JP2649557B2 - Travel control system for transfer equipment for transportation - Google Patents

Description

The present invention relates to a traveling control code plate disposed on a traveling route side of a transporting moving device, and a code reading means attached to the moving device side. The present invention relates to a travel control system for a transporting moving device that uses a computer.

(Prior Art) As this kind of traveling control system, the code reading means is constituted by a plurality of detectors arranged in parallel in a direction orthogonal to the traveling direction of the moving device, and the code plate is provided with the code reading A plurality of detected parts are provided in parallel in a direction orthogonal to the traveling direction of the moving device so as to correspond to each detector of the means, and each detected part turns on the corresponding one of the detected parts. There is known a system in which a control code is configured by a combination of a detected part that is not turned on.

In such a traveling control system of the parallel detection type,
Since it is necessary to determine the control code from the on / off state of each detector in a state where all of the parallel detectors of the code reading means correspond to the respective detected parts of the code plate, the parallel detectors of the code reading means are required. A timing detection part for detecting when all the parts correspond to the detection parts of the code plate and a timing detector for detecting the timing detection part are separately provided. The control code is determined from the on / off state of the parallel detector of the code reading means when the detector detects the detected portion for timing.

(Problems to be Solved by the Invention) As described above, the conventional detection control part parallel type traveling control system requires a timing detection part and a timing detector for detecting the timing detection part. Therefore, there is a disadvantage that not only the code plate becomes large, but also the number of parts increases and the cost increases.

(Means for Solving the Problems) An object of the present invention is to provide a travel control system for a transporting moving device capable of solving the above-mentioned conventional problems, and the means will be described later. In the embodiment, reference numerals are used to designate a traveling control code plate (10 to 12) disposed on the traveling route side of the transporting moving device (1), and a code reading device attached to the moving device side. A travel control system for a transporting moving device using the moving means, wherein the code reading means comprises a plurality of detectors arranged in parallel in a direction orthogonal to a traveling direction of the moving device. 6
b), wherein the code plate (10 to 12) is arranged in a direction perpendicular to the traveling direction of the moving device (1) so as to correspond to each detector (6a, 6b) of the code reading means (6). A plurality of detected parts (44a, 44b) are provided in parallel with each other.
b) forms a control code by a combination of a detected part that turns on the corresponding detector (6a, 6b) and a detected part that is not turned on, and each detector (6) of the code reading means (6) 6a, 6b) is stored, and when all the detectors (6a, 6b) are turned off, the code plate (10-12) is stored from the stored contents of the on / off state of each detector (6a, 6b). Then, the traveling of the moving device (1) is controlled by determining the control code, and after the control code is determined, the stored contents of the ON / OFF states of the detectors (6a, 6b) are erased.

(Operation of the Invention) As described above, the detected part (44a, 44b) of the code plate is used.
If the control code is determined based on the on / off state of each detector (6a, 6b) without storing the on / off state of each detector (6a, 6b) that detects the When there are a plurality of detected parts for turning on the detectors (6a, 6b) among the parts (44a, 44b), the starting end position of each of the on-operation detected parts (44a, 44b) is set to the moving device (1). It is accurately positioned on a straight line perpendicular to the running direction, and
Unless the detectors (6a, 6b) of the code reading means (6) are also accurately aligned on a straight line perpendicular to the traveling direction, the detectors (6a, 6b) correspond to the plurality of ON operation detected parts (44a, 44b). Since multiple detectors (6a, 6b) do not turn on at the same time,
The control code of the read code plate (10 to 12) cannot be accurately determined.

For this reason, conventionally, another timing detection target portion and a timing detector for detecting the same are provided in order to slightly delay the timing of determining the control code. In the case where there are a plurality of ON operation detected portions (44a, 44b) on the code plate, even if there is a displacement in the traveling direction at the start end position or the rear end position of these ON operation detected portions (44a, 44b), Alternatively, even if the detectors (6a, 6b) corresponding to the ON operation detected parts are slightly displaced in the traveling direction, the detectors corresponding to the ON operation detected parts (44a, 44b) as described above. The on-operation of (6a, 6b) is stored, and when all the detectors (6a, 6b) are turned off, the control code is determined from the on-off state of each detector (6a, 6b). From, the code plate (10 ~
The control code of 12) can be read accurately.

(Embodiment) An embodiment of the present invention will be described below with reference to the accompanying drawings.

In FIG. 1, reference numeral 1 denotes a transport train that runs by itself along a guide rail 2, which is a stop proximity switch 3, a photoelectric switch photodetector 4 for releasing stop, a transmission for transmitting information such as a failure stop. And a shift code reading means 6. In a station 7 set in the traveling route of the train 1, a stop detection plate 8, a photoelectric switch light emitting device 9 for releasing the stop, a low speed command code plate 10, and a medium speed command code plate 11 are provided. A high-speed command code plate 12 is provided immediately after the station 7.

The travel route of the train 1 is long enough to allow the operator to see at a glance without being affected by surrounding obstacles.
Each of the antenna lines 13 is divided along the length of about 30 m, divided into each zone, and a radio signal receiving antenna line (for example, a parallel line feeder for television) 13 is extended along the guide rail 2. , The transmitter 5 via the antenna line 13.
Are connected to each other, and a sequencer 16 for identifying train information for each zone from the received signal of each receiver 14 and displaying the train information on the display means 15 is provided.

As shown in FIGS. 2 and 3, the transport train 1 includes a drive wheel 17, a steady rest roller 18, and a drive wheel.
A driving trolley 21 having a motor 19 for driving the motor 17 and a current collecting unit 20, a driven wheel 22 and a steadying roller
A driven trolley 24 provided with a connecting member 23, a connecting member 25 for connecting the two trolleys 21 and 24, and a transferred object support 26 suspended from the connecting member 25; In this case, a power supply rail 27 is provided on one side surface.

The trolleys 21 and 24 are attached to bearing members 25a and 25b attached to the front and rear ends of the connecting member 25, respectively.
(See FIG. 2), but the two bearing members 25a and 25b are connected to the bumpers 3 via the supporting members 29a and 29b so as to protrude forward and rearward from the trolleys 21 and 24.
0a and 30b are attached. This bumper 30a, 30b
May be attached to both trolleys 21 and 24.

As shown in FIGS. 2 and 4, a bracket 31 extending forward is attached to the front bumper support member 29a, and the bracket 31 is attached to the photoelectric switch light receiver 4 for releasing the stop. A proximity switch 32 for preventing rear-end collision and a reflection-type photoelectric switch 33 for preventing rear-end collision are mounted. The rear bumper support member 29b is provided with a rear-end collision preventing detection plate 34 extending rearward. When the front and rear transport trains 1 approach within a certain distance, the rear end of the detection plate 34 is closed. The proximity switch 32 for rear-end collision prevention of the following train faces the upper side, and the proximity switch 32 detects the detected plate 34.

Further, the proximity switch is provided at the base of the detected plate 34.
A vertical anti-collision reflection surface 35 that can be detected by the anti-collision reflective photoelectric switch 33 of the subsequent train before the 32 detects the detection plate 34 is formed.

The stop proximity switch 3 and the transmitter 5 for transmitting information such as failure stop are provided with a bracket protruding laterally from the drive trolley 21 as shown in FIGS.
Attached to 36. The antenna wire 13 is stretched on the side of the guide rail 2 opposite to the side on which the power supply rail 27 is erected. Specifically, as shown in FIG. It is housed in a telephone line laying channel case 38 attached to the side surface with an adhesive tape 37 or the like.

As shown in FIG. 2, the shift code reading means 6 includes a bracket 39 attached near the front end of the connecting member 25.
At the upper end of the guide rail 2 so as to be located directly below the guide rail 2. As shown in FIGS. 6 and 7, the code plates 10 to 12 read by the code reading means 6 are provided on a substrate 40 which is in contact with the lower surface of the guide rail 2.
And a nut plate 42 fitted in a mounting groove 41 formed continuously in the rail length direction on the lower surface of the guide rail 2, and a fixing screw 43 for fastening the substrate 40 and the nut plate 42. The position can be freely adjusted in the length direction of the guide rail 2 by relaxing the fixing screw 43. The board 40 is provided with a rotation-preventing bent portion 40a that contacts one side surface of the guide rail 2.

On the lower surface of the substrate 40, two
The two detected parts are juxtaposed, and a tape-shaped rubber magnet is adhered to a specific detected part in parallel with the rail length direction to form the ON operation detected parts 44a and 44b. First
In the example shown in the figure, the low-speed command code plate 10 is provided with the ON operation detection portion 44a only on the right side of the board 40, and the middle speed command code plate 11 is provided only on the left side of the board 40. A detection unit 44b is provided, and the high-speed command code plate 12
Are provided with ON operation detected parts 44a and 44b on both left and right sides of the substrate 40. The shift code reading means 6
As shown in FIG. 6, a pair of left and right magnetic proximity switches 6a and 6b are provided as detectors for separately detecting the detected portions on both left and right sides of the code plates 10 to 12, respectively. This proximity switch 6a,
6b is turned on only when the detected portions of the code plates 10 to 12 are the on-operation detected portions 44a and 44b.

As shown in FIG. 3, the stop detection plate 8 and the photoelectric switch floodlight 9 for releasing the stop are mounted on the guide rail 2 via brackets 45 and 46, respectively. 47
Is a bracket for supporting the guide rail 2.

As shown in FIG. 8, the transportation train 1 includes the stop proximity switch 3, the photoelectric switch light receiving device 4 for releasing the stop, the collision prevention proximity switch 32, the reflection prevention reflection photoelectric switch 33, And a controller (such as a sequencer or a microcomputer) for controlling the motor 19 via the motor controller 48 or controlling the transmitter 5 based on the detection signals of the magnetic proximity switches 6a and 6b of the shift code reading means 6. 49 is installed.

FIG. 9 is a circuit diagram showing conditions under which the controller 49 outputs a stop command to the motor controller 48. The normally open contact 3a of the stop proximity switch 3 and the photoelectric switch for releasing the stop are used. Normally closed contact of the receiver 4
4b, and a stop electromagnetic relay 50 are connected in series, and a normally open contact 32a of the rear-end collision prevention proximity switch 32 is connected in parallel to a series circuit of the normally open contact 3a and the normally closed contact 4b. . Further, the stop proximity switch 3 is connected to the stop detection plate 8.
The self-holding contact 50a of the stop electromagnetic relay 50 may be connected in parallel with the normally open contact 3a of the stop proximity switch 3 so that the train 1 stops even in an overrun state where the stop occurs. A stop command is output to the motor controller 48 by exciting the stop electromagnetic relay 50.

Next, the operation of the above embodiment will be described.
By the initial setting for 49, the motor 19 is operated by the electric power supplied from the power supply rail 27 via the current collecting unit 20 and the motor controller 48, and the driving wheel 17 is rotated to move the transport train 1 to the guide rail 2. Drive along. When the train 1 arrives at the station 7, first, the shift code reading means 6 reads the medium speed command code plate 11, and determines from the ON / OFF state of the magnetic proximity switches 6a, 6b that the controller 49 is the medium speed command. , And outputs a middle speed command to the motor controller 48. Therefore, when the transport train 1 is running at a high speed, the speed is reduced to a medium speed. Next, the speed change code reading means 6 reads the low speed command code plate 10, whereby a low speed command is given to the motor controller 48, and the traveling speed of the transport train 1 is reduced to a low speed. When the stop proximity switch 3 detects the stop detection plate 8, the stop electromagnetic relay 50 shown in FIG. 9 is excited, and a stop command is output from the controller 49 to the motor controller 48.
19 stops, and the transport train 1 stops at the station 7.

When the train 1 is started, the light emitter 9 for photoelectric switch for releasing the stop is energized to emit light. When the light beam from the light emitter 9 is received by the light receiver 4 of the train 1, the normally closed contact 4b shown in FIG. 9 is opened, the stop electromagnetic relay 50 is demagnetized, the stop command is released, and the stop is performed. Power supply to the motor 19 of the train 1 was resumed, and the train 1
Starts.

When the train 1 is to be traveled without stopping at the station 7, the photoelectric switch projector 9 for releasing the stop is energized and emitted before the train 1 arrives. As a result, before the stop proximity switch 3 of the train 1 detects the stop detection target plate 8, the light receiver 4 receives the light beam of the light emitter 9, so that the normally closed contact 4b in FIG.
Open before the normally-open contact 3a closes, thereby preventing the stop electromagnetic relay 50 from being excited, so that the stop command is not output.
That is, the train 1 travels and passes through the station 7 at a low speed.

When the train 1 starts from the station 7, the shift code reading means 6 reads the high-speed command code plate 12, and a high-speed command is output from the controller 49 to the motor controller 48, so that the traveling speed of the train 1 accelerates to a high speed. After that, the vehicle runs at high speed.

The method of reading the shift information of the code plates 10 to 12 by the shift code reading means 6 and the controller 49 will be specifically described. As shown in the flowchart of FIG. 10, the proximity switch 6a for detecting the ON operation detected portion 44a Is turned on (low-speed ON), a low-speed flag is set in the storage function of the controller 49 to store the operation (low-speed code ON), and the proximity switch 6b for detecting the ON-operation detection target 44b is turned on ( If the medium speed is turned on, a flag corresponding to the medium speed is set in the storage function of the controller 49, and the operation is stored (medium speed code on). When both of the proximity switches 6a and 6b are turned off, the shift information held by the read code plates 10 to 12 is determined based on the stored contents, that is, the operation state of the flag. That is, when only the ON operation of the proximity switch 6a is stored (low-speed code ON), a low-speed command is issued,
When only the ON operation of 6b is stored (medium speed code ON), the medium speed command is set. When the ON operations of both proximity switches 6a and 6b are stored (low speed code ON and medium speed code ON), the high speed command Is determined. After the determination of the shift information, the storage is erased (low-speed code off and medium-speed code off).

According to such a method, when configuring the high-speed command code plate 12 having both the ON-operation detection target 44a and the ON-operation detection target 44b as shown in FIG. Even if there is a displacement in the traveling direction at the start end position or the rear end position of the ON operation detected portions 44a, 44b, the control information as the high-speed command can be accurately read without any trouble. In other words, there may be an error in the length of the tape-shaped rubber magnet forming the ON-operation detected portions 44a and 44b and the position of the tape-like rubber magnet attached to the substrate 40. Further, when the code plate 12 is attached to the guide rail 2, the code plate 12 may be inclined left and right with respect to the traveling direction.

The board 40 of the code plates 10 to 12 is also used as the surface of the guide rail 2 and a tape-shaped rubber magnet is directly adhered to the guide rail 2 to form the code plates 10 to 12 having the ON-operation detected parts 44a and 44b. It is also possible to configure. Also code plate
The ten to twelve ON-operation detection portions 44a and 44b are formed by tape-shaped rubber magnets. However, if the reading format or the mounting position is changed, the detection portions 44a and 44b may be formed of a coloring tape, a light reflection tape, or a magnetic plate. Of course, it is also possible to configure the substrate 40 by directly coloring.

Further, in the above embodiment, the present invention was carried out with respect to three types of code plates 10 to 12 having shift codes and their reading, but a code plate for giving a unique address to each station, branch point, junction, and the like, and its reading. It is also possible to practice the invention with respect to. When the types of control codes are thus increased, a code plate in which three or more detected parts are juxtaposed may be used.

(Effects of the Invention) As described above, according to the system of the present invention, the control code of the code plate can be accurately read even though the timing detection target portion and the timing detector for detecting the same are not used. In addition, the traveling control of the transporting moving body can be accurately performed. Therefore, it is possible to reduce the size of the code plate and the reading means, and also to reduce the number of parts and cost.

In addition, since a high positional accuracy is not required for the on-operation detected portion of the code plate, the on-operation detected portion of the code plate can be easily configured by attaching a tape-like rubber magnet or the like as in the embodiment. It is also possible to easily and easily attach the code plate.

Further, the time when the control code is determined from the stored ON / OFF state of each detector, that is, the time when the detector of the code reading means has passed the position of the code plate, is determined by the fact that all the detectors are in the OFF state. Since the detection is performed, the timer function is not required, and the control code can always be accurately determined regardless of the traveling speed of the moving device.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram illustrating the overall configuration, and FIG.
The figure is a side view showing a concrete structure, FIG. 3 is a vertical sectional front view of the same, FIGS. 4 and 5 are horizontal sectional plan views of the same, FIG. 6 is an enlarged vertical sectional front view of a main part, and FIG. Fig. 8, Fig. 8 is a block diagram illustrating a control system, Fig. 9 is a circuit diagram illustrating stop control conditions, Fig. 10 is a flowchart illustrating a code plate reading method, and Fig. 11 is a high speed command code plate. It is a figure explaining the position gap of a tape-shaped rubber magnet. DESCRIPTION OF SYMBOLS 1 ... Train for conveyance, 2 ... Guide rail, 3 ... Proximity switch for stop, 4 ... Photodetector for photoelectric switch for release of stop, 5 ... Transmitter, 6 ... Code reading means for speed change,
6a, 6b: magnetic proximity switch (detector), 7: station, 8: stop detection plate, 9: photoelectric switch for release of stop, 10 to 12: shift code plate,
13 ... antenna line, 14 ... receiver, 15 ... display means, 16
…… Sequencer, 17 …… Drive wheels, 19 …… Motor,
20… current collecting unit, 21… driving trolley, 24… driven trolley, 27… power supply rail, 30a, 30b… bumper, 3
2 ... Proximity switch for rear-end collision prevention, 33 ... Reflective photoelectric switch for rear-end collision prevention, 34 ... Detected plate for rear-end collision prevention, 35 ... Reflection surface.

Continuation of the front page (56) References JP-A-60-164816 (JP, A) JP-A-59-202517 (JP, A) JP-A-58-151610 (JP, A) JP-A-50-160919 (JP, A) JP-A-52-155563 (JP, A) JP-A-56-41307 (JP, U)

Claims (1)

(57) [Claims] 1. A traveling control system for a transporting moving device using a traveling control code plate disposed on a traveling route side of the transporting moving device and code reading means attached to the moving device side. The code reading means includes a plurality of detectors arranged in parallel in a direction orthogonal to the traveling direction of the moving device, and the code plate corresponds to the detectors of the code reading means. A plurality of detected parts arranged in parallel in a direction perpendicular to the traveling direction of the vehicle, and each detected part is controlled by a combination of a detected part that turns on the corresponding detector and a detected part that is not turned on. The on-off state of each detector of the code reading means is stored, and when all the detectors are turned off, the control code of the code plate is stored from the stored contents of the on-off state of each detector. Running control system for the transport movement apparatus the control travel of the mobile device, to erase the storage contents of the on-off states of the respective detectors after determination of the control code other is allowed.