JP3053517B2 - Operation control method of wireless mobile trolley - Google Patents

Operation control method of wireless mobile trolley

Info

Publication number
JP3053517B2
JP3053517B2 JP5287759A JP28775993A JP3053517B2 JP 3053517 B2 JP3053517 B2 JP 3053517B2 JP 5287759 A JP5287759 A JP 5287759A JP 28775993 A JP28775993 A JP 28775993A JP 3053517 B2 JP3053517 B2 JP 3053517B2
Authority
JP
Japan
Prior art keywords
mobile trolley
mobile
controller
vehicle
communication
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
Application number
JP5287759A
Other languages
Japanese (ja)
Other versions
JPH07123472A (en
Inventor
邦彦 西部
Original Assignee
日立機電工業株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 日立機電工業株式会社 filed Critical 日立機電工業株式会社
Priority to JP5287759A priority Critical patent/JP3053517B2/en
Publication of JPH07123472A publication Critical patent/JPH07123472A/en
Application granted granted Critical
Publication of JP3053517B2 publication Critical patent/JP3053517B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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、地上側のコントローラ
により、移動台車側のコントローラを介して移動台車の
運行制御を行う無線式移動台車の運行制御方法に関する
ものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of controlling the operation of a wireless mobile trolley in which the operation of the mobile trolley is controlled by a controller on the ground via a controller on the mobile trolley.

【0002】[0002]

【従来の技術】従来の無線式移動台車の運行制御装置と
して、例えば、特開平4−107094号公報に開示さ
れたものがある。この無線式移動台車の運行制御装置
は、地上側のコントローラと移動台車側のコントローラ
の間で通信するための無線式通信装置を、地上側に1つ
のアンテナと1つのモデムとを1組とし、これを複数組
配置するようにしている。この無線式移動台車の運行制
御装置は、通信不能となるエリアを少なくすることを狙
って構成したものである。
2. Description of the Related Art An example of a conventional operation control device for a wireless mobile trolley is disclosed in Japanese Patent Application Laid-Open No. 4-107094. The operation control device of the wireless mobile trolley includes a wireless communication device for communicating between a controller on the ground side and a controller on the mobile trolley side, and one set of one antenna and one modem on the ground side. A plurality of these are arranged. The operation control device of the wireless mobile trolley is configured to reduce an area where communication is disabled.

【0003】[0003]

【発明が解決しようとする課題】しかしながら、移動台
車に無線式通信装置を搭載して受信を行う場合、地上側
の通信装置を複数に増加したとしても、周囲の電波の反
射や吸収によるフェージングの影響により、電界強度が
極端に小さくなる電波の影に瞬間的に入り、通信不能に
陥る現象が生じることは避けることができなかった。そ
して、移動台車がこのような電波の影に入った場合、一
時的に通信不能となるが、移動中であれば再度電波が届
き、通信可能となることが期待できる。しかしながら、
例えば、複数の移動台車が合流する地点において、他の
移動台車に衝突することがないかどうかを移動台車より
地上側に確認しようとするために停止したとき、移動台
車がこの電波の影に入り、通信不能となり、合流点に進
入できなくなり、合流点直前で移動台車が渋滞してしま
うという問題があった。
However, when a mobile trolley is equipped with a wireless communication device to perform reception, even if the number of terrestrial-side communication devices is increased, fading due to reflection and absorption of surrounding radio waves will occur. Due to the influence, it is unavoidable that a phenomenon of instantaneously entering a shadow of a radio wave whose electric field intensity becomes extremely small and causing a communication failure occurs. When the mobile trolley enters the shadow of such a radio wave, communication is temporarily disabled. However, if the mobile trolley is moving, the radio wave reaches again, and it can be expected that communication becomes possible. However,
For example, when a vehicle stops at the point where multiple vehicles come together to check whether there is collision with another vehicle on the ground side, the mobile vehicle enters the shadow of this radio wave. However, there is a problem that communication becomes impossible, the vehicle cannot enter the junction, and the mobile trolley is congested immediately before the junction.

【0004】本発明は、上記の問題点に鑑みてなされた
もので、移動台車が電波の影に入り、一時的に通信不能
となった場合でも、システムがダウンしないで移動台車
を運行させることができる無線式移動台車の運行制御方
法を提供することを目的とする。
SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to operate a mobile trolley without a system down even if the mobile trolley enters a shadow of a radio wave and communication is temporarily disabled. It is an object of the present invention to provide an operation control method of a wireless mobile trolley that can perform the operation.

【0005】[0005]

【課題を解決するための手段】本発明は上記目的を達成
するためになしたもので、地上側のコントローラと移動
台車側のコントローラの間で通信を行うための無線式通
信装置を、地上側及び移動台車側の双方に設け、移動台
車側のコントローラを移動台車の駆動部に接続するよう
に構成し、複数台の無線式移動台車を走行経路に敷設し
た移動台車誘導用の誘導ラインに沿って各々走行するよ
うにした無線式移動台車の運行制御方法において、地上
側のコントローラと移動台車側のコントローラの間で通
信を行うことができない場合、移動台車の駆動部を駆動
して移動台車が前進してきた走行経路に沿って所定距離
後退させて再度通信を行うようにすることを特徴とす
る。ここで、「所定距離後退させて再度通信を行うよう
にする」には、所定距離後退させながら再度通信を行う
ことを含むものとする。
SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, and comprises a wireless communication device for performing communication between a controller on the ground side and a controller on the mobile trolley side. And on both sides of the mobile trolley, the controller of the mobile trolley is connected to the drive unit of the mobile trolley, and a plurality of wireless mobile trolleys are laid along the traveling route along the guidance line for mobile trolley guidance. in operation control method of the wireless mobile carriage which is adapted to each traveling Te, if unable to communicate between the controller on the ground side of the controller and the cart side, the cart drives the driving unit of the cart A predetermined distance along the traveling path that has advanced
It is characterized by retreating and performing communication again. Here, “ retreating by a predetermined distance and performing communication again” includes performing communication again while retreating by a predetermined distance.

【0006】[0006]

【作用】地上側のコントローラと移動台車側のコントロ
ーラの間で通信を行うための無線式通信装置を、地上側
及び移動台車側の双方に設け、移動台車側のコントロー
ラを移動台車の駆動部に接続する。そして、地上側のコ
ントローラと移動台車側のコントローラの間で通信を行
うことができない場合、移動台車の駆動部を駆動して移
動台車が前進してきた走行経路に沿って所定距離後退
せて再度通信を行うようにする。これにより、移動台車
を電波の影から脱出させて、地上側のコントローラと移
動台車側のコントローラの間で通信を行うことができる
ようにして、移動台車の円滑な走行及び制御が行えるよ
うになる。
The wireless communication device for performing communication between the controller on the ground side and the controller on the mobile trolley is provided on both the ground side and the mobile trolley, and the controller on the mobile trolley is provided in the drive unit of the mobile trolley. Connecting. If communication between the controller on the ground side and the controller on the mobile trolley side is not possible, the drive unit of the mobile trolley is driven to retreat a predetermined distance along the traveling path on which the mobile trolley has moved forward. And try to communicate again. As a result, the mobile trolley escapes from the shadow of the radio wave, and communication can be performed between the controller on the ground side and the controller on the mobile trolley side, so that the mobile trolley can run and control smoothly. .

【0007】[0007]

【実施例】以下、本発明の無線式移動台車の運行制御方
法を図示の実施例に基づいて説明する。本発明の無線式
移動台車の運行制御方法を適用するようにした無線式移
動台車A,Bは、図2に示す移動台車走行経路に敷設し
た移動台車誘導用の誘導ラインLに沿って各々走行する
ように構成されている。図2に示す移動台車走行経路の
レイアウトは、あくまでも一例であって、経路のレイア
ウトはこれに限定されることはない。そして、この移動
台車誘導用の誘導ラインLは、移動台車A,Bの走行路
経路に沿って予め地上側に敷設される。誘導ラインL
は、所定幅の光反射テープや磁気を帯びた磁気テープ等
で以て構成され、一方、移動台車A,Bには、誘導ライ
ンLに沿って適正に走行しているかどうかを検出する走
行制御用センサが設けられ、走行制御用センサの情報に
基づいて、移動台車A,Bは、矢印L1,L2,L3の
方向に走行することができるようにする。
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an operation control method of a wireless mobile trolley according to the present invention. The wireless mobile vehicles A and B to which the operation control method of the wireless mobile vehicle according to the present invention is applied respectively travel along a guide line L for guiding the mobile vehicle laid on the mobile vehicle travel route shown in FIG. It is configured to be. The layout of the traveling route of the mobile trolley shown in FIG. 2 is merely an example, and the layout of the route is not limited to this. The guide line L for guiding the mobile trolleys is laid in advance on the ground side along the travel path routes of the mobile trolleys A and B. Guidance line L
Is constituted by a light reflecting tape having a predetermined width, a magnetic tape having magnetism, or the like. On the other hand, traveling controls A and B for detecting whether or not the vehicle is traveling properly along the guide line L are provided. Sensors are provided, and based on information from the travel control sensors, the mobile trolleys A and B can travel in the directions of arrows L1, L2, and L3.

【0008】移動台車誘導用の誘導ラインLの走行経路
の側方には、例えば、積荷の移載作業を行うための作業
ステーションSTが、必要な場所に必要な数だけ設置さ
れる。
[0008] Beside the traveling route of the guide line L for guiding the mobile trolley, for example, a required number of work stations ST for performing a load transfer operation are installed at required places.

【0009】誘導ラインL上又はその近傍位置には、分
岐点における進行方向を示すガイド10並びに合流点の
位置を示すガイド20,21及びガイド30,31を設
けるようにし、移動台車A,Bには、これらのガイド1
0,20,21,30,31を読み取るセンサが設けら
れ、これらのセンサの情報に基づいて、移動台車A,B
は、分岐点や合流点の位置を読み取って進行することが
できるようにする。
A guide 10 indicating the traveling direction at the branch point and guides 20 and 21 and guides 30 and 31 indicating the position of the merging point are provided on or near the guide line L. Is these guides 1
Sensors for reading 0, 20, 21, 30, 31 are provided, and based on the information of these sensors, the mobile trolleys A, B
Is to be able to proceed by reading the position of a junction or a junction.

【0010】さらに、移動台車A,Bが、走行経路上の
いずれの箇所に位置していても、地上側の通信装置40
との間で作業予定のあるステーションSTの作業情報
や、合流点における進行可否の情報や、分岐点における
進行方向の情報などを通信できるよう、各移動台車には
通信装置50を搭載するようにしている。
Further, no matter where the mobile trolleys A and B are located on the traveling route, the ground-side communication device 40
A communication device 50 is mounted on each mobile bogie so that work information of a station ST that is scheduled to work with the vehicle, information on whether or not the vehicle can proceed at a junction, and information on a traveling direction at a branch point can be communicated. ing.

【0011】通信装置40,50は、図1に示すように
無線式で、各々モデム41,51とアンテナ42,52
を以て1組として構成されており、コントローラ43,
53に接続されている。さらに、移動台車側の通信装置
50のコントローラ53は、移動台車の駆動部54と接
続されており、地上側から指示される各種情報に基づ
き、移動台車の走行及び停止並びに各ステーションにお
ける作業を行うことができるように構成されている。
The communication devices 40 and 50 are wireless, as shown in FIG. 1, and have modems 41 and 51 and antennas 42 and 52, respectively.
And the controller 43,
53. Further, the controller 53 of the communication device 50 on the mobile trolley is connected to the drive unit 54 of the mobile trolley, and performs traveling and stopping of the mobile trolley and work in each station based on various information instructed from the ground side. It is configured to be able to.

【0012】以下、本発明の無線式移動台車の運行制御
方法を、図2で示す移動台車の走行経路のレイアウトの
一例に基づいて説明する。図2に示す走行経路おいて、
移動台車Aが合流点入口30に進入した場合、停止点3
1に至るまでにこの合流点を通過して良いかどうかを通
信装置40,50を介して地上側に確認し、通過が認め
られれば通過できる。移動台車Bに関しても同様に、例
えば、合流点入口20に進入した場合、停止点21に至
るまでにこの合流点を通過して良いかどうかを通信装置
40,50を介して地上側に確認し、通過が認められれ
ば通過できる。
Hereinafter, the operation control method of the wireless mobile vehicle according to the present invention will be described based on an example of a layout of a traveling route of the mobile vehicle shown in FIG. In the traveling route shown in FIG.
When the mobile trolley A enters the junction 30, the stop point 3
It is confirmed via the communication devices 40 and 50 whether or not the vehicle can pass through the junction before reaching 1, and if the vehicle is allowed to pass, the vehicle can pass. Similarly, for the mobile trolley B, for example, when the vehicle enters the junction 20, it is confirmed to the ground side via the communication devices 40 and 50 whether the vehicle can pass through the junction before reaching the stop 21. If it is allowed, you can pass.

【0013】次に、図3のフローチャートを参照して本
発明における合流点での通過方法の動作を説明する。ま
ず、移動台車A又は移動台車Bが、センサにて走行経路
上の合流点入口20,30を検知すると、合流点に接近
したことが判る(S1)。この時、移動台車A又は移動
台車Bは、地上側に通信装置40,50を介して通信
し、この合流点を通過して良いかどうかの指示を仰ぐ
(S2)。合流点に他の移動台車がなく、通信OKの指
示がでれば、そのまま通過できる(S11)。もし他の
優先する移動台車が合流点にある場合はNOの指示がで
る。
Next, the operation of the passing method at the junction according to the present invention will be described with reference to the flowchart of FIG. First, when the mobile trolley A or the mobile trolley B detects the confluence entrances 20 and 30 on the traveling route by the sensor, it is determined that the confluence is approached (S1). At this time, the mobile trolley A or the mobile trolley B communicates with the ground side via the communication devices 40 and 50, and asks for an instruction as to whether or not the vehicle can pass this junction (S2). If there is no other mobile truck at the junction and communication OK is given, the vehicle can pass as it is (S11). If another preferential moving vehicle is at the junction, a NO instruction is given.

【0014】また、電波の具合や、地上側の通信が混雑
している場合には、すぐに返事がもらえない場合が生じ
る。この時はさらに前進し、停止点21,31に到達し
たかどうかを確認する(S3)。また、停止点に到達
なければそのまま前進を続け、停止点21,31を確認
したら停止する(S4)。そして、再び地上側に通信
し、この合流点を通過して良いかどうかの指示を仰ぐ
(S5)。この時、合流点に他の移動台車がなく、又は
他の台車が通過済みで通過OKの指示がでればそのまま
通過できる(S11)。もし、通過NOの指示がでる
か、又は連絡がない場合はそのまま待機し、一定時間経
過するのを待つ(S6)。
[0014] Further, when the condition of the radio wave or the communication on the ground side is congested, a response may not be immediately received. At this time, the vehicle further advances and it is confirmed whether or not the vehicle has reached the stop points 21 and 31 (S3). If the vehicle does not reach the stop point, the vehicle continues to move forward, and stops after confirming the stop points 21 and 31 (S4). Then, it communicates again to the ground side and asks for an instruction as to whether or not it is possible to pass this junction (S5). At this time, if there is no other mobile trolley at the junction, or if another trolley has already passed and an instruction to pass is given, the vehicle can pass as it is (S11). If there is an instruction for passing NO or there is no communication, the process waits as it is, and waits for a predetermined time to elapse (S6).

【0015】一定時間経過後、再度地上側に通信し、こ
の合流点を通過して良いかどうかの指示を仰ぐ(S
7)。通過OKの指示がでればそのまま通過できる(S
11)が、通過NOの指示が出た場合は、さらに一定時
間経過するのを待つ。このとき、地上側と通信しても連
絡が取れない場合は、電波の影に入っていることが想定
されるので、一定距離後退し(S8)、一定時間経過後
(S9)、再度地上側に通信し、この合流点を通過して
良いかどうかの指示を仰ぐ(S10)。この場合、後退
しながら指示を仰いでも良い。それでも地上側と連絡が
取れない場合は、後退を繰り返すが、通常は、わずかな
後退距離で通信できるようになる。
After a lapse of a predetermined time, the communication with the ground side is again performed, and an instruction as to whether the vehicle can pass through the junction is asked (S).
7). If a pass OK instruction is given, it is possible to pass as it is (S
11), when an instruction to pass through is issued, the process waits for a further elapse of a certain time. At this time, if communication is not possible even when communicating with the ground side, it is assumed that the vehicle is in the shadow of the radio wave, so it is retracted by a certain distance (S8), after a certain time has elapsed (S9), and again on the ground side. And asks for an instruction as to whether the vehicle can pass through this junction (S10). In this case, you may ask for instructions while retreating. If it is still not possible to contact the ground side, retreat is repeated, but usually it will be possible to communicate with a slight retreat distance.

【0016】通過NOの指示がある場合は、一定時間待
機するのは上記と同様である。そして、通過OKの指示
が出れば通過し(S11)、一定の合流点制御、及び動
作を終える(S12)。
When there is an instruction for passing NO, the process waits for a predetermined time in the same manner as described above. Then, if the pass OK instruction is issued, the vehicle passes (S11), and the fixed junction control and the operation are completed (S12).

【0017】なお、本実施例により停止点に到達して
も、なお通過OKが出ず、または地上側と通信できない
場合は後退して通信を行う動作を示したが、後退と前進
を繰り返すことを排除するものではない。また、一定時
間待たないで、常時地上側に通過の指示を仰ぐ常時通信
を行っても良い。また、電波の影に入るのを防止するた
めに、必要に応じてアンテナを振動させたり、回転させ
ても良い。
According to the present embodiment, even if the vehicle reaches the stop point, if the vehicle does not pass or the vehicle cannot communicate with the ground, the vehicle moves backward to perform communication.
It does not exclude repeating. Instead of waiting for a certain period of time, it is also possible to always perform a constant communication asking the ground side for a passing instruction. In addition, the antenna may be vibrated or rotated as necessary to prevent the radio wave from entering the shadow.

【0018】[0018]

【発明の効果】本発明の無線式移動台車の運行制御方法
によれば、地上側のコントローラと移動台車側のコント
ローラの間で通信を行うことができなくなった場合、移
動台車の駆動部を駆動して移動台車が前進してきた走行
経路に沿って所定距離後退させて再度通信を行うように
することにより、移動台車を電波の影から確実に脱出さ
せて、地上側のコントローラと移動台車側のコントロー
ラの間で通信を行うことができるようにして、移動台車
の円滑な走行及び制御が行うことができる。
According to the operation control method of the wireless mobile trolley of the present invention, when communication between the controller on the ground and the controller on the mobile trolley becomes impossible, the drive unit of the mobile trolley is driven. Traveling with the mobile trolley moving forward
By retreating a predetermined distance along the route and performing communication again, it is possible to make sure that the mobile vehicle escapes from the shadow of the radio wave and perform communication between the controller on the ground and the controller on the mobile vehicle. As a result, smooth traveling and control of the mobile trolley can be performed.

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

【図1】本発明の無線式移動台車の運行制御方法を実施
する設備の一例を示す説明図である。
FIG. 1 is an explanatory diagram showing an example of equipment for implementing an operation control method for a wireless mobile trolley according to the present invention.

【図2】同移動台車の走行経路の一例を示すレイアウト
図である。
FIG. 2 is a layout diagram showing an example of a traveling route of the mobile trolley.

【図3】本発明の無線式移動台車の運行制御方法におけ
る合流点での通過方法の動作をフローチャート図であ
る。
FIG. 3 is a flowchart illustrating an operation of a passing method at a confluence point in the operation control method of the wireless mobile trolley according to the present invention.

【符号の説明】[Explanation of symbols]

L 誘導ライン A,B 移動台車 ST 作業ステーション 10 分岐点における進行方向を示すガイド 20,21,30,31 合流点を示すガイド 40 地上側の通信装置 50 各移動台車の通信装置 41,51 モデム 42,52 アンテナ 43,53 コントローラ 54 移動台車の駆動部 L Guidance line A, B Moving trolley ST Work station 10 Guide indicating the traveling direction at the branch point 20, 21, 30, 31 Guide indicating the junction 40 Communication device on the ground side 50 Communication device 41, 51 Modem 42 of each mobile trolley , 52 Antenna 43, 53 Controller 54 Driving unit for mobile trolley

Claims (1)

(57)【特許請求の範囲】(57) [Claims] 【請求項1】 地上側のコントローラと移動台車側のコ
ントローラの間で通信を行うための無線式通信装置を、
地上側及び移動台車側の双方に設け、移動台車側のコン
トローラを移動台車の駆動部に接続するように構成し、
複数台の無線式移動台車を走行経路に敷設した移動台車
誘導用の誘導ラインに沿って各々走行するようにした無
線式移動台車の運行制御方法において、地上側のコント
ローラと移動台車側のコントローラの間で通信を行うこ
とができなくなった場合、移動台車の駆動部を駆動して
移動台車が前進してきた走行経路に沿って所定距離後退
させて再度通信を行うようにすることを特徴とする無線
式移動台車の運行制御方法。
1. A wireless communication device for performing communication between a controller on the ground and a controller on the mobile trolley,
Provided on both the ground side and the mobile trolley side, the controller of the mobile trolley side is configured to be connected to the drive unit of the mobile trolley,
In an operation control method of a wireless mobile trolley in which a plurality of wireless mobile trolleys are respectively run along a guide line for mobile trolley guidance laid on a traveling route, a controller on the ground side and a controller on the mobile trolley side are provided. When communication between the mobile trolleys becomes impossible, the driving unit of the mobile trolley is driven to move backward by a predetermined distance along the traveling route on which the mobile trolley has advanced, and to perform communication again. An operation control method for a wireless mobile trolley.
JP5287759A 1993-10-22 1993-10-22 Operation control method of wireless mobile trolley Expired - Fee Related JP3053517B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP5287759A JP3053517B2 (en) 1993-10-22 1993-10-22 Operation control method of wireless mobile trolley

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5287759A JP3053517B2 (en) 1993-10-22 1993-10-22 Operation control method of wireless mobile trolley

Publications (2)

Publication Number Publication Date
JPH07123472A JPH07123472A (en) 1995-05-12
JP3053517B2 true JP3053517B2 (en) 2000-06-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
JP (1) JP3053517B2 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5595030B2 (en) * 2009-12-17 2014-09-24 三菱重工業株式会社 MOBILE BODY CONTROL SYSTEM, CONTROL DEVICE, CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM
JP2015082272A (en) * 2013-10-24 2015-04-27 日立建機株式会社 Dump truck
JP2016053758A (en) * 2014-09-02 2016-04-14 村田機械株式会社 Travelling vehicle system
JP6435948B2 (en) * 2015-03-24 2018-12-12 株式会社デンソー Automatic travel control device, control device, automatic travel control system
JP2022008586A (en) * 2021-09-28 2022-01-13 トヨタ自動車株式会社 Remote monitoring system, vehicle control unit, remote monitoring method, and vehicle control method

Also Published As

Publication number Publication date
JPH07123472A (en) 1995-05-12

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