JP2896968B2 - Anti-collision device for multiple traveling vehicles - Google Patents

Anti-collision device for multiple traveling vehicles

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Publication number
JP2896968B2
JP2896968B2 JP8469795A JP8469795A JP2896968B2 JP 2896968 B2 JP2896968 B2 JP 2896968B2 JP 8469795 A JP8469795 A JP 8469795A JP 8469795 A JP8469795 A JP 8469795A JP 2896968 B2 JP2896968 B2 JP 2896968B2
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JP
Japan
Prior art keywords
traveling
speed
section
traveling vehicle
vehicle
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.)
Expired - Fee Related
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JP8469795A
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Japanese (ja)
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JPH08245168A (en
Inventor
浩一 小泉
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KITOO KK
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KITOO KK
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Priority to JP8469795A priority Critical patent/JP2896968B2/en
Publication of JPH08245168A publication Critical patent/JPH08245168A/en
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Publication of JP2896968B2 publication Critical patent/JP2896968B2/en
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Expired - Fee Related legal-status Critical Current

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Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【産業上の利用分野】本発明は同一軌条上を走行する複
数の走行台車同志が追突したり衝突したりするのを防止
する複数走行台車の衝突防止装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision preventing device for a plurality of traveling vehicles, which prevents a plurality of traveling vehicles traveling on the same rail from colliding or colliding.

【０００２】[0002]

【従来技術】図７に示すように、自動倉庫等の多数の荷
受け渡しステーション（荷出し入れ場）Ｓｎ、Ｓｎ−
１、Ｓｎ−２、Ｓｎ−３、・・・・・に沿って設けられ
た同一軌道上を複数台の走行台車１０を走行させると
き、先行する走行台車１０が停止している場合、後続の
走行台車１０を順次減速停止させる必要がある。複数の
走行台車１０間の衝突を防止する方法として、同図に示
すように、走行路を複数の区間（距離ｄ0）に分割し、
前方の区間に先行する台車１０が存在するときは、その
一つ手前の区間に進入した台車を同一の区間には進入で
きないようにする区間制御方法が用いられている（例え
ば特願平５−２５３７０６号）。2. Description of the Related Art As shown in FIG. 7, a number of unloading stations (unloading and unloading stations) Sn, Sn-
When running a plurality of traveling vehicles 10 on the same track provided along 1, Sn-2, Sn-3,..., When the preceding traveling vehicle 10 is stopped, It is necessary to sequentially decelerate and stop the traveling vehicle 10. As a method for preventing a collision between a plurality of traveling vehicles 10, as shown in FIG. 1, the traveling path is divided into a plurality of sections (distance d 0 ).
When there is a preceding vehicle 10 in a preceding section, a section control method is used that prevents a vehicle that has entered a section immediately before the preceding section from entering the same section (for example, Japanese Patent Application No. Hei. 253706).

【０００３】[0003]

【発明が解決しようとする課題】上記区間制御方法を採
用する場合、各区間の長さが問題となる。この区間の長
さＤは、走行台車１０の走行速度、加減速度より、後続
の走行台車１０が先行の走行台車１０が存在する区間の
一つ手前の区間に進入した時点から減速停止可能な距離
（減速停止距離）Ｌよりも長い距離（Ｄ＞Ｌ）を確保す
る必要がある。When the above section control method is adopted, the length of each section becomes a problem. The length D of this section is a distance that can be decelerated and stopped from the time when the following traveling vehicle 10 enters a section immediately before the section in which the preceding traveling vehicle 10 exists, based on the traveling speed and acceleration / deceleration of the traveling vehicle 10. (Deceleration stop distance) It is necessary to secure a distance (D> L) longer than L.

【０００４】走行台車の減速停止距離Ｌは、下記（１）
式に示すように、走行速度Ｖ0、加減速度αに依存する
が、走行台車１０の走行速度が遅く、加減速度が大きい
場合は、走行している走行台車１０が減速を始めてから
停止するまでの減速停止距離Ｌは短くて済むが、走行台
車１０の走行速度が速い場合、又は加速減速が小さい場
合は、減速停止距離Ｌも長くなってしまうので、それに
伴って各区間の長さも長くなってしまう。 Ｌ＝Ｖ0 2／２α・・・・・・・・・・・・・・・・・・・・（１） 但し、Ｌ：〔ｍ〕、Ｖ0：〔ｍ／ｍｉｎ〕、α：〔ｍ／
ｓ2〕[0004] The deceleration stop distance L of the traveling vehicle is represented by the following (1).
As shown in the equation, depending on the traveling speed V 0 and the acceleration / deceleration α, when the traveling speed of the traveling vehicle 10 is slow and the acceleration / deceleration is large, the traveling vehicle 10 starts to decelerate and then stops. The deceleration stop distance L can be short, but when the traveling speed of the traveling vehicle 10 is high, or when the acceleration / deceleration is small, the deceleration stop distance L is also long, and accordingly, the length of each section is also long. Would. L = V 0 2 / 2α (1) where L: [m], V 0 : [m / min], α: [ m /
s 2 ]

【０００５】一方、走行台車を効率良く稼動させるため
には、荷受け渡しステーションＳｎ、Ｓｎ−１、Ｓｎ−
２、Ｓｎ−３、・・・・・において、搬送物（荷）を受
け渡しする位置間隔は狭い方が良く、隣接するステーシ
ョン毎に走行台車１０が連続的に作業を行なえるよう、
図７に示すように隣接するステーション間隔（最小走行
台車距離ｄ0）毎に区間を分割するのが理想的である。On the other hand, in order to operate the traveling vehicle efficiently, the delivery stations Sn, Sn-1, Sn-
In 2, Sn-3,..., It is better that the position interval for transferring the conveyed goods (loads) is narrow, and the traveling vehicle 10 can continuously work at each adjacent station.
As shown in FIG. 7, it is ideal to divide the section for each interval between adjacent stations (minimum traveling vehicle distance d 0 ).

【０００６】しかしながら、走行台車１０の走行速度、
加減速度より、走行台車１０の減速停止距離Ｌは決定さ
れ、それによって各区間の長さが決定されるので、必ず
しもＬ≦ｄ0を満たす距離毎に区間分割できるわけでは
なく、走行台車１０の減速停止距離Ｌを優先したＬ＞ｄ
0の区間分割になってしまう。However, the traveling speed of the traveling vehicle 10,
The deceleration stop distance L of the traveling vehicle 10 is determined from the acceleration / deceleration, and the length of each section is determined thereby, so that it is not always possible to divide the section into distances satisfying L ≦ d 0 . L> d giving priority to the deceleration stop distance L
This results in a section division of 0 .

【０００７】上記のように区間分割距離（減速停止距離
Ｌ）が長くなると、図８に示すように、後続走行台車１
０が一つ手前の区間（例えば、Ｓｎ−３）で停止してし
まうため、先行台車が作業中に荷受け渡しステーション
Ｓと隣接する荷受け渡しステーションＳ（例えばＳｎと
Ｓｎ−１）での作業が不可能となり、作業効率が落ちる
ことになる。When the section dividing distance (deceleration stop distance L) becomes longer as described above, as shown in FIG.
0 stops in the section immediately before (for example, Sn-3), and therefore, the work at the loading and unloading station S (for example, Sn and Sn-1) adjacent to the unloading station S while the preceding bogie is operating. It becomes impossible, and the work efficiency decreases.

【０００８】本発明は上述の点に鑑みてなされたもの
で、上記走行台車の区間制御を行なう際、後続する走行
台車が先行する走行台車にできるだけ接近して停止させ
ることができる複数走行台車の衝突防止装置を提供する
ことを目的とする。[0008] The present invention has been made in view of the above points, and when performing the section control of the traveling vehicle, a plurality of traveling vehicles that can stop the following traveling vehicle as close as possible to the preceding traveling vehicle. An object of the present invention is to provide a collision prevention device.

【０００９】[0009]

【課題を解決するための手段】上記課題を解決するため
本発明は、複数の区間に渡って配設した軌条と、該軌条
に沿って配設した複数相の給電線と、該給電線から走行
モータを駆動する走行電力を得て同一軌条上を走行する
複数の走行台車とを具備し、走行台車同志の衝突を防止
する複数走行台車の衝突防止装置であって、地上側には
各区間毎に走行台車の存在を検出する走行台車検知手
段、当該区間に存在する走行台車に走行速度指令する走
行速度指令手段を設けると共に、該走行台車検知手段の
出力信号に基づいて後続する所定の区間の走行速度指令
手段に当該所定の区間に進入する走行台車に所定の走行
速度を指示する制御手段を具備する地上制御盤を設け、
更に区間の所定位置に停止用ストライカを設け、走行台
車には停止用ストライカを検出するストライカ検出手
段、地上側の各区間に存在する走行速度指令手段が指示
する走行速度を検知する指令速度検知手段、該指令速度
検知手段が検知した指令速度に基づいて当該走行台車を
走行減速させると共にストライカ検出手段が停止用スト
ライカを検出したら当該走行台車を停止する制御手段を
設けたことを特徴とする。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a rail provided over a plurality of sections, a multi-phase power supply line provided along the rail, A plurality of traveling vehicles that travel on the same rail by obtaining traveling electric power for driving a traveling motor, and a collision preventing device for a plurality of traveling vehicles that prevents collision between traveling vehicles; A traveling vehicle detecting means for detecting the presence of the traveling vehicle, a traveling speed commanding means for instructing a traveling speed of the traveling vehicle existing in the section in each section, and a following predetermined section based on an output signal of the traveling vehicle detecting means. A ground control panel having control means for instructing a predetermined traveling speed on a traveling vehicle entering the predetermined section is provided for the traveling speed commanding means,
Further, a stop striker is provided at a predetermined position in the section, a striker detecting means for detecting the stop striker on the traveling vehicle, and a command speed detecting means for detecting a traveling speed indicated by the traveling speed command means present in each section on the ground side. And control means for decelerating the traveling vehicle based on the command speed detected by the command speed detecting means and stopping the traveling vehicle when the striker detecting means detects a stop striker.

【００１０】また、地上制御盤の制御手段はある区間の
前記走行台車検知手段が当該区間に走行台車の存在を検
知したら後方の隣接する後続区間に低速走行指令を指示
すると共に、続く後続所定区間に中速走行指令を指示す
ることを特徴とする。When the traveling bogie detecting means in a certain section detects the presence of the traveling bogie in the section, the control means of the ground control panel instructs a low-speed traveling command to an adjacent succeeding section at the rear, and a subsequent predetermined section. Instructing the vehicle to run at a medium speed.

【００１１】[0011]

【作用】本発明は上記構成を採用することにより、地上
制御盤の制御手段はある区間の走行台車検知手段が当該
区間に走行台車の存在を検知したら、後続する所定の区
間に後続の走行台車の減速停止距離を考慮して、該所定
区間に進入する後続の走行台車の走行速度を、例えば中
速低速と指令し、当該所定区間に進入する後続の走行台
車の制御手段は指令速度検知手段が検知した指令速度に
基づいて当該走行台車を走行減速させると共にストライ
カ検出手段が停止用ストライカを検出したら当該走行台
車を停止させるので、区間の寸法を隣接するステーショ
ンの間隔（最小走行台車間隔ｄ0）にすることにより、
後続する走行台車は先行する走行台車に衝突することな
く、できる限り接近させて停止できる。According to the present invention, by adopting the above configuration, the control means of the ground control panel detects the presence of the traveling vehicle in the section by the traveling vehicle detecting means in the section, and the subsequent traveling vehicle in the subsequent predetermined section. In consideration of the deceleration stop distance of the vehicle, the traveling speed of the subsequent traveling vehicle entering the predetermined section is commanded, for example, a medium speed low speed, and the control means of the subsequent traveling vehicle entering the predetermined section is command speed detecting means. Decelerates the traveling vehicle based on the detected command speed and stops the traveling vehicle when the striker detection means detects the stopping striker. Therefore, the dimension of the section is determined by the distance between adjacent stations (minimum traveling vehicle interval d 0). )
The following traveling vehicle can be stopped as close as possible without colliding with the preceding traveling vehicle.

【００１２】[0012]

【実施例】以下、本発明の実施例を図面に基づいて説明
する。図１及び図２は複数走行台車の衝突防止装置の構
成を示す図で、図１は１区間の１台の走行台車１０と地
上制御盤１２を示し、図２は衝突防止装置を示す。軌条
１１が敷設される走行路に沿って、Ｒ、Ｓ、Ｔ相の給電
線（但しＴ相は図示省略）、区間内台車検出用信号線Ｚ
Ｎと減速指令送信用信号線ＲＧを敷設し、各区間の先端
に停止用のストライカＭを設ける。Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 are views showing the configuration of a collision preventing device for a plurality of traveling vehicles. FIG. 1 shows one traveling vehicle 10 and a ground control panel 12 in one section, and FIG. 2 shows the collision preventing device. Along the traveling path on which the rail 11 is laid, R, S, and T-phase power supply lines (however, the T-phase is not shown), an in-section bogie detection signal line Z
N and a signal line RG for deceleration command transmission are laid, and a stop striker M is provided at the end of each section.

【００１３】また、走行台車１０には低速指令検出用リ
レーＦＲＡ、中速指令検出用リレーＦＲＢ、これらリレ
ーに作動電流を供給するためのダイオードＤ１、Ｄ２、
Ｄ３、Ｄ４、走行台車制御部１６、速度検出機能付速度
制御部１７、停止用ストライカ検出部ＳＤ及び走行モー
タＭＴが搭載されている。The traveling vehicle 10 has a relay FRA for detecting a low speed command, a relay FRB for detecting a medium speed command, and diodes D1 and D2 for supplying an operating current to these relays.
D3 and D4, a traveling vehicle control unit 16, a speed control unit 17 with a speed detection function, a stop striker detection unit SD, and a traveling motor MT are mounted.

【００１４】また、地上制御盤１２には地上側制御部１
８、走行台車１０の有無を検出する走行台車検出リレー
Ｚ、当該区間に進入した走行台車１０に低速指令を与え
る低速指令リレーＲＡの接点、中速指令を与える中速指
令リレーＲＢの接点、これらの接点に直列に接続された
ダイオードＤａ、ダイオードＤｂを具備する。The ground control panel 12 includes a ground control unit 1.
8. A traveling vehicle detection relay Z for detecting the presence or absence of the traveling vehicle 10, a contact of a low speed command relay RA for supplying a low speed command to the traveling vehicle 10 entering the section, a contact of a medium speed command relay RB for supplying a medium speed command, And diodes Db and Db connected in series to the contacts.

【００１５】走行路は、図２に示すように最小台車間距
離ｄ0毎の区間に分割し、走行台車検出リレーＺ（Ｚｎ
＋１、Ｚｎ、Ｚｎ−１、Ｚｎ−２、・・・・）、低速指
令リレーＲＡ（ＲＡｎ＋１、ＲＡｎ、ＲＡｎ−１、ＲＡ
ｎ−２、・・・・）、中速指令リレーＲＢ（ＲＢｎ＋
１、ＲＢｎ、ＲＢｎ−１、ＲＢｎ−２、・・・・）、ダ
イオードＤａ（Ｄａｎ＋１、Ｄａｎ、Ｄａｎ−１、Ｄａ
ｎ−２、・・・・）及びダイオードＤｂ（Ｄｂｎ＋１、
Ｄｂｎ、Ｄｂｎ−１、Ｄｂｎ−２、・・・・）は各区間
毎に設け、地上側制御部１８（図２では省略）は地上制
御盤１２に１個設けられる。As shown in FIG. 2, the traveling path is divided into sections for each minimum bogie distance d 0 , and the traveling bogie detection relay Z (Zn
+1, Zn, Zn-1, Zn-2,...), Low-speed command relay RA (RAn + 1, RAn, RAn-1, RA)
...), medium-speed command relay RB (RBn +
1, RBn, RBn-1, RBn-2,...), Diode Da (Dan + 1, Dan, Dan-1, Dan)
..) and a diode Db (Dbn + 1,
Dbn, Dbn-1, Dbn-2,...) Are provided for each section, and one ground control unit 18 (omitted in FIG. 2) is provided on the ground control panel 12.

【００１６】図３は上記地上側制御部１８の構成例を示
す図である。図示するように、＋−電源の間に、走行台
車検出リレーＺｎの接点と低速指令リレーＲＡｎ−１の
直列回路、走行台車検出リレーＺｎ−１の接点と低速指
令リレーＲＡｎ−２の直列回路、走行台車検出リレーＺ
ｎ−２の接点と低速指令リレーＲＡｎ−３の直列回路、
走行台車検出リレーＺｎ−３の接点と低速指令リレーＲ
Ａｎ−４の直列回路、・・・・・が接続されている。FIG. 3 is a diagram showing an example of the configuration of the ground-side control unit 18. As shown in FIG. As shown, between the + and-power supplies, a series circuit of a contact of the traveling vehicle detection relay Zn and a low-speed command relay RAn-1; a series circuit of a contact of the traveling vehicle detection relay Zn-1 and a low-speed command relay RAn-2; Traveling Cart Detection Relay Z
a series circuit of an n-2 contact and a low-speed command relay RAn-3,
Contact point of traveling bogie detection relay Zn-3 and low speed command relay R
... Are connected.

【００１７】また、＋−電源の間に、低速指令リレーＲ
Ａｎ＋１及びＲＡｎの接点の並列回路と低速指令リレー
ＲＡｎ−１の直列回路、低速指令リレーＲＡｎ及びＲＡ
ｎ−１の接点の並列回路と低速指令リレーＲＢｎ−２の
直列回路、低速指令リレーＲＡｎ−１及びＲＡｎ−２の
接点の並列回路と低速指令リレーＲＡｎ−３の直列回
路、低速指令リレーＲＡｎ−２及びＲＡｎ−３の接点の
並列回路と低速指令リレーＲＢｎ−４の直列回路、・・
・・・が接続されている。A low-speed command relay R
A serial circuit of a parallel circuit of contacts An + 1 and RAn and a low-speed command relay RAn-1;
n-1 contact parallel circuit and low-speed command relay RBn-2 series circuit; low-speed command relays RAn-1 and RAn-2 contact parallel circuit and low-speed command relay RAn-3 series circuit; low-speed command relay RAn- 2 and a parallel circuit of the contacts of RAn-3 and a series circuit of the low-speed command relay RBn-4.
... are connected.

【００１８】図４（ａ）は走行台車制御部１６の構成を
示す図、図４（ｂ）は速度検出機能付速度制御部１７の
構成例を示す図である。走行台車制御部１６は図４
（ａ）に示すように、＋−電源の間に、低速指令検出用
リレーＦＲＡの常閉接点及び前進リレーＳＴの常閉接点
の並列回路と前進リレーＳＴの直列回路、前進リレーＳ
Ｔの常開接点と低速指令検出用リレーＦＲＡの常閉接点
と中速指令検出用リレーＦＲＢの常閉接点ＦＲＢと高速
指令リレーＲＨの直列回路、前進リレーの常開接点ＳＴ
と低速指令検出用リレーＦＲＡの常閉接点と高速指令リ
レーＲＨの常閉接点と中速指令リレーＲＭの直列回路、
前進リレーＳＴの常開接点と高速指令リレーＲＨの常閉
接点と中速指令リレーＲＭの常閉接点と低速指令リレー
ＲＬの直列回路が接続されている。FIG. 4A is a diagram showing a configuration of the traveling vehicle control unit 16, and FIG. 4B is a diagram showing a configuration example of a speed control unit 17 having a speed detection function. The traveling vehicle control unit 16 is shown in FIG.
As shown in (a), a parallel circuit of the normally closed contact of the low-speed command detection relay FRA and the normally closed contact of the forward relay ST, a series circuit of the forward relay ST, and a forward relay S between the + and-power supplies.
A normally open contact of T, a normally closed contact of a low speed command detection relay FRA, a normally closed contact FRB of a middle speed command detection relay FRB, and a series circuit of a high speed command relay RH, and a normally open contact ST of a forward relay.
A series circuit of a normally closed contact of a low speed command detection relay FRA, a normally closed contact of a high speed command relay RH, and a middle speed command relay RM,
A series circuit of a normally open contact of the forward relay ST, a normally closed contact of the high speed command relay RH, a normally closed contact of the middle speed command relay RM, and a low speed command relay RL is connected.

【００１９】また、速度検出機能付速度制御部１７に
は、前進リレーＳＴの常開接点、高速指令リレーＲＨの
常開接点、中速指令リレーＲＭの常開接点、低速指令リ
レーＲＬの常開接点のＯＮ信号、即ち前進、高速、中
速、低速の各指令信号が入力されるようになっている。The speed control unit 17 with a speed detection function includes a normally open contact of the forward relay ST, a normally open contact of the high speed command relay RH, a normally open contact of the middle speed command relay RM, and a normally open contact of the low speed command relay RL. A contact ON signal, that is, a forward, high speed, middle speed, and low speed command signal is input.

【００２０】今、走行台車１０の減速停止可能な距離Ｌ
が、３ｄ0＞Ｌとし、走行台車１０Ａが区間ＺＺｎに存
在すると、後続する走行台車１０Ｂの強制減速区間（ｍ
ｉｎΣｄ0≧Ｌ）はＺＺｎ−１〜ＺＺｎ−３となる。Ｒ
相の給電線から走行台車１０Ａのトロリー１３ａ、配線
１５、トロリー１３ｂ、区間内台車検出用信号線ＺＮを
通して、地上制御盤１２の走行台車検出リレーＺｎに作
動電流が供給され、該走行台車検出リレーＺｎが動作す
る。これにより地上側制御部１８は区間ＺＺｎ内に走行
台車１０Ａが存在することを検出する。Now, the distance L at which the traveling vehicle 10 can be decelerated and stopped is L.
Is 3d 0 > L, and the traveling vehicle 10A exists in the section ZZn, the forced deceleration section (m
(inΣd 0 ≧ L) is ZZn-1 to ZZn-3. R
An operating current is supplied to the traveling bogie detection relay Zn of the ground control panel 12 from the power supply line of the phase through the trolley 13a, the wiring 15, the trolley 13b, and the in-section bogie detection signal line ZN of the traveling bogie 10A. Zn operates. Thus, the ground-side control unit 18 detects that the traveling vehicle 10A exists in the zone ZZn.

【００２１】地上側制御部１８は、走行台車１０Ａが存
在する区間ＺＺｎに後続する区間ＺＺｎ−３、ＺＺｎ−
２のそれぞれの中速指令リレーＲＢｎ−３、ＲＢｎ−２
の各接点をＯＮすると共に、区間ＺＺｎ−１の低速指令
リレーＲＡｎ−１の接点をＯＮにする。The ground-side control unit 18 controls the sections ZZn-3 and ZZn-following the section ZZn where the traveling vehicle 10A exists.
2 medium speed command relays RBn-3, RBn-2
Are turned ON, and the contact of the low-speed command relay RAn-1 in the section ZZn-1 is turned ON.

【００２２】この状態で、中速指令リレーＲＢｎ−３の
接点がＯＮしている区間ＺＺｎ−３（中速指令区間）に
走行台車１０Ｂが進入すると、該走行台車１０Ｂの中速
指令検出用リレーＦＲＢに、Ｒ相の給電線から、トロリ
ー１４ａ、中速指令検出用リレーＦＲＢ、ダイオードＤ
２、トロリー１４ｂ、減速指令送信用信号線ＲＧ０、地
上制御盤１２のダイオードＤｂｎ−３、中速指令リレー
ＲＢｎ−３の接点を通して、作動電流が供給される。In this state, when the traveling vehicle 10B enters the zone ZZn-3 (medium speed instruction section) where the contact of the intermediate speed instruction relay RBn-3 is ON, the relay for detecting the intermediate speed instruction of the traveling vehicle 10B. A trolley 14a, a medium speed command detection relay FRB, a diode D
2. An operating current is supplied through the contact of the trolley 14b, the signal line RG0 for transmitting the deceleration command, the diode Dbn-3 of the ground control panel 12, and the middle speed command relay RBn-3.

【００２３】中速指令検出用リレーＦＲＢが作動しその
接点をＯＮすると、走行台車制御部１６の中速指令リレ
ーＲＭが作動し、その接点をＯＮするから、速度検出機
能付速度制御部１７に中速指令信号が入力され、速度検
出機能付速度制御部１７は走行モータＭＴを走行台車１
０Ｂが中速度で走行するように減速走行させる。When the intermediate speed command detection relay FRB is activated and its contact is turned on, the traveling speed control relay RM is activated and its contact is turned on. The intermediate speed command signal is input, and the speed control unit 17 with the speed detection function causes the traveling motor MT to drive the traveling vehicle 1
The vehicle is decelerated so that 0B runs at a medium speed.

【００２４】走行台車１０Ｂが中速指令リレーＲＢｎ−
２がＯＮしている区間ＺＺｎ−２（中速指令区間）に進
入した場合も、図５の太い線で示すように、走行台車１
０Ｂの中速指令検出用リレーＦＲＢに、Ｒ相の給電線か
ら、作動電流が供給され、走行台車制御部１６は走行台
車１０Ｂを中速度で走行させる。ここで、中速から低速
までの減速距離をＬ１とすると、中速の設定はＬ１≪ｄ
0を満たす速度とする。The traveling vehicle 10B is driven by a medium speed command relay RBn-
Also, when the vehicle enters the zone ZZn-2 (medium speed command zone) in which the vehicle 2 is ON, as shown by the thick line in FIG.
The operating current is supplied from the R-phase power supply line to the intermediate speed command detection relay FRB of 0B, and the traveling vehicle control unit 16 causes the traveling vehicle 10B to travel at an intermediate speed. Here, assuming that the deceleration distance from the middle speed to the low speed is L1, the setting of the middle speed is L1≪d
Set the speed to satisfy 0 .

【００２５】走行台車１０Ｂが中速で前進し、低速指令
リレーＲＡｎ−１がＯＮしている区間ＺＺｎ−１（低速
指令区間）に進入すると、図６の太線に示すように、該
走行台車１０Ｂの低速指令検出用リレーＦＲＡに、Ｒ相
の給電線から、地上制御盤１２の低速指令リレーＲＡｎ
−１の接点、ダイオードＤＡｎ−１、トロリー１４ｂ、
減速指令送信用信号線ＲＧ、ダイオードＤ４、低速指令
検出用リレーＦＲＡ、トロリー１４ａ、Ｓ相電源線と作
動電流が供給され、低速指令検出用リレーＦＲＡが作動
する。When the traveling vehicle 10B moves forward at a medium speed and enters a zone ZZn-1 (low speed instruction section) in which the low speed command relay RAn-1 is ON, as shown by a thick line in FIG. To the low-speed command detection relay FRA of the ground control panel 12 from the R-phase power supply line.
-1, contact, diode DAn-1, trolley 14b,
The deceleration command transmission signal line RG, the diode D4, the low speed command detection relay FRA, the trolley 14a, the S-phase power supply line, and the operating current are supplied, and the low speed command detection relay FRA operates.

【００２６】低速指令検出用リレーＦＲＡが作動しその
接点がＯＮすると、走行台車制御部１６の低速指令リレ
ーＲＭが作動し、その接点をＯＮするから、速度検出機
能付速度制御部１７に低速指令信号が入力され、速度検
出機能付速度制御部１７は走行モータＭＴを走行台車１
０Ｂが低速度で走行するように減速走行させる。When the low-speed command detection relay FRA is activated and its contact is turned on, the low-speed command relay RM of the traveling vehicle control unit 16 is activated and its contact is turned on. When the signal is input, the speed control unit 17 with the speed detection function causes the traveling motor MT to drive the traveling vehicle 1
OB is decelerated so as to run at a low speed.

【００２７】低速指令リレーＲＡｎ−１の接点がＯＮと
なり、走行台車１０Ｂが低速走行となったところで、停
止用ストライカ検出部ＳＤが停止用ストライカＭｎ−１
を検知すると、走行台車１０Ｂは停止する。When the contact of the low speed command relay RAn-1 is turned on and the traveling vehicle 10B is running at a low speed, the stop striker detector SD detects the stop striker Mn-1.
Is detected, the traveling vehicle 10B stops.

【００２８】先行走行台車１０Ａが荷受け渡し作業を完
了し、再び前進するに伴って強制減速区間ＺＺｎ−１〜
ＺＺｎ−３も前方に移動し、走行台車１０Ｂが存在する
区間ＺＺｎ−１の低速指令リレーＲＡｎ−１及びが中速
指令リレーＲＢｎ−１がＯＦＦになった時点で走行台車
１０Ｂは高速走行になる（荷受け渡しを完了した走行台
車１０Ａは、高速で走行して行くため、先行の走行台車
１０Ａが再び停止しない限り、しばらくして後続の走行
台車１０Ｂは、中速走行から高速走行に切り替わる）。As the preceding traveling vehicle 10A completes the delivery operation and advances again, the forced deceleration zone ZZn-1 to ZZn-1
ZZn-3 also moves forward, and when the low-speed command relay RAn-1 and the middle-speed command relay RBn-1 in the section ZZn-1 in which the traveling vehicle 10B is present are turned off, the traveling vehicle 10B runs at high speed. (Because the traveling vehicle 10A that has completed delivery has traveled at a high speed, the subsequent traveling vehicle 10B switches from the medium-speed traveling to the high-speed traveling after a while unless the preceding traveling vehicle 10A stops again.)

【００２９】複数走行台車の衝突防止装置を上記のよう
に構成することにより、後続の走行台車１０Ｂは先行の
走行台車に衝突（追突）することなく、且つ先行の走行
台車１０Ａに隣接する区間内に停止することができ、そ
の間に存在するステーションでの荷受け渡し作業が可能
となる。By configuring the collision preventing device for a plurality of traveling vehicles as described above, the succeeding traveling vehicle 10B does not collide (collide) with the preceding traveling vehicle and is located in a section adjacent to the preceding traveling vehicle 10A. At the same time, and it is possible to carry out the unloading work at the station existing during that time.

【００３０】なお、上記実施例では強制減速区間をＺＺ
ｎ−１〜ＺＺｎ−３の３区間とし、指令速度を中速及び
低速の２段としたが、強制減速区間はこれに限定される
ものではなく、上記減速停止距離Ｌ＝Ｖ0 2／２αを考慮
して所定の区間を強制減速区間を定めるようにする。ま
た、指令速度も中速及び低速の２段に限定されるもので
はなく２段以上の複数段であってもよい。In the above embodiment, the forced deceleration zone is set to ZZ.
and n-1~ZZn-3 of three sections, although the medium speed and low-speed two-stage command speed, forced deceleration section is not limited thereto, the deceleration stop distance L = V 0 2 / 2α In consideration of the above, a predetermined section is set as a forced deceleration section. Also, the command speed is not limited to the two stages of the medium speed and the low speed, but may be two or more stages.

【００３１】[0031]

【発明の効果】以上説明したように本発明によれば、後
続する走行台車は先行する走行台車に衝突することな
く、できる限り接近して停止でき、その間に荷受け渡し
の作業ができるという優れた効果が得られる。As described above, according to the present invention, the following traveling vehicle can be stopped as close as possible without colliding with the preceding traveling vehicle, and the delivery operation can be performed during that time. The effect is obtained.

【図面の簡単な説明】[Brief description of the drawings]

【図１】本発明の衝突防止装置の１区間の１台の走行台
車と地上制御盤の構成を示す図である。FIG. 1 is a diagram showing a configuration of one traveling vehicle and a ground control panel in one section of a collision prevention device of the present invention.

【図２】本発明の衝突防止装置の全体構成を示す図であ
る。FIG. 2 is a diagram showing an entire configuration of a collision prevention device of the present invention.

【図３】本発明の衝突防止装置の地上側制御部の構成例
を示す図である。FIG. 3 is a diagram illustrating a configuration example of a ground control unit of the collision prevention device of the present invention.

【図４】図４（ａ）は走行台車制御部の構成、図４
（ｂ）は速度検出機能付速度制御部の構成例を示す図で
ある。FIG. 4A is a configuration of a traveling vehicle control unit, FIG.
(B) is a figure which shows the example of a structure of the speed control part with a speed detection function.

【図５】本発明の衝突防止装置の動作例を示す図であ
る。FIG. 5 is a diagram showing an operation example of the collision prevention device of the present invention.

【図６】本発明の衝突防止装置の動作例を示す図であ
る。FIG. 6 is a diagram showing an operation example of the collision prevention device of the present invention.

【図７】複数の走行台車と荷受け渡しステーションの関
係を示す図である。FIG. 7 is a diagram showing a relationship between a plurality of traveling vehicles and a delivery station.

【図８】従来の衝突防止装置の複数の走行台車と荷受け
渡しステーションの関係を示す図である。FIG. 8 is a diagram showing a relationship between a plurality of traveling vehicles and a delivery station of the conventional collision prevention device.

【符号の説明】[Explanation of symbols]

１０ 走行台車 １１ 軌条 １２ 地上制御盤 １３ａ，ｂ トロリー １４ａ，ｂ トロリー １５ 配線 １６ 走行台車制御部 １７ 速度検出機能付速度制御部 １８ 地上側制御部 Ｒ Ｒ相給電線 Ｓ Ｓ相給電線 Ｔ Ｔ相給電線 ＺＮ 区間内台車検出用信号線 ＲＧ 減速指令送信用信号線 ＦＲＡ 低速指令検出用リレー ＦＲＢ 中速指令検出用リレー Ｚ 走行台車検出リレー ＲＡ 低速指令リレー ＲＢ 中速指令リレー ＳＤ 停止用ストライカ検出部 Ｍ 停止用ストライカ Reference Signs List 10 traveling bogie 11 rail 12 ground control panel 13a, b trolley 14a, b trolley 15 wiring 16 traveling bogie control unit 17 speed control unit with speed detection function 18 ground control unit R R-phase power supply line S S-phase power supply line TT phase Feeder line ZN Signal line for detecting bogie in section RG Signal line for transmitting deceleration command FRA Relay for detecting low speed command FRB Relay for detecting medium speed command Z Traveling bogie detecting relay RA Low speed command relay RB Medium speed command relay SD Stopping striker detecting section M striker for stopping

Claims (2)

(57)【特許請求の範囲】(57) [Claims] 【請求項１】 複数の区間に渡って配設した軌条と、該
軌条に沿って配設した複数相の給電線と、該給電線から
走行モータを駆動する走行電力を得て前記同一軌条上を
走行する複数の走行台車とを具備し、該走行台車同志の
衝突を防止する複数走行台車の衝突防止装置であって、 地上側には前記各区間毎に走行台車の存在を検出する走
行台車検知手段、当該区間に存在する走行台車に走行速
度を指令する走行速度指令手段を設けると共に、該走行
台車検知手段の出力信号に基づいて後続する所定の区間
の走行速度指令手段に当該所定の区間に進入する走行台
車に所定の走行速度を指示する制御手段を具備する地上
制御盤を設け、更に区間の所定位置に停止用ストライカ
を設け、前記走行台車には前記停止用ストライカを検出
するストライカ検出手段、前記地上側の各区間に存在す
る走行速度指令手段が指示する走行速度を検知する指令
速度検知手段、該指令速度検知手段が検知した指令速度
に基づいて当該走行台車を走行減速させると共に前記ス
トライカ検出手段が前記停止用ストライカを検出したら
当該走行台車を停止する制御手段を設けたことを特徴と
する複数走行台車の衝突防止装置。1. A rail disposed over a plurality of sections, a multi-phase power supply line disposed along the rail, and traveling power for driving a traveling motor from the power supply line to obtain a running power on the same rail. A plurality of traveling vehicles that travel on the vehicle, and a collision prevention device for the plurality of traveling vehicles that prevents collision between the traveling vehicles, wherein the traveling vehicle detects the presence of the traveling vehicles in each section on the ground side. A detecting means for providing a traveling speed commanding means for instructing a traveling vehicle present in the section to a traveling speed, and a traveling speed commanding means for a subsequent prescribed section based on an output signal of the traveling bogie detecting means, A ground control panel provided with control means for instructing a predetermined traveling speed on a traveling vehicle entering the vehicle is provided. Further, a stop striker is provided at a predetermined position in a section, and a striker detection for detecting the stop striker is provided on the traveling vehicle. Means, command speed detecting means for detecting a running speed instructed by the running speed command means present in each section on the ground side, and running and decelerating the traveling vehicle based on the command speed detected by the command speed detecting means. A collision preventing device for a plurality of traveling vehicles, further comprising control means for stopping the traveling vehicles when the striker detecting device detects the stopping striker. 【請求項２】 前記地上制御盤の制御手段はある区間の
前記走行台車検知手段が当該区間に走行台車の存在を検
知したら隣接する後続区間に低速走行指令を指示すると
共に、続く後続所定区間に中速走行指令を指示すること
を特徴とする請求項１記載の複数走行台車の衝突防止装
置。2. The control means of the ground control panel, when the traveling bogie detecting means of a section detects the presence of the traveling bogie in the section, instructs a low-speed traveling command to an adjacent succeeding section. 2. The apparatus for preventing collision of a plurality of traveling vehicles according to claim 1, wherein a middle speed traveling command is instructed.
JP8469795A 1995-03-15 1995-03-15 Anti-collision device for multiple traveling vehicles Expired - Fee Related JP2896968B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8469795A JP2896968B2 (en) 1995-03-15 1995-03-15 Anti-collision device for multiple traveling vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8469795A JP2896968B2 (en) 1995-03-15 1995-03-15 Anti-collision device for multiple traveling vehicles

Publications (2)

Publication Number Publication Date
JPH08245168A JPH08245168A (en) 1996-09-24
JP2896968B2 true JP2896968B2 (en) 1999-05-31

Family

ID=13837864

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8469795A Expired - Fee Related JP2896968B2 (en) 1995-03-15 1995-03-15 Anti-collision device for multiple traveling vehicles

Country Status (1)

Country Link
JP (1) JP2896968B2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102249155B (en) * 2011-07-08 2013-12-11 中国铝业股份有限公司 Linkage controlling apparatus for aluminum electrolysis crown block multifunctional integral unit

Also Published As

Publication number Publication date
JPH08245168A (en) 1996-09-24

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