JP3417622B2 - Traveling control device of transport carriage in transport system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport system for transporting various articles to a station facing a transport trajectory by a transport trolley traveling on the transport trajectory. The present invention relates to a device for controlling traveling. 2. Description of the Related Art A transport track such as a monorail, a self-propelled transport truck traveling on the transport track, and a plurality of stations facing the transport track are provided. 2. Description of the Related Art A transfer system in which a work is transferred to another station by a transfer trolley has been conventionally used for transferring various articles on an assembly line of a factory or the like. In this type of transport system, it is necessary to control the traveling speed of the transport vehicle or control the position of the transport vehicle so that the transport vehicle travels automatically. Conventionally, as a method of controlling the traveling speed of the carrier, a speed plate such as a speed plate in which the traveling speed data is written is used only for changing the speed, and the speed on the transport track is prepared. For each location that needs to be changed,
It is known that a separate speed plate or the like is additionally provided, and the traveling speed is read from the speed plate or the like while the transporting vehicle is traveling for transport to control a traveling drive unit. As a technique for controlling the position of the transport vehicle, a plurality of sections are set on the transport track, and a section recognition plate or the like in which an address of the section is written in each section is provided. In some cases, an address and the like of a section are read from the plate or the like while the transport vehicle is traveling for transport, and the read address is transmitted to a central control computer which is a host computer. As another technique for controlling the position of the transport vehicle, a central control computer, which is a host computer, is controlled by a signal provided via a trolley wire or the like provided on the transport track. There is also known an apparatus that recognizes the position of an object and performs control according to the position. [0007] According to the first of the conventional control methods as described above, when the traveling speed is adjusted in accordance with the area of the transport drive, a number of speed changes are required. It is necessary to attach a dedicated speed plate to each of the locations and write speed data individually to each plate. For this reason, creating and attaching each speed plate is troublesome and costly, and once installed on the transport track, subsequent design changes in layout and speed are not easy, and design changes are free. There is a disadvantage that it is poor. According to the second method, a separate plate or the like is provided for each section only for section recognition.
In addition, it is necessary to individually write addresses and the like, which is troublesome to make and the like, and increases the cost. Moreover, the degree of freedom in changing the design of the section of the transport track is poor. Further, according to the third method, a large-scale construction such as a trolley wire is required for recognizing the position of the bogie by a computer for centralized control, and a large-sized computer is required for centralized control. Therefore, the cost is high, and it is not easy to perform data processing by a computer when it is desired to change the section of the transport trajectory. The present invention has been made in view of the above circumstances, and does not require a large-scale centralized control computer and simplifies equipment for setting a section of a transfer trajectory and effectively controls travel of a transfer vehicle. It is an object of the present invention to provide a travel control device of a transport vehicle in a transport system capable of performing the above. [0011] In order to achieve the above object, the present invention provides a transport trajectory, a transport trolley traveling on the transport trajectory, and a vehicle facing the transport trajectory. A transport system including a station, a plurality of sections are set on the transport track, and a mark indicating a section of the section is provided. A control unit for controlling the device, a driving amount detecting unit for detecting a driving amount of the driving device, a mark detecting unit for detecting the mark, and a receiving unit for receiving a signal transmitted from an external transmitting unit are provided. In the above control unit, the travel control conditions
Teaching that the transport cart performs the teaching operation of
Determine whether the designated signal has been transmitted from the transmitting means
Teaching determining means, and the teaching determining means
Determined that the teaching designation signal was transmitted by
Preliminary run action to carry out a preliminary running operation of the transport truck in case
A working drive control means, during the pre-traveling operation, the Ma
Each time a mark is detected by the
While clearing the current drive amount by the detection means,
Driving the drive in the section between the mark and the previous mark
A transport including a drive amount corresponding to the arrangement of the plurality of sections and the position of the station, based on signals from the mark detecting means and the driving amount detecting means and data from the transmitting means , while measuring the amount. Layout recognition means for recognizing a track layout, and a set traveling speed , a curved road, an uphill or a downhill included in the data from the transport track layout and the transmission means, for each section.
Orbit data and transport status data
Teaching data storage means for storing travel data such as acceleration or deceleration speed change data based on the teaching data as teaching data ; and this teaching data storage means.
With teaching data stored in the
An automatic operation designation signal for causing the truck to perform automatic operation
When the mark is detected by the receiving means,
From the means and the drive amount detecting means and the tee
Teaching data stored in teaching data storage means
Based on the driving amount, driving speed, and driving torque of the driving device.
Operation to control the transporting cart by controlling
A travel control device of the transport carriage in the transport system, characterized in that a control means. According to the apparatus of the present invention, teaching determination means
The teaching specification signal was transmitted from the transmission means by
If it is determined that the preliminary traveling operation for teaching is not performed at the stage of non-conveyance, during that time, based on mark detection, drive amount detection, reading of data from data transmission means, etc. Data on layout such as length and station position and set traveling speed , curved road, uphill or downhill etc.
Based on the state data of the transport trajectory and this state data
Travel data such as speed change data for acceleration or deceleration is stored as teaching data, and data for travel control can be obtained by a control unit mounted on the transport vehicle without using a computer for centralized control. On the other hand,
Teaching data is stored in the teaching data storage means.
When the automatic operation designation signal is received
Then, based on the teaching data,
By controlling the drive amount, drive speed, drive torque, etc.
Automatic operation control means for performing automatic operation is provided
Therefore, it is necessary to automatically control the traveling and stopping of the transport cart.
Can be. Further, the mark for dividing the transport path into a plurality of sections may be formed by a simple tape or the like, and the necessary data can be obtained by the above teaching without writing the traveling speed, the address and the like. Can be An embodiment of the present invention will be described with reference to the drawings.
FIG. 1 schematically shows an entire transport system according to a first embodiment of the present invention, in which 1 is a transport track,
For example, it is formed of a monorail and formed in a loop shape. A plurality of stations 2 are arranged on the transport track 1 so as to face the transport track. Reference numeral 3 denotes a self-propelled transport vehicle that travels along a rail. As shown in FIG. 2, the transport trolley 3 includes a trolley main body 4, a handling device 5 for holding and transferring the work, a lifting mechanism 6 for lifting and lowering the handling device 5, and the like. The bogie body 4 has wheels 7
Is provided, and a motor 8 is provided as a driving device. The wheels 7 are driven by the motor 8 to roll on the rails of the transport track 1 so that the transport vehicle 3 travels. Has become. Further, a control unit 2 for controlling the motor 8 is provided on the carriage body 4.
0 is provided. In order to control the traveling of the transport carriage 3, a plurality of sections are set on the transport track 1, and marks indicating the sections are provided. A mark Mh and a plurality of section marks M1, M2,... Are provided. These marks are formed, for example, by a tape. Each section mark M1, M2,... Has the same length, and the origin mark Mh has a different length from the section mark. The specific position of the transport track 1 is set as the origin position, and an origin mark Mh is attached to this position, and section marks M1, M2,... Are attached in an arrangement according to the set section layout. A plurality of sections each having one section between marks are set. The layout of the section of the transport track 1 may be appropriately set so as to be convenient for traveling control.
In the example shown in (1), one origin mark Mh and seven section marks M1 to M7 are provided, and the transport track 1 is divided into eight sections. FIG. 3 shows a hardware configuration of a control system of the transport vehicle. In this figure, the motor 8 includes:
An encoder 11 is provided as drive amount detection means, and the encoder 11 is connected to the control unit 20. Further, a mark sensor 12 (mark detection means) for detecting the mark, such as an optical sensor, and an optical modem 13 as a reception means for receiving a signal from the external transmission means 15 are mounted on the carrier. It is connected to the control unit 20. The external transmission means 15
Provided in an external operation box, transmits various data for teaching, which will be described later, in accordance with an input operation by the data input operation unit, and further inputs a signal for remote operation by the remote operation unit, for example, during a preliminary traveling operation, which will be described later. It is sent according to the operation. The control unit 20 includes a CPU 21 and
The system includes a memory 22, a motor drive control system, a mark detection signal processing system, and a communication processing system. The motor drive control system includes the CPU 2
Latch circuit 23 connected to 1 and torque control amplifier 2
4 and an inverter 25. The CPU 21 obtains a current command value (torque command value) for the motor 8 based on a comparison between the speed data read from the memory 22 and an actual speed obtained based on a signal from the encoder. The drive current supplied to the motor 8 is feedback-controlled by the torque control amplifier 24 and the inverter 25 based on a comparison between the current command value passed through the latch circuit 23 and the actual current. The mark detection signal processing system sends a detection signal from the mark sensor 12 to the CPU 21 via a noise removal circuit 26 and a latch circuit 27. The communication processing system converts various data and signals for remote operation transmitted from the external transmission means 15 and received by the optical modem 13 into a converter 28 and a serial I / O.
The data is sent to the CPU 21 via the O (SIO) 29. FIG. 4 shows a functional configuration of the CPU 21 and the like. In this figure, the CPU 21 has a motor control means 31 for outputting a signal for controlling the motor 8 via the latch circuit 23, the torque control amplifier 24 and the inverter 25 shown in FIG. , Mark discriminating means 35, data reading means 36 and layout recognizing means 37, and the memory 22 has teaching data storage means 38. The motor control means 31 includes an automatic operation control means 32 for automatically operating the transport carriage 3 at the time of transportation to the station 2 and the like, and a drive control means 33 for preliminary traveling operation. The preliminary traveling operation drive control means 33 performs preliminary traveling operation of the transport carriage 3 for teaching of traveling control conditions at a stage of non-transportation, and outputs a signal corresponding to a remote operation from the external transmission means 15. The driving of the motor 8 is controlled according to the following. The teaching judging means 34 reads a teaching designation signal transmitted from the external transmitting means in response to an input operation for teaching designation or the like when teaching of the traveling control conditions is performed at a stage of non-conveyance. Thus, it is determined that teaching is performed. The mark discriminating means 35 detects that the carriage 3 has passed the position of the mark based on the mark detection signal m from the mark sensor 12, and
By detecting the mark length based on this signal and the pulse p from the encoder 11, it is determined whether the mark is the origin mark Mh or the section marks M1 to M7. The data reading means 36 reads various data transmitted from the external transmission means 15 for teaching. The layout recognizing means 37 is included in the output of the mark discriminating means 35 and the data read by the data reading means 36 during the preliminary running operation for teaching. Based on the data related to the layout and the count value of the encoder pulse p corresponding to the driving amount of the driving device, a process of assigning section numbers for examining the arrangement of each section, the pulse of the encoder corresponding to the length of each section The layout of the transport trajectory 1 is recognized by counting the number, measuring the number of pulses of the encoder corresponding to the position of each of the stations 2, and the like. The data relating to the layout of the transport track 1 and travel data such as the set travel speed for each section included in the data read by the data reading means 34 during the preliminary travel operation are used as teaching data. The data is stored in the teaching data storage means 38. After the teaching data is stored, the automatic operation control means 32 performs control for transporting to the station 2 and the like based on the data. That is, the automatic operation control means 32
When an automatic operation specifying signal for specifying the content of the operation by the automatic operation is received, based on the encoder pulse p and the mark detection signal m and the data read from the teaching data storage means, the traveling and stopping of the transport vehicle 3 are performed. Control is performed automatically. FIG. 5 is a flowchart showing an example of control by the CPU 21. When this flowchart starts, it is determined in step S1 whether or not teaching has been designated. The determination in step S1 is N
In the case of O, it is determined in step S2 whether teaching data has already been stored, and if there is no teaching data, the process returns to step S1. When the teaching is designated, the teaching processing as the mark discriminating means 35, the data reading means 36 and the layout recognizing means 37 is performed in steps S3 to S12. In this case, the processing as the drive control means 33 for the preliminary traveling operation in FIG. 4 is performed by a routine (not shown), whereby the preliminary traveling operation of the transport vehicle is performed according to the remote control by the operator. This preliminary traveling operation is started from the origin position. In the teaching process, it is first determined based on a signal from the mark sensor whether or not the transport vehicle 3 has reached a position where it passes through the section marks M1 to M7 (step S3). Is determined whether the position of the origin mark Mh has been reached (step S
4). If the determination in step S3 is YES, the section length is measured by the pulse number of the encoder for the section immediately before the section mark (step S5), and the section number and the measured value of the section length are stored. Is performed (step S6), and the pulse count is cleared (step S7). In other words, the pulses of the encoder 11 are counted with the traveling drive by the motor 8, and the pulse count is cleared each time the pulse passes the section mark, whereby the number of pulses corresponding to the section length is obtained for each section. The section number is given for each section by incrementing, for example, each time the carrier 3 passes the section mark, and data in which the section number is associated with a measured value of the section length based on the number of pulses is stored. Is done. It should be noted that the above section number is stored in the external
May be provided as data. After the processing up to step S7, or when both steps S3 and S4 are NO (when the carriage is in the middle of the section), the process proceeds to step S8 to determine whether data from the external transmission means 15 has been received. A determination is made as to whether or not it is. If the determination is YES, the data is stored (step S11). If the position needs to be measured at this time, the position is measured by the number of pulses (steps S9 and S10). Data including the measurement result is stored. The data stored here includes traveling data such as a set traveling speed for each section,
And data on layouts such as station positions. The transmission of the data during the preliminary traveling and the processing of steps S8 to S11 corresponding thereto will be specifically described. For example, once the transport vehicle 3 has traveled to the point where it has passed the section mark by remote control, it is temporarily stopped. The vehicle is stopped, and the set traveling speed for each section is provided from the external transmission unit 15 in accordance with the input operation. Then, the set traveling speed data in which the set traveling speed is associated with the section is stored. For example, the first section: 50 m / min, the second section: 70 m / min, and the third section: 20 m / min. Is stored as follows. Further, the carriage is once stopped after being moved to the station position by remote control, and here the station identification data such as the station number is given from the external transmission means 15 in response to the input operation. In this case, after the number of encoder pulses from the start position of the section to which the station belongs to the station position is measured, the station number, the number of the section to which the station belongs, and the station position measurement based on the pulse number are measured. Station data corresponding to the value is stored. After the data is stored in this way, the process returns to step S3, and also returns to step S3 when the determination in step S8 is NO. Then, while the traveling and stopping of the transport cart by remote control are sequentially performed, steps S3 to S3 are performed.
By repeating the processing in step S11, the various data described above for each section and each station are sequentially stored. When it is determined in step S4 that the transport vehicle has reached the position of the origin mark Mh after making a round of the transport trajectory, processing for ending teaching is performed (step S4).
12). That is, processing such as storage of the section number and section length of the last section, setting of a flag indicating that teaching data has been stored, and the like are performed. After the teaching is completed, an automatic operation process is performed when an automatic operation command is issued (step S1).
3, step S14). In the automatic driving process, for example, when a station 2 to which the carriage 3 is to be moved is designated, data indicating the section and position of the designated station 2 and data indicating the set speed of the section in the middle are stored in teaching data storage means. 38, the motor current is controlled so that the set traveling speed can be obtained in the section in the middle of the movement, and when approaching the designated station, the motor is decelerated and stopped at the designated station. The above steps S8 to S10
As the data stored in the process (1), various data may be considered in addition to the set traveling speed data and the station data. For example, for a section having a curved road, an uphill, a downhill, or the like, the data may be stored according to the transmission from the external transmission means. If the section in the middle of the movement is a curved road, deceleration may be performed, and if the section is on an uphill, control such as increasing drive torque may be performed. When the station 2 has a plurality of upper and lower racks or the like, in addition to processing for obtaining station data at the station position, remote operation for raising and lowering the handling device for measuring the elevation stop position of each stage and each operation. By transmitting the stage identification data, data corresponding to each stage and the measured value of the elevation stop position based on the number of encoder pulses may be stored. Further, when an evacuation rail for evacuation of a faulty trolley or the like is attached to a part of the section, the evacuation rail section and the evacuation stop position are determined by a process similar to the process for obtaining the station data described above. Measured values are stored, and also in the case where a rail branching / merging device is provided on the transport track, similarly, the measured values of the branching, merging section and stop position are stored. It is good. According to the apparatus of the present embodiment as described above, the mark detection, the encoder pulse number measurement, and the external transmission
Based on the reading of the transmission data from 5, the layout of the section arrangement, section length, station position, etc. is checked, and this layout and the running data such as the set running speed for each section are stored as teaching data. At the time of a transfer operation or the like, automatic operation is performed using the teaching data. That is, by simply attaching a simple mark made of tape or the like on the conveying track side, data for automatic operation can be given by the above-mentioned teaching, and the traveling speed, the position, etc. can be individually determined. As compared with the method of disposing a plate written on the transport track, the auxiliary equipment on the transport track side is simplified. In addition, it is possible to control the transport vehicle without requiring a large-scale central control computer. It is also possible to easily change the layout of the transport trajectory as needed. That is, the arrangement and length of the sections can be easily changed by changing the position of the mark made of tape or the like. Then, new teaching data can be easily obtained by performing the teaching process again after the layout change. In the apparatus of the present invention, the transport path 1
Is not limited to a loop shape as shown, but may be a linear shape or the like.
The structure of the transport vehicle 3 traveling on the transport track 1 is not limited to the above embodiment, and may be changed without departing from the scope of the present invention. As described above, according to the present invention, the mark indicating the section division is provided on the transport track, while the control unit mounted on the transport trolley has the tee of the travel control condition before the transport.
Teaching signal that causes the transport cart to perform teaching operation
Teach to determine whether the signal has been transmitted from the transmission means
Teaching determination means and the teaching determination means.
Transported when it is determined that the
Drive control means for the preliminary traveling operation for performing the preliminary traveling operation of the bogie, and a transport track layout based on signals from the mark detecting means and the driving amount detecting means and data from the external transmitting means during the preliminary traveling operation. recognizing the layout recognition means, one that provided the teaching data storage means for storing the conveyor track layout and the travel data as teaching data, the teaching
Teaching data stored in data storage means
When the automatic operation designation signal is received,
Drive amount and drive speed of the above drive device based on the
Carriers are automatically operated by controlling the degree, drive torque, etc.
Since the automatic driving control means is provided , necessary data is stored by the teaching during the preparatory driving operation, and the driving control of the transport vehicle can be effectively performed. In addition, the above-mentioned teaching can be performed by the control unit mounted on the transport trolley without using a large-scale central control computer, and the mark for dividing the transport trajectory into a plurality of sections may be simple. Can be simplified, and the layout and the like can be easily changed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing an example of a transport system to which the present invention is applied. FIG. 2 is a schematic view of a transport vehicle. FIG. 3 is a block diagram illustrating a configuration of a control unit and the like according to an embodiment of the present invention. FIG. 4 is a block diagram illustrating a functional configuration of a CPU and the like included in a control unit. FIG. 5 is a flowchart illustrating an example of travel control. [Description of Signs] 1 Transport trajectory 2 Station 3 Transport trolley 8 Motor 11 Encoder 12 Mark sensor 13 Optical modem 15 External transmission means 20 Control unit 21 CPU 22 Memory 33 Pre-traveling operation drive control means 37 Layout recognition means 38 Teaching data storage means

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B60L 15/40 B60L 3/12 H04Q 9/00 G05D 1/02

Claims (1)

(57) [Claim 1] In a transport system comprising a transport trajectory, a transport trolley traveling on the transport trajectory, and a station disposed so as to face the transport trajectory, A plurality of sections are set on the transport track, and a mark indicating the section of the section is provided. On the transport vehicle, a drive device for running the vehicle, a control unit for controlling the drive device, A drive amount detection unit for detecting a drive amount of the apparatus, a mark detection unit for detecting the mark, and a reception unit for receiving a signal transmitted from an external transmission unit ; At the stage, the driving control condition
Teaching designation to perform teaching operation on the transport cart
A message for determining whether a signal has been transmitted from the transmitting means.
Teaching determination means, and a teaching designation signal provided by the teaching determination means.
Drive control means for performing a preparatory traveling operation of the transport vehicle when it is determined that the vehicle has been transmitted, and a mark detecting means during the preparatory traveling operation .
Each time a current is detected, the current
The previous mark while clearing the drive amount at
Measure the drive amount of the drive in the section between
To, on the basis of the data from the signal and the transmission means from said mark detection means and the drive amount detection means, the arrangement of the plurality of sections, and recognizes the conveyor track layout including a driving device driving amount corresponding to the position of said station Means for recognizing a layout, a set traveling speed , a curved road, an uphill or a downhill included in the data of the transport track layout and the transmission means.
And the state data of the transport trajectory for each section such as
A teaching data storage means for storing the travel data rate change data <br/> like acceleration or deceleration based on the state data as teaching data, the teaching data to the teaching data storage means
Automatic operation is performed with the
The automatic operation designation signal for
When it is received, the mark detection means and the drive amount detection
From the means and the teaching data storage means
Based on the stored teaching data by the driving instrumentation
Control the drive amount, drive speed, drive torque, etc.
A travel control device for a transport vehicle in a transport system, comprising: automatic drive control means for automatically driving a vehicle .