JP3006485B2 - Travel control method for tracked bogies - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control method for a tracked vehicle provided with a plurality of vehicles on a track.

[0002]

2. Description of the Related Art Conventionally, communication between a plurality of tracked vehicles traveling on a track and a ground control panel is performed through trolley wires arranged on the track, and the ground control panel travels on the tracked vehicle. And so on. Each tracked vehicle includes a measurement wheel that rolls on a running rail that forms a track, and an encoder that detects a rotation angle of the measurement wheel. The bogie-side controller provided in each tracked bogie counts the pulses from the encoder, and determines the traveling position of the tracked bogie based on the counted number (the number of pulses). Also, the number of pulses indicating the traveling position of each tracked truck is transmitted to the ground control panel via the trolley wire. The ground control panel monitors the running state of each tracked truck on a display device based on the number of pulses of the tracked truck, and controls the running of each tracked truck.

[0003]

However, in the curve section of the track, the running based on the pulse signal from the encoder is performed due to the characteristics such as the curvature of the curve section.
There is a problem that accurate control cannot be performed by control. example
For example, in cruise control that maintains the inter-vehicle distance at a predetermined interval,
Means that the actual distance between vehicles is shorter than the distance between vehicles on the track.
Become. For this reason, such as a pulse signal from the encoder
If the inter-vehicle distance is calculated using the distance traveled on the track,
I can't maintain the following distance.

[0004] On the other hand, there has been proposed a technology in which, for example, a collision preventing device for judging an inter-vehicle distance between tracked vehicles and preventing a collision between the tracked vehicles is attached to the tracked vehicles. This collision prevention device includes an optical communication device used when a tracked truck travels in a straight section and a collision prevention radar used when traveling in a curved section. The optical communication device and the anti-collision radar determine the position of the tracked truck ahead of the tracked truck so that the tracked trucks do not collide with each other.

However, device devices such as an optical communication device and a collision prevention radar are expensive, and there is a problem that the cost of the tracked truck itself is increased. Further, since it is difficult to adjust the sensitivity of the optical communication device and the collision prevention radar, there is a problem that skill is required and the work efficiency is significantly reduced.

Further, since the sensing capability such as the sensing distance between the optical communication device and the collision prevention radar is different, especially in the boundary region between the curved section and the straight section, the position of the tracked truck traveling ahead is located. Cannot be accurately determined, and control such as stopping of the tracked truck cannot be performed accurately.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide travel control in a curve section.
It is an object of the present invention to provide a traveling control method for a tracked vehicle that can accurately perform the following and prevent a rear-end collision of a following vehicle.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the invention according to claim 1 is directed to a tracked truck in which a plurality of tracked trucks travel on a predetermined track including a straight section and a curved section. in the running control method, the pre-Symbol curve section, is divided into a curve start section, the curve in section and curve termination zone, said carriage from a reference position of each track guided vehicle
In the straight section, the travel distance of the tracked bogie is checked.
Is increased by detecting the amount of the travel distance detecting means for output, said at <br/> curve starting interval, the first predetermined travel distance s only is increased is smaller than the detected amount from the travel amount detecting means, wherein the curve in the section, travel distance detection amount but only to increase from the detection means, in the curve ends interval, the second by a predetermined travel distance s only increased is greater than the detected amount from the travel amount detecting means, So
The gist is to control the traveling of each tracked bogie based on the traveling amount of the bogie .

According to a second aspect of the present invention, in the first aspect of the invention, the traveling position of each tracked truck is used for traveling control.
In doing so, the travel distance of one round of the track is measured in advance by travel distance detection means, and the ratio of the travel distance of one round to the truck travel distance of the tracked truck is determined as the travel ratio, and the travel ratio is calculated as The gist is to recognize the traveling position of each tracked bogie.

According to a third aspect of the present invention, in the first or second aspect of the invention, the traveling amount detecting means outputs a pulse signal indicating the traveling amount of the tracked vehicle.

Therefore, according to the first aspect of the present invention, the tracked truck travels on a predetermined track. The tracked truck is positioned at the reference position by the travel distance detection means provided on its own truck.
Detects the amount of truck travel from the vehicle. In the curve section,
The truck travel distance is corrected. And based on the truck travel
Thus, the traveling of each tracked truck is controlled.

According to the second aspect of the present invention, the running ratio
Since the traveling position of each tracked bogie is recognized,
Even if the travel distance detection means has individual differences for each road vehicle,
An accurate traveling position can be recognized. Therefore, traveling
When using the travel position for control, this should be
Thus, the control is performed more accurately.

According to the third aspect of the present invention, since the bogie traveling amount is the number of traveling pulses, it is easily used for traveling control.
Can be used.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows a transport system for transporting loads such as various parts using a tracked truck in an assembly plant or the like, and FIG. 2 shows the tracked truck.

The transport system 1 is provided with a plurality (three in this embodiment) of tracked vehicles M1, M2, and M3, and the tracked vehicles M1 to M3 are provided with a track V formed by the traveling rail 2. The vehicle runs unmanned in the direction of arrow A on the top. The track V forms a closed loop, and includes a straight section 3 in which the tracked vehicles M1 to M3 travel straight, and a curved section 4 in which the track cars M1 to M3 curve. The curved section 4 is formed of two types: a right curved section 4a in which the tracked vehicles M1 to M3 curve right and a left curved section 4b curved left.

Further, the track V is provided with first and second stations ST1 and ST2 for transferring a load, and the tracked vehicles M1 to M2 are provided at the stations ST1 and ST2.
Numeral 3 is for carrying out a work of delivering a load to be conveyed. In this case, the first station ST1 is a reference station serving as a reference position for traveling of each of the tracked vehicles M1 to M3. The first station ST1 has a ground that controls each of the tracked vehicles M1 to M3. A control panel 5 is provided. The ground control panel 5 has R, R on tracked vehicles M1 to M3.
A power supply device 6 for supplying a three-phase power supply (200 V) for each of the S and T phases is connected. Further, the ground-side control panel 5 is provided with a ground-side controller 7 for controlling the tracked vehicles M1 to M3 and a display device 8 capable of monitoring the running state of each of the tracked vehicles M1 to M3.

As shown in FIGS. 1 and 3, dogs 9a are provided on the traveling rail 2 at positions corresponding to the stations ST1 and ST2. In this case, two dogs 9a are attached at predetermined intervals at positions corresponding to the first station ST1. Also, the second station ST2
One dog 9a is attached to a position corresponding to.

Further, the traveling rail 2 has a curve section 4
The dog 9b is provided at the start position and the end position.
Then, in the case of the start position, two dogs 9b are attached at predetermined intervals, and in the case of the end position, one dog 9b is attached.
b is attached. The start position of the right curve 4a and the start position of the left curve 4b are distinguished at an interval between the two dogs 9b attached. For example, the interval between the dogs 9b attached to the start position of the right curve 4a is larger than the interval between the dogs 9b attached to the start position of the left curve 4b.

A magnetic tape 10 is attached to each curved section 4 of the running rail 2. Further, various trolley lines L are provided on the traveling rail 2, and as shown in FIG.
Power supply and communication between the tracked trucks M1 to M3 and the ground control panel 2 are performed via the trolley line L.
That is, the trolley line L is composed of three power supply trolleys L1 for supplying power of each phase of R, S, and T, respectively, and one communication trolley line L2.

The tracked vehicles M1 to M3 are provided with a traveling motor 19 shown in FIG. 4, and power is supplied to the traveling motor 19 from the ground control panel 2 via a power supply trolley line L1. The driving wheels 19 driven by the traveling motor 19
a rotates on the rails 2 so that each tracked truck M
1 to M3 run on the rail 2.

Each of the tracked vehicles M1 to M3 includes a transfer unit 11,
The load is conveyed by traveling while the load is placed on the transfer unit 11, and the load placed on the transfer unit 11 is transferred at each of the stations ST1 and ST2. I have. The transfer unit 11 is driven by a transfer motor 20 shown in FIG. 4 incorporated in each of the tracked vehicles M1 to M3.

Each of the tracked vehicles M1 to M3 has a traveling rail 2
A measurement wheel 12 that rolls on the inner side surface 2a of the vehicle is provided, and an encoder 13 is provided as travel distance detection means for detecting the rotation angle of the measurement wheel 12.

The tracked trucks M1 to M3 are provided with dog detection sensors 14a and 14b including photo interrupters for detecting the dogs 9a and 9b and a magnetic detection sensor 15 for detecting the magnetic tape 10. I have. The tracked vehicles M1 to M3 are configured to reduce their traveling speed when judging the passage of the start position of the curve section 4 based on the detection of the dog 9b.

Further, the tracked vehicles M1 to M3 are provided with a controller 16 as control means shown in FIG. 4, and the controller 16 communicates with the ground controller 7 of the ground control panel 5 via the communication trolley line L2. The operation of the tracked vehicles M1 to M3 is controlled.

Next, the electrical configuration of the tracked trucks M1 to M3 configured as described above will be described with reference to FIG. First, the ground control panel 5 will be described.

The ground control panel 5 is provided with a power supply circuit 17 connected to the power supply device 6. This power supply circuit 1
7 is connected to the feeding trolley line L1. The ground control panel 5 is provided with a ground controller 7, and the ground controller 7 is connected to the communication trolley line L2. Further, the display device 8 is connected to the ground-side controller 7, and monitors the running state of the tracked vehicles M1 to M3 based on data from the tracked vehicles M1 to M3 communicated via the communication trolley L2. It has become.

Next, the electrical configuration of the tracked trucks M1 to M3 will be described. The inverters 18 provided on the tracked trucks M1 to M3 are electrically connected to the power supply trolley line L1 via current collectors (not shown), so that power of each phase is supplied from the ground control device 5. . Further, the inverter 18 includes a traveling motor 19 and a transfer motor 20.
The inverter 18 controls the power supply from the ground control device 5 to drive both motors 19 and 20.

The controller 16 provided on each of the tracked vehicles M1 to M3 is electrically connected to the communication trolley line L2 via a current collector (not shown), and can communicate with the ground controller 7 via the communication trolley line L2. It is provided in. The controller 16 is connected to the inverter 18 and controls driving of the traveling motor 19 and the transfer motor 20.

Further, the controller 16 is connected to dog detection sensors 14a and 14b, a magnetic detection sensor 15, and an encoder 13. The dog detection sensor 14a detects the dog 9a and outputs a station detection signal to the controller 1
6 is output. Dog sensor 14b detects the dog 9b, and outputs a curve detection signal to con preparative roller 16. The magnetic detection sensor 15 detects the magnetism of the magnetic tape 10 and outputs a magnetic detection signal. The encoder 13 detects the rotation angle of the measuring wheel 12 and outputs a pulse (pulse signal) as a detection amount to the controller 16 at each predetermined rotation angle.

The controller 16 determines from the station detection signal that the current traveling position of the tracked vehicles M1 to M3 is at the stations ST1 and ST2. In other words, the controller 16 inputs the first station detection signal after inputting the first station detection signal, travels a predetermined distance and then inputs the second station detection signal, that is, the first station ST.
When the dog detection sensor 14a detects the two dogs 9a provided in the first station, it is determined that the station is the first station ST1. Also, the controller 16
After the first station detection signal is input, if the second station detection signal is not input even after traveling for a predetermined distance, that is, one dog 9a provided in the second station ST2 is connected to the dog detection sensor 14a. Is detected, it is determined that the station is the second station ST2.

The controller 16 determines a curve start position and a curve end position based on the curve detection signal. That is, the controller 16 determines that the tracked trucks M1 to M3 are at the curve start position when the first curve detection signal is input, after a predetermined distance has been traveled, and after the second curve detection signal has been input. I do. If the second curve detection signal is not input after traveling for a predetermined distance after the first curve detection signal is input, it is determined that the tracked vehicles M1 to M3 are at the curve end positions. In this case, in the curve start section, the controller 16 determines whether the curve to be started is a right curve or a left curve, based on the running interval at which the first and second curve detection signals are input.

The controller 16 determines the traveling positions of the tracked vehicles M1 to M3 based on the pulse signal from the encoder 13. In this case, the controller 16 sequentially counts the pulses from the encoder 13 on the basis of the first station ST1, and counts the number of pulses (hereinafter referred to as the "number of running pulses") as the counted bogie travel amount.
The traveling positions of the tracked vehicles M1 to M3 are determined based on That is, the traveling positions of the tracked vehicles M1 to M3 correspond to the traveling pulse numbers p1 to p3 of the tracked vehicles M1 to M3.

In each controller 16, the number of pulses for one round of the tracked trucks M1 to M3 (hereinafter, referred to as "the number of pulses for one round" ) P1 to P3 is previously stored in each of the tracked trucks M1 to M3. It is obtained and stored by rotating M3. Each controller 16 determines the number of pulses P1 to P3 for one round and the number of running pulses p1 to p3 at that time.
Then, the running ratios X1 to X3 indicating the ratio of the current position of the tracked vehicles M1 to M3 from the first station ST1 are calculated. This running ratio X1
ＸX3 are calculated and shown as the following equation [1].

Xn = pn / Pn n = 1,2,3... [1] That is, each tracked vehicle M1 to M3 determines its own traveling position based on the traveling ratio X1 to X3 represented by the ratio. .

Each controller 16 has identification data unique to the own vehicle for distinguishing its own tracked vehicles M1 to M3 from other vehicles, and together with this identification data, the controller 16 performs various data and the like. Is output. That is, the controller 16 calculates the calculated travel ratios X1 to X3 together with the identification data by using the communication trolley line L2.
Output to

The data of the running ratios X1 to X3 are input to the ground controller 7 via the communication trolley line L2 together with the identification data, and the display device 8 displays the positions of the tracked vehicles M1 to M3. Is displayed.

The identification data communicated on the communication trolley line L2 and various data such as the running ratio are stored in each tracked vehicle M
Each of the controllers 16 can read the data from the tracked vehicles M1 to M3 based on the identification data. That is, the controller 16 of the tracked vehicle M1 determines the position of the tracked vehicles M2 and M3 based on the data of the traveling ratios X2 and X3 output on the communication trolley line L2 from the controllers 16 of the other tracked vehicles M2 and M3. Can be determined. Similarly, the controllers 16 of the tracked vehicles M2 and M3 also use the other tracked vehicles based on the data of the traveling ratios X1 to X3 output on the communication trolley line L2 from the controllers 16 of the other tracked vehicles M1 to M3. M1
The position of M3 can be determined.

Therefore, the controller 16 of each of the tracked vehicles M1 to M3 determines the traveling ratio X1 of each of the tracked vehicles M1 to M3.
Tracked trucks M1 to M located at the front and rear from the data of X3 to X3
3 can be determined. For convenience of explanation, in this embodiment, the tracked vehicles M1, M2, and M3 are arranged in this order from the front.

Further, each controller 16 determines the inter-vehicle distance between the tracked vehicles M1 to M3 traveling ahead. For example, the controller 16 of the tracked vehicle M2 calculates and determines the following distance between the tracked vehicle M1 running ahead of the tracked vehicle M2 as follows.

FIG. 5 schematically shows two tracked vehicles M1 and M2 traveling on the straight section 3 in this case. If the total length of the tracked trucks M1 and M2 is Ha and the distance between the measurement wheels 12 of the tracked trucks M1 and M2 (hereinafter, referred to as “track distance”) is Hb, the tracked trucks M1 and M2 are defined as Hb.
The inter-vehicle distance H between M2 is the track distance Hb and the tracked vehicles M1 to M1.
It is determined by the difference from the full length Ha of M3. That is, the distance H between the tracked vehicles M1 and M2 is obtained by the following equation [2].

H = Hb-Ha (2) The track distance Hb is determined by the number of running pulses p1 to p3 counted by each of the tracked vehicles M1 to M3, and the number of pulses P1 to one round.
It can be obtained from P3 and the running ratios X1 to X3.

That is, in FIG. 5, the traveling position of the preceding tracked truck M1 is determined by the traveling ratio X1 (= p1a / P1 ; p1).
a is represented by the number of traveling pulses counted by the tracked vehicle M1 from the first station ST1 to the traveling position at that time).

The traveling position of the subsequent tracked vehicle M2 at that time is the traveling ratio X2 (= p2b / P2; p2b is the traveling pulse counted by the tracked vehicle M2 from the first station ST1 to the traveling position at that time). It is represented by

Then, assuming that the number of traveling pulses is p2a when the following tracked vehicle M2 reaches the traveling position of the preceding tracked vehicle M1, p2a / P2 = p1a / P1 = X1 to p2a = P2 · p1a / P1 = P2 · X1 Therefore, the orbital distance Hb is as follows: Hb = p2a−p2b = P2 · X1−p2b.

On the other hand, the total length Ha is a value obtained in advance, and the value replaced with the number of pulse signals from the encoder 13 is set and stored as the total number of pulses.

Therefore, the equation [2] is as follows: H = p2a−p2b−Ha = P2 · X1−p2b−Ha (3) That is, the inter-vehicle distance H to the preceding tracked vehicle M1 as viewed from the tracked vehicle M2 can be obtained from the total length Ha and the running ratio X1 of the tracked vehicle M1 that is sometimes ahead.
That is, as is apparent from the equation [3], the traveling ratio X1
(= P1a / P1) is the number of running pulses p1a at that time with respect to the number of pulses for one round obtained by the tracked vehicle M1.
Is the ratio of Therefore, the tracked truck M1 at that position
Is the same even if the running pulse numbers p1a and p2a are different from each other, even if the running ratio X1 of the other tracked truck M2 is different from the running ratio X2 of the other tracked truck M2.

In other words, for example, each of the tracked vehicles M1 to M
Even if a design error has occurred in each of the measurement wheels 12 provided in 3, the error does not appear. Therefore, each tracked truck M1
~ M3 can measure the traveling position and the inter-vehicle distance H without being affected by design errors of other tracked vehicles.

FIG. 6 schematically shows two tracked vehicles M1 and M2 traveling on the curved section 4. in this case,
The point on the track V at the rear end of the tracked truck M1 and the tracked truck M2
Does not indicate the closest distance between the tracked vehicles M1, M2. In this curve section 4, each tracked vehicle M1, M2 comes closest to the center of the curve. That is, in the right curve section 4a, it is inside the trajectory V, and in the left curve section 4b, the trajectory V
Outside. Therefore, this closest distance (hereinafter, referred to as
It is called "corrected inter-vehicle distance." ) K needs to be determined.

That is, as shown in FIG.
When the controller 16 of 1 to M3 has passed the start position of the curve section 4, the controller 16 counts and obtains pulse signals output from the encoder 13 only during a certain curve distance (first correction section as a curve start section). The number of traveling pulses p1 to p3 is corrected. Next, in a section that passes through the first correction section and passes through the end position of the curve section 4 (a second correction section as a section in the curve), the pulse signal output from the encoder 13 is counted and corrected. Without adding to the running pulse numbers p1 to p3. Further, the number of traveling pulses p1 to p1 obtained by counting pulse signals output from the encoder 13 during a certain straight line distance (third correction section as a curve end section) passing through the end position of the curve section 4 Add correction to p3.

In the first correction section, for example, the correction is performed so that the value of the number of running pulses p1 to p3 is added to n pulses output from the encoder 13.
That is, the number of pulses (first predetermined traveling amount) smaller than the number of pulses output from the encoder 13 is added to the traveling pulse numbers p1 to p3. This n is an integer, and in the present embodiment, is set to increase as the vehicle travels in the first correction section.

In the second correction section, as in the straight section 3, the number of pulses p1 to p3 is added to one pulse output from the encoder 13.

In the third correction section, for example, correction is performed so that the value of the number of running pulses p1 to p3 is added by n to one pulse signal output from the encoder 13. That is, the number of pulses (second predetermined traveling amount) larger than the number of pulses output from the encoder 13 is added to the traveling pulse numbers p1 to p3. In this case, the correction in the first and second correction sections is gradually released in the third correction section. This n is an integer, and in the present embodiment, is set to increase as the vehicle travels in the third correction section.

For example, when the preceding tracked truck M1 enters the curved section 4 from the straight section 3, in the first correction section, the relative speed with respect to the following tracked truck M2 traveling on the straight section 3 is apparent. It's getting slower. Therefore, the number of running pulses p1 to p3 for n pulse signals
Is increased so as to add one, and the rate at which the running rate X1 increases is gradually reduced. Therefore, when the tracked truck M2 calculates the inter-vehicle distance H, when the preceding tracked truck M1 is traveling in the first correction section, the travel ratio X corrected so that the rate of increase is small.
This is done using 1.

Next, the preceding tracked truck M1 enters the second correction section, and the following tracked truck M enters the curve section 4.
When 2 rushes, the change in the direction with respect to the traveling distance is the same until the preceding tracked truck M1 passes the end position of the curve section 4. Therefore, as in the straight section 3, by adding one value of the number of traveling pulses p1 to p3 to one pulse signal output from the encoder 13, both the tracked vehicles M1 and M2 are both The vehicle travels under the same conditions, and the traveling ratio X1 is set to be the same as the straight section 3. Therefore, when the tracked truck M2 calculates the inter-vehicle distance H, when the preceding tracked truck M1 is traveling in the second correction section, the difference determined in the first correction section is included. This is performed using the traveling ratio X1. Next, when the preceding tracked truck M1 enters the straight section 3 from the curved section 4, in the third correction section, the subsequent tracked truck M2 traveling on the curved section 4 is moved relative to the tracked truck M1. Get away. That is, the preceding tracked truck M1
, The relative speed with respect to the tracked vehicle M2 becomes apparently faster. Therefore, the correction is performed so that the value of the number of running pulses p1 to p3 is added by n to one pulse signal, and the rate at which the running rate X1 increases is gradually increased. Therefore, when calculating the inter-vehicle distance H of the tracked truck M2, when the preceding tracked truck M1 is traveling in the third correction section, the traveling ratio X1 corrected so that the rate of increase becomes large is calculated. Done using

The first to third correction sections and correction values are set in advance, and when each of the tracked vehicles M1 to M3 passes through the third correction section, the number of traveling pulses p1 to p3 is determined by each correction. The value is set so as to be the same value as when counting without correction in the section. FIG. 7 shows the relationship between the traveling pulse numbers p1 to p3 for the correction section.

It should be noted that the corrected traveling pulse numbers p1 to p
The first counter 21 for counting 3 is the controller 1
6 is built in. Further, the controller 16 has a second counter 22 built therein. Unlike the first counter 21, the second counter 22 sequentially counts pulse signals from the encoder 13. Therefore,
The first counter 21 and the second counter 22 are different from the first correction section to the third correction section as shown by a solid line (first counter) and a broken line (second counter) in FIG. Value, otherwise the same.

The correction of the running pulse numbers p1 to p3 is made different between the right curve section 4a and the left curve section 4b. This is because the mounting position of the measuring wheel 12 is provided on the right side with respect to the traveling direction,
This is because the curvature of the rail 2 on which the measurement wheel 12 rolls is different between a and the left curve section 4b. In this case, the degree of correction in the left curve section 4b is set to be larger than that in the right curve section 4a.

Then, the controller 16 obtains the corrected inter-vehicle distance K as follows. The corrected inter-vehicle distance K differs only in the method of obtaining the track distance Hb obtained from the inter-vehicle distance H. That is, K = Hb−Ha... [4], and in this case, Hb = p2a−p2b = P2 · X1−p2b.

In the corrected inter-vehicle distance K, the running ratio X1 (= p1 / P1) in the above equation is equal to the corrected running pulse number p1.
Is calculated. Then, the running pulse number p2 in the above equation
b uses the number of uncorrected pulses. That is, the second
The value counted by the counter 22 is used, and the value of the first counter 21 is not used.

That is, the position of the following tracked vehicle M2 uses the uncorrected number of travel pulses, and the position of the preceding tracked vehicle M1 uses the travel rate using the corrected number of travel pulses. The corrected inter-vehicle distance K, which is the distance between the parts where the two tracked vehicles M1 and M2 are closest, is obtained.

Controller 1 for each tracked vehicle M1 to M3
6, the allowable inter-vehicle distance is set in advance, and the controller 16 compares the inter-vehicle distance H and the corrected inter-vehicle distance K with the allowable inter-vehicle distance, and when the inter-vehicle distance H and the corrected inter-vehicle distance K become smaller than the allowable inter-vehicle distance. The traveling motor 19 is decelerated.

Next, the operation of the controller 16 configured as described above will be described with reference to the flowcharts shown in FIGS. First, before starting the normal operation for carrying the load of the tracked vehicles M1 to M3, the reference station S
From T1, a learning operation for making a full circuit around the trajectory V is performed. In other words, by this learning operation, the controller 16 of each of the tracked vehicles M1 to M3 enters the normal operation after preliminarily storing the pulses P1 to P3 for one round.

During normal operation, as shown in FIG. 8, in step (hereinafter simply referred to as "S") 101, the controller 16 sends the communication trolley line L2 from the controllers 16 of the other tracked vehicles M1 to M3. The travel ratios X1 to X3 indicating the travel positions output to the above are input, and the travel positions of the other tracked vehicles M1 to M3 are determined. And S10
At 2, the controller 16 controls the other tracked vehicles M1 to M3.
, The tracked trucks M1 to M3 traveling immediately before are determined.

In this state, each tracked truck M1 to M
3 travels based on a command signal from the ground control panel 5 and, for example, in S103, a target station (for example, the second station ST2) to receive and load a load from the ground control panel 5 is input. Travels toward the second station ST2.

At the time of traveling, at S104,
The controller 16 has tracked trucks M1 to M running immediately before.
It is determined whether the inter-vehicle distance H or the like is sufficiently ensured while inputting the data of No. 3. That is, the controller 16 determines whether or not the inter-vehicle distance H is greater than or equal to the allowable inter-vehicle distance in the straight section 3 and in the curved section 4. If the inter-vehicle distance H or the corrected inter-vehicle distance K is greater than or equal to the allowable inter-vehicle distance, normal driving is continued in S105. If the inter-vehicle distance H or the corrected inter-vehicle distance K is less than the permissible inter-vehicle distance, in S106, the vehicle is decelerated or stopped to secure a predetermined distance.

Then, in S107, the controller 16
Determines whether or not the target second station ST2 has been reached, and if not reached, moves to S104 again. When the vehicle reaches the target second station ST2, the traveling motor 19 is stopped in S108, and the tracked vehicles M1 to M3 are stopped at the station ST2. Further, in S109, the controller 16 determines whether or not to perform transfer such as delivery of a load. If the transfer operation is not performed by controlling the drive of the transfer motor 20, and if the transfer is to be performed, the transfer operation is performed in step S <b> 110, and then the process proceeds to step S <b> 103. It is operated based on the control from.

Next, a process of outputting the own running ratios X1 to X3 output to the tracked vehicles M1 to M3 when obtaining the inter-vehicle distance H or the corrected inter-vehicle distance K will be described with reference to the flowchart shown in FIG. .

When the tracked vehicles M1 to M3 are traveling,
In S201 and S202, the controller 16 determines whether or not there is a dog detection signal from the dog detection sensor 14b.
It is determined whether the traveling section is a right curve section or a left curve section 4a, 4b. That is, it is determined whether the traveling section is the first and second correction sections.

If the traveling section is neither the right curve section nor the left curve section 4a, 4b, the contra roller 16 determines that the traveling section is not the curve section 4 but the straight section 3 and The process moves to S203. Further, in S203, the controller 16 determines whether or not the straight section 3 is the third correction section. That is, the controller 16 determines whether or not the traveling pulse numbers p1 to p3 have been corrected in the straight section 3. Then, if the traveling pulse numbers p1 to p3 have not been corrected, the controller 16 determines that the traveling section is a normal straight section 3 other than the third correction section, and proceeds to S204. At this time, the controller 16
Is the running pulse number p1 that has not been corrected in S204.
Ｐp3, and calculates the running ratios X1 to X3 on the communication trolley line L2.

In S201, the controller 16
And the controller 16 determines that the traveling section is the right curve section 4a based on the dog detection signal. In this case, the controller 16
At 05, the number of running pulses p1 to p3 counted by the first counter 21 is corrected corresponding to the right curve section 4a (first and second correction sections). Then, the controller 16 determines the traveling pulse numbers p1 to p corrected in S204.
3 to calculate the corrected travel ratios X1 to X3,
The corrected traveling ratios X1 to X3 are transmitted to the communication trolley line L
2 output. From this state, the right curve section 4a
After passing through, the controller 16 determines in S201 and S20
At 2, the traveling section is a right curve section or a left curve section 4
It is determined that they are not a and 4b, and it is determined in S203 that the traveling pulses p1 to p3 have been corrected. That is, the controller 16 determines that the traveling section is the third correction section, and gradually releases the correction of the corrected traveling pulse numbers p1 to p3 counted by the first counter in S206. . In this case, the controller 16
In step 4, the corrected running ratios X1 to X3 are calculated based on the corrected running pulse numbers p1 to p3 until the correction is canceled, and the corrected running ratios X1 to X3 are displayed on the communication trolley line L2. Output.

Further, if the controller 16 determines in S202 that the current position is not the right curve section 4a but the left curve section 4b in S202, the first flow proceeds to S207.
The number of traveling pulses p1 counted by the counter 21
p3 is corrected corresponding to the left curve section 4b (first and second correction sections). Then, the controller 16 proceeds to S20
The corrected travel ratios X1 to X3 are calculated based on the travel pulse numbers p1 to p3 corrected in step 4, and the corrected travel ratios X1 to X3 are output on the communication trolley line L2. From this state, after passing through the left curve section 4b, the controller 16 sets the S as in the case of the right curve section 4a.
At 203, it is determined that this is the third correction section, and S20
The correction of the traveling pulse numbers p1 to p3 corrected in 6 is gradually released. Then, the controller 16 determines in step S204 that the traveling pulse number p1 has been corrected until the correction is released.
Ｐp3, the corrected travel ratios X1 to X3 are calculated, and the corrected travel ratios X1 to X3 are calculated using the communication trolley line L.
2 output.

The controller 16 of each of the tracked vehicles M1 to M3 receives the running ratios X1 to X3 output from the other tracked vehicles M1 to M3, and calculates the inter-vehicle distance H or the corrected inter-vehicle distance K. .

According to the present embodiment, the following (a) to (b)
It has the effect shown in (e). (A) The traveling ratios X1 to X3 used for controlling the traveling of the tracked vehicles M1 to M3 are obtained by dividing the traveling pulse numbers p1 to p3 by the pulse numbers P1 to P3 for one round. Therefore, by using the traveling ratios X1 to X3, the tracked vehicles M1 to M3 are removed in a state where the machine difference of the encoder 13 provided for each of the tracked vehicles M1 to M3 and the processing error of the measuring wheel 12 are excluded. The traveling position of the M3 on the track can be accurately recognized, and the traveling can be controlled more accurately.

Therefore, since the traveling positions of the tracked vehicles M1 to M3 traveling on the track V are determined based on the traveling ratios X1 to X3, it is possible to accurately determine the traveling positions of the tracked vehicles M1 to M3. it can. In this case, the ground control panel 2 can accurately determine the traveling positions of the tracked vehicles M1 to M3 based on the traveling ratios X1 to X3.
The tracked vehicles M1 to M3 can be controlled with higher accuracy, and the display device 8 can monitor the running state of the tracked vehicles M1 to M3 accurately.

(B) The controller 16 of each of the tracked vehicles M1 to M3 calculates the running ratios X1 to X3 of the other tracked vehicles M1 to M3 among the running ratios X1 to X3 output on the communication trolley line L2. The track trucks M1 to M3 arranged immediately before can be easily determined based on the input and the traveling ratios X1 to X3. Furthermore, based on the traveling ratios X1 to X3, each tracked truck M1 to M3 can accurately determine the traveling interval H between the tracked trucks M1 to M3 arranged immediately before. Then, for example, when the traveling interval H is equal to or less than a predetermined interval, the traveling of the tracked trucks M1 to M3 is decelerated, and the tracked trucks M1 to M3 do not collide with each other, and thus the tracked trucks M1 to M3 can be more safely. M1 to M3 can be run.

(C) When traveling on curve section 4,
The controller 16 corrects the traveling pulse numbers p1 to p3 in accordance with the characteristics such as the curvature of the curve section 4, so that the traveling ratios X1 to X3 are corrected and output on the communication trolley line L2. Therefore, the tracked trucks M1 to M3 are also used in the curved section 4 by the corrected traveling ratios X1 to X3.
3 can accurately determine the traveling interval of the tracked trucks M1 to M3 located immediately before.

In the first correction section, one value of the running pulse numbers p1 to p3 is added to n pulses output from the encoder 13. For example, when the tracked truck M1 enters the curved section 4 (first correction section) from the straight section 3, the tracked truck M2 traveling on the subsequent straight section 3 comes close to the tracked truck M1, and The relative speed of the tracked vehicle M1 to M2 is apparently slow. However, in the first correction section, since the rate of increase in the number of traveling pulses p1 is reduced as described above, the controller 16 of the tracked vehicle M2 accurately determines the traveling position of the tracked vehicle M1,
It is possible to determine the traveling ratio X1, the traveling interval with the tracked vehicle M1, and the like.

In the third correction period, the number of running pulses p1 to p3 is added by n to one pulse output from the encoder 13. For example, when the preceding tracked truck M1 shifts from the curved section 4 (third correction section) to the straight section 3, the tracked truck M1 moves away from the tracked truck M2 traveling on the curved section 4, and the tracked truck M1. Apparently becomes relatively faster with respect to the tracked vehicle M2. However, in the third correction section, as described above, the running pulse number p
Since the rate of increase of 1 is increased, the controller 16 of the tracked truck M2 can accurately determine the traveling position of the tracked truck M1, the traveling ratio X1, the traveling interval with the tracked truck M1, and the like.

(D) Since the magnetic tape 10 is attached to the curved section 4, even when the power is turned on after the tracked trucks M 1 to M 3 are stopped in the curved section 4, for example, the magnetic detection sensor can be used. 15 detects the magnetism and outputs a detection signal to the controller 16. For this reason, the controller 16 determines that the tracked vehicles M1 to M3 are located in the curve section 4, and can prevent accidents such as derailment and runaway of the tracked vehicles M1 to M3. Therefore, the tracked trucks M1 to M3 that have been emergency stopped can be started up safely.

(E) The traveling amount of the tracked vehicles M1 to M3 is determined by the number of traveling pulses p1 to p detected by the encoder 13.
It is 3. Therefore, the controller 16 of each of the tracked vehicles M1 to M3 can easily determine the traveling positions of the tracked vehicles M1 to M3 based on the traveling pulse numbers p1 to p3.

The present invention is not limited to the above-described embodiment, and may be implemented as follows, with a part of the configuration appropriately changed without departing from the spirit of the invention. (1) In the above embodiment, in the curve section 4, the controller 16 corrects the traveling ratios X1 to X3 by correcting the traveling pulse number and outputs the traveling ratios to the communication trolley line L2.

In the curve section 4, the controller 16 may output this on the communication trolley line L2 without correcting the running ratios X1 to X3. In this case, the controller 16 having input the travel ratios X1 to X3 from the communication trolley line L2 calculates the inter-vehicle distance H by the same calculation method as in the case of the straight section 3. Thereafter, a correction value that is formed for each curve section 4 and is set in advance is multiplied by this inter-vehicle distance H,
The inter-vehicle distance H may be obtained, and the inter-vehicle distance K in the curve section 4 may be determined.

(2) In the above embodiment, the two stations ST1 and ST2 are provided on the track V. However, three or more stations may be provided. (3) In the above embodiment, as shown in FIG.
The present invention may be applied to a transport system 21 having a branched track V1. In this case, the tracked vehicles M1 to M3 travel on one of the routes r1 and r2 based on a command signal from the ground control panel 5. When the tracked vehicles M1 to M3 are traveling on the routes r1 and r2, the controller 16 determines the number of traveling pulses p1 to p3 according to the curvature of the curve.
Is corrected. In this case, when the tracked vehicles M1 to M3 enter the routes r1 and r2, the controller 16 sets the base point ra
Is calculated for each of the routes r1 and r2, and is output on the trolley line L2. That is, in each of the routes r1 and r2, the controller 16 sends the trolley line L2 along with the data indicating the traveling ratio from the base point ra to the traveling route.
Output to the top.

In the present transport system 21, the number of tracked vehicles can be easily changed according to the amount of load supplied to the transport system by using the route r1 as a retreat route. For example, by retreating the tracked truck M3 to the retreat route, it is possible to easily carry the load between the two tracked trucks M1 and M2.

(4) In the above embodiment, the tracked truck M
Although the encoder 13 is disposed inside the track V in 1 to M3, the encoder 13 may be disposed outside the track V. in this case,
The degree of correction in curve section 4 is right curve section 4a
Is set smaller in the left curve section 4b than in the case of.

(5) In the above embodiment, the right curve section 4a and the left curve section 4b are determined based on the difference in the interval between the two dogs 9b provided at the respective start positions. This may be configured such that another dog is provided for each of the curve sections 4a and 4b and detected by another dog detection sensor.

(6) In the above embodiment, curve section 4
The start position and end position of the right curve section 4a and the left curve section 4b are determined by the dog 9b.
This can be performed without using the dog 9b without using the magnetic tape 10b.
The determination may be made only by using the above. That is, in the state where the magnetic tape 10 is attached to the curve section 4 in the same manner as in the above embodiment, just before the start position of the curve section 4, one magnetic piece more ferromagnetic than the magnetic tape 10 is attached, The start position of the curve section 4 is detected by the magnetic detection sensor 15 detecting the magnetic piece. The end position of the curve section 4 is determined at the end of the magnetic tape 10, that is, when the magnetic detection sensor 15 stops detecting the magnetism.

In this case, the discrimination between the start position of the right curve section 4a and the start position of the left curve section 4b is made based on the magnetic strength of the magnetic piece attached to the start position of each curve section 4a, 4b. .

With this configuration, the dog 9b and the dog detection sensor 14b become unnecessary, and the configurations of the tracked vehicles M1 to M3, the traveling rail 2, and the like can be simplified. (7) In the above-described embodiment, whether or not the running section is the curve section 4 may be determined only by detecting the dog 9b without using the magnetic tape 10. In this case, for example, in the case where the tracked trucks M1 to M3 stop in an emergency while traveling in the curved section 4 and then return, it is determined whether the section to be traveled after the emergency stop is the straight section 3 or the curved section 4. An input device capable of inputting is provided in advance. When returning, the operator operates the input device appropriately according to the section to be traveled, thereby preventing runaway of the tracked vehicles M1 to M3 after returning and allowing the vehicle to travel safely. Can be.

(8) In the above embodiment, the traveling ratios X1 to X3 are communicated via the communication trolley line L2, but the traveling ratios X1 to X3 may be communicated by various communication means such as wireless.

[0091]

As described above in detail, according to the first aspect of the present invention, when traveling on a curved section of a tracked bogie, the bogie travel amount of the tracked bogie is corrected, so that the curved section of the tracked bogie is corrected. , The traveling control is accurately performed, and a collision of a following vehicle can be prevented.

According to the second aspect of the present invention, the travel ratio is
Since the traveling position of each tracked bogie is recognized,
Even if the travel distance detection means has individual differences for each road vehicle,
Accurate running position is recognized, and running position is used for running control
When carrying out the control, the control of the truck
Layer can be done accurately.

According to the third aspect of the present invention, since the bogie traveling amount is the number of traveling pulses, it is easily used for traveling control.
Can be used.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a transport system that transports loads of various parts and the like using a tracked truck.

FIG. 2 is a perspective view showing a tracked truck.

FIG. 3 is a cross-sectional view showing a dog and a magnetic tape attached to a traveling rail, a dog detection sensor and a magnetic detection sensor attached to a tracked truck, and the like.

FIG. 4 is a configuration diagram showing an electrical configuration of the transport system.

FIG. 5 is a schematic diagram showing a tracked bogie traveling in a straight section.

FIG. 6 is a schematic diagram showing a tracked bogie traveling on a curved section.

FIG. 7 is an explanatory diagram showing a correspondence between a traveling distance and a traveling pulse.

FIG. 8 is a flowchart showing the operation of the transport system.

FIG. 9 is a flowchart showing the operation of the transport system.

FIG. 10 is a configuration diagram showing a transport system in another example.

[Explanation of symbols]

3 ... straight section, 4 ... curved section, 13 ... encoder as travel distance detecting means, M1 to M3 ... tracked truck, V, V
1: track, ST1: first station as reference position, p1 to p3: number of traveling pulses as bogie traveling amount, P
1 to P3... The number of pulses for one round as the travel amount for one round, X
1 to X3: running ratio.

Continuation of front page (72) Inventor Isao Kutsuzawa 2-1-1 Toyota-cho, Kariya-shi, Aichi Pref. Inside Toyota Industries Corporation (56) References JP-A-5-303423 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05D 1/02

Claims (3)

(57) [Claims] 1. A travel control method for a track guided vehicle to the predetermined orbit consisting straight sections and the curve sections is a plurality of the track guided vehicle runs, a pre-Symbol curve section, the curve start section, the curve in section and The travel is divided into curve end sections, and the travel distance of each tracked truck from the reference position is detected, and the travel distance of the tracked truck is detected in the straight section.
Is increased by detecting the amount of the amount detecting means, in the curve start section, than the detection quantity from the travel distance detecting means is first only increase but a predetermined travel distance is small, with the curve in section, travel distance It is the detection amount from the detection means
Only to increase, in the curve terminates section than the detection quantity from the travel distance detecting means is a second increase only the predetermined travel distance pressurizing is larger, the traveling of the track guided vehicle based on the carriage travel amount Control
Travel control method of a rail guided vehicle that. 2. The traveling position of each tracked truck is used for traveling control.
When using, the travel amount for one round of the track is measured in advance by travel distance detection means, and the ratio of the travel distance for one round to the bogie travel distance of the tracked truck is determined as the travel ratio, and the travel ratio is calculated. The running control method of a tracked bogie according to claim 1, wherein the running position of each tracked bogie is recognized. 3. The running control method for a tracked vehicle according to claim 1, wherein the running amount detecting means outputs a pulse signal indicating a running amount of the tracked vehicle.