits a signal for permitting entry into the section X to the receiver of the container 10. The transmitter 31 issues an entry permission signal during normal times and stops the entry permission signal during a fire. To do. The bar code label S _D is attached to the fire door 20 on the upper surface 1a side of the traveling track 1 on the front side of the bar code label S _A.

The container 10 has bar code labels S _B and S _D.
When the receiver receives the entry permission signal while traveling in the direction A in the section sandwiched by, the container 10 is caused to travel based on the speed control described above. Also,
When the entry permission signal is not received, the container 10 is stopped suddenly to stop the container 10 and the collision between the container 10 and the fire door 20 is surely prevented. Here, the sudden braking means that the container 10 is forcibly stopped at a short distance even from the first set speed V ₁ .

As described above, according to the transport system 100, the bar code reader 1 provided in the container 10 is provided.
2 is the bar code label S _A , S _B placed on the track 1
Therefore, the container 10 itself detects that the container 10 is on the front side of the fire door 20. Then, when the preceding vehicle sensor 11 of the container 10 detects another preceding container 10 in the section sandwiched by the barcode labels S _A and S _B , the container 10 is decelerated so as to stop. Therefore, it is possible to prevent the container 10 from stopping at the blocking position W of the traveling track 1 by the fire door 20 by changing the speed of the container 10 by detecting the barcode labels S _A and S _B by the barcode reader 12.

Further, when the container 10 reaches the bar code label S _B , it runs without stopping. Therefore, when deceleration of the container 10 becomes insufficient in the area sandwiched by the bar code labels S _A and S _B , the container 10 may pass the cutoff position W of the traveling track 1 by the fire door 20. It will be possible. Therefore, it is possible to prevent the container 10 from stopping at the blocking position W by the fire door 20.

From the above, the speed control of the container 10 is performed by the front vehicle sensor 11, the bar code reader 12 provided on the container 10, and the bar code labels S _A and S _B provided on the running track 1. be able to. As a result, it is not necessary to provide a control device for controlling the speed of the container 10 on the traveling track 1, and thus the transport system 100
Installation cost can be reduced. In addition, since the carriage is not unnecessarily decelerated, it is possible to shorten the transportation time of luggage.

Further, when the preceding vehicle sensor 11 of the container 10 detects the preceding container 10 at the first detection distance B1, the container 10 is decelerated in advance, so the second
When the preceding container 10 is detected at the detection distance B2 of 1, the container 10 can be stopped at a short distance. Therefore, the container 10 can be stopped so as not to collide with the preceding container 10.

In the above embodiment, the bar code labels S _A and S _B may be attached to the lower surface of the traveling track 1 as well as the upper surface 1a of the traveling track 1. Further, the barcode labels S _A and S _B are not limited to the barcode labels, and for example, a barcode label may be separately provided before each station ST. In this case, the bar code reader 12 detects the bar code label in front of the station ST and informs the control device of the container 10 that the bar code reader 12 has arrived at the station ST which is the target of carrying the package.
Can be decelerated to stop at station ST.

Further, although it has been stated that the traveling path 1 is shut off by the fire door 20 at the time of a fire, it is not limited to this. You may block it. further,
The fire door 20 is housed above the running track 1 and moves in the direction B to block the running track 1. However, the present invention is not limited to this, and is housed below the running track 1, for example,
The traveling track 1 may be blocked by moving upward from the lower side of the traveling track 1 or may be housed on the side of the traveling track 1 to block the traveling track 1 from both sides of the traveling track 1.

[0046]

As described above, according to the inventions according to claims 1 to 3, it is not necessary to provide a control device for controlling the vehicle speed on the traveling track, so that the installation cost of the transfer system can be reduced. Can be achieved.

According to the invention of claim 4, when the preceding bogie is detected in the first detection area having a long detection distance, the bogie is decelerated in advance.
When the preceding bogie is detected in the detection area, the bogie can be stopped for a short distance, so that the bogie can be stopped so as not to collide with the preceding bogie.

[Brief description of drawings]

FIG. 1 is a schematic diagram of a transfer system according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a traveling track around a fire door in the transport system of FIG.

FIG. 3 is a diagram showing a speed control flow of a container in the transport system of FIG.

FIG. 4 is a graph showing the speed and set speed of the container on the front side of the fire door in the transport system of FIG.

5 is a graph showing the speed and set speed of the container on the front side of the fire door in the transport system of FIG.

FIG. 6 is a graph showing the speed and set speed of the container on the front side of the fire door in the transport system of FIG. 1.

FIG. 7 is a schematic view showing an example of a conventional transport system.

[Explanation of symbols]

1 Travel Track 10 Container (Bogie) 11 Front Vehicle Sensor (First Detection Means) 12 Bar Code Reader (Second Detection Means) 20 Fire Door 100 Transport System B1 First Detection Distance (First Detection Area) B2 Second detection distance (second detection area) S _A Bar code label (detected member) S _B Bar code label (detected member)

Claims (4)

[Claims] 1. A transport system comprising a running track, a plurality of carriages movable along the running track, and a fire door arranged at an intermediate position of the running track and blocking the running track when a fire occurs. First detection means provided on the trolley for detecting a preceding trolley traveling in front of the trolley and detection target arranged on the traveling track on the front side of the fire door toward the traveling direction of the trolley. A conveyance system including a member and a second detection unit that is provided on each of the carriages and detects the detected member. 2. A plurality of the detected members are arranged at intervals in the traveling direction of the dolly, and the first detecting means detects the preceding dolly in a region sandwiched by the plurality of detected members. The transport system according to claim 1, wherein the carriage is decelerated so as to stop the carriage when stopped. 3. When the trolley is traveling when the trolley detects the detected member closer to the fire door,
The transport system according to claim 2, wherein the carriage is caused to travel without being stopped. 4. The first detection means includes two detection areas for detecting the preceding carriage at two or less different detection distances, and the first detection is provided outside the area sandwiched by the plurality of detected members. In the area, when the preceding vehicle is detected by the first detecting means, the vehicle is decelerated to run, and in the second detection area having a detection distance shorter than the first detection area, The transport system according to claim 2 or 3, wherein when the preceding vehicle is detected by the first detection means, the vehicle is decelerated so as to stop the vehicle.