JP2003267663A - Running control device of a plurality of automatic carriers - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To secure the safety and to prevent collision and runaway, etc., of automatic carriers even when the information either on a wired line or on a radio line is wrongly transmitted, without deteriorating the safety under the environment with trouble in the radio communication. <P>SOLUTION: In the running control device, a plurality of automatic carriers A-D are mounted on a track 1, and a running detector 5 such as a pulse generator is mounted on each automatic carrier. The running control device transmits information on the position and speed of each automatic carrier detected by the running detector to a central control part 2 via the radio communication, and each automatic carrier is made to run to a target position by the radio communication. In the running control device, switches 7 such as a limit switch are disposed along the track at prescribed intervals so that the position of each automatic carrier is detected by the central control part with signals transmitted through the wired communication. When a request for running is made, it is determined whether the running of each automatic carrier from the position of the automatic carrier detected through the wired communication to the target position should be permitted or not. <P>COPYRIGHT: (C)2003,JPO

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel control device which can be a safety measure when a plurality of automatic carriers provided on a track are operated by wireless communication. is there. 2. Description of the Related Art For example, in a large-scale steelmaking plant having a plurality of melting furnaces, a clamshell type bucket containing iron scrap as a raw material is carried to the melting furnace, and a ceiling for charging the raw material into the melting furnace. A plurality of cranes (hereinafter, referred to as automatic transfer machines) are provided on one track of the melting yard. [0003] Each of the automatic transporters is equipped with a travel detector such as a pulse generator, which wirelessly transmits current position and speed information to a centralized management unit, and also issues a wireless command from the centralized management unit or an onboard machine. Each of the automatic transporters is configured to automatically travel to a target position in response to a command from a pilot who gets into the operation room, a radio command from a ground worker, or the like. Further, position detectors such as proximity sensors and limit switches are arranged at predetermined intervals along the track,
It has also been considered to adopt a wired system in which the -OFF signal is transmitted to a centralized management unit via a wire, converted into position information, and the position of each automatic carrier is managed. [0005] By the way, the centralized management by the above-mentioned wireless system needs to be a place suitable for wireless communication such as no radio noise and no obstacle between antennas. In an environment where it can occur frequently, there is a danger that a malfunction may occur due to a data transmission / reception error, which is dangerous. In addition, in the case of the above-mentioned wired system, the noise is small and the possibility of transmission / reception errors is almost eliminated. However, in order to obtain the accuracy of the stop position of the automatic transporter, it is necessary to arrange many position detectors at a fine pitch. In addition, there is a problem that it is difficult to grasp speed information of the moving automatic transporter for each automatic transporter. Also, in any of the methods, if there is an erroneous detection by a sensor or the like, there is a possibility that a serious accident such as a collision or a runaway may be caused. Accordingly, the present invention is to combine a wireless system and a wired system so that a plurality of automatic transporters can be controlled with higher safety. [0007] For this purpose, the present invention provides a plurality of automatic transporters on a track, each of which includes a travel detector such as a pulse generator. While transmitting the position and speed information of each automatic transporter detected by the device to the central management unit by wireless communication,
In a travel control device that causes each automatic transporter to travel to a target position by wireless communication, switches such as a proximity sensor and a limit switch that detect the presence or absence of the automatic transporter are arranged at predetermined intervals along the track, and signal transmission by wire is performed. The position of each automatic transporter is detected by the central management unit, and when there is a travel request, it is determined whether or not it is possible to travel to the target position from the position of each automatic transporter detected by the wired communication. It is characterized by the following. Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a plurality of automatic transfer machines A to D provided with a track 1 on the ceiling of a building of a steelmaking plant for transferring molten materials, ladles and the like on the track, and each of the automatic transfer machines. 1 is a conceptual diagram of a travel control device of the present invention, showing a centralized management unit 2 for controlling travel of a vehicle and a portable wireless operating device 3. Each of the automatic transporters A to D includes a traveling motor 4, and a traveling detector 5 such as a pulse generator for detecting the number of rotations is provided on a shaft via the traveling motor 4. A wireless transceiver 6 as communication means is mounted, and the current position and speed information of each of the automatic transporters grasped by the travel detector 5 are transmitted to the central management unit 2 through the wireless transceiver 6. The wireless transceiver 6 has a central management unit 2.
, And the driving motor 4 is driven in accordance with the commands to drive each of the automatic transporters to the target position. Are switches, such as proximity sensors and limit switches, arranged at predetermined intervals along the track 1, and when the switches are turned on and off,
It is detected whether or not there is an automatic transporter in the territory of each switch, and a detection signal is transmitted to the centralized management unit 2 via the wired line 8, and the centralized controller receives the automatic transporters A to The location information of D is constantly updated. As shown in the flowchart of FIG. 2, the central management unit 2 receives a traveling request from the wireless operation device 3 or the operation panel 9 provided in the central management unit 2 (step a).
And the latest position information of all the automatic transporters A to D obtained through the wired line 8 is read (step b).
It is determined whether or not another automatic transporter is located between the target position of the travel request. (Step c). When another automatic transporter is located, the traveling request is interlocked, and the centralized management unit 2 does not execute the traveling request. If it is determined that another automatic transporter is not located, the process proceeds to step d, and each of the automatic transporters A to
The current position and speed information of each of the automatic transporters received from D via the wireless line are read, and it is determined in step e whether or not there is a risk that another automatic transporter will interfere with traveling to the target position. And if there is no risk of interference,
At step f, a traveling command is transmitted to the automatic transporter via a wireless line, and the automatic transporter travels toward the target position. If there is a possibility of interference, this traveling command is not transmitted. The central management unit 2 is provided with each of the automatic transporters A to D
The present position and running speed of the vehicle are constantly monitored, and if a collision or runaway occurs, a stop command is immediately transmitted through a wireless line to stop the automatic transporter. As described above, according to the traveling control device of the present invention, switches such as a proximity sensor and a limit switch for detecting the presence or absence of an automatic transporter are arranged at predetermined intervals along the track, and a wired signal is provided. By transmitting, the position of each automatic transporter is detected by the central management unit, and if there is a travel request, it is determined whether or not it is possible to travel to the target position from the position of each automatic transporter detected by the wired communication. As a result, the vehicle can travel to the target position without impairing the safety even in an environment where wireless communication is impaired, and using both the information obtained on the wired line and the information obtained on the wireless line. Therefore, there is a beneficial effect that the traveling control of a plurality of automatic transporters can be performed with higher safety even if one of the information is erroneously transmitted.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a conceptual diagram of a communication system showing an embodiment of a traveling control device for an automatic carrier according to the present invention. FIG. 2 is a flowchart of a travel control device showing an embodiment of the present invention. [Explanation of Reference Codes] A to D Automatic carrier 1 Track 2 Central control unit 3 Portable wireless operating device 4 Traveling motor 5 Travel detector 6 Wireless transceiver 7 Switch 8 Wired line

Claims (1)

Claims: 1. A plurality of automatic transporters are provided on a track, and a travel detector such as a pulse generator is mounted on each automatic transporter, and each automatic transporter detected by the travel detector is provided. Proximity sensors and limit switches that detect the presence or absence of an automatic transporter in a travel control device that transmits the position and speed information of the transporter to a centralized management unit by wireless communication and that causes each automatic transporter to travel to a target position by wireless communication Such switches are arranged at predetermined intervals along the track so that the position of each automatic transporter is detected by the central management unit by wired signal transmission, and when there is a traveling request, each detected by the wired communication A travel control device for a plurality of automatic transporters, wherein it is determined whether or not the vehicle can travel to a target position from the position of the automatic transporter.