JP4026196B2 - Transport cart control system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transport cart control system, and more particularly, to a transport cart control system that manages a transport cart that can enter each zone and operates a plurality of transport carts at the same time. The present invention relates to a control system for a transport cart that employs a non-contact power feeding method that can perform zone control without requiring equipment.
[0002]
[Prior art]
In a transport system in which a large number of transport carts are operated at the same time, as one method for preventing collision between transport carts, the laid track is divided into predetermined zones, and one cart is provided in each zone. Zone control that only allows entry is used.
[0003]
Further, as disclosed in, for example, Japanese Patent Application Laid-Open No. 7-2311 and the like, there is a non-contact power feeding method in which the electrically driven transport carriage receives power without contacting a power feeding line laid along the track. It has been attracting attention recently. In this non-contact power supply method, power is supplied to the transfer carriage in a non-contact manner due to the electromagnetic action between the power supply line and the power receiving coil attached to the transfer carriage, so that dust is generated due to friction during power supply. A clean system can be provided. Here, FIG. 4 is a block diagram showing a schematic configuration of a control system for a transport carriage using such zone control and a non-contact power feeding method.
[0004]
As shown in FIGS. 4 (a) and 4 (b), the control system for the transport carriage resonates with the feed line 2 laid along the line 1 in which a plurality of zones are set, and the feed line 2 receives current. Is provided on the side of the transport carriage 4, the transport carriage 4 (4 a, 4 b, 4 c,...) That receives power from the feed line 2 through which current is passed by the resonance feed means 3 and travels on the line 1. And other vehicle judging means 5 for judging whether or not there is another vehicle in an adjacent zone adjacent to the zone in which the transport carriage 4 is traveling.
[0005]
More specifically, the resonance power supply means 3 includes an AC power supply 31 including, for example, a high-frequency inverter, a resonance capacitor 32, and an adjustment reactor 33. In other words, the current supplied from the AC power supply 31 resonates with the inductance component of the resonance capacitor 32, the adjustment reactor 33, and the feed line 2, so that a high-frequency current can flow through the feed line 2 efficiently.
The power receiving unit 41 of the transport cart 4 is provided with a power receiving coil (not shown), and the power is transmitted to the transport cart by magnetically coupling the power supply line 2 and the power receiving coil.
[0006]
The other vehicle determination means 5 is a sensor for detecting a signal emitted from a traffic light 51 (51a, 51b, 51c,...) Provided at the entrance of each zone. As in the case of ordinary railways, if the signal detected by the sensor is a red signal, for example, it is determined that there is still another vehicle in the next zone to travel, and the transport cart will not enter the zone during that time. Not performed. Further, on the ground side, sensors 52 (52a, 52b, 52c,...) For detecting the entry of the carriage into the own zone are provided. The signal of the traffic light 51 is controlled by the output of the sensor 52.
[0007]
In the control system for the transport carriage, for example, in the state where the transport carriages 4a, 4b, and 4c proceed in the same direction one after another on the same line 1 as shown in FIG. 4A, first, the traffic lights 51a, 51b, 51c is a red signal, and is a blue signal indicating that only the traffic light 51d can enter. Only the transport carriage 4c can proceed to the next zone in this state. When the transport carriage 4c enters the next zone ZD, the entry is detected by the sensor 52d, and the traffic light 51d of the zone ZD is set to a red signal and the traffic light 51c of the zone ZC is set to a green light. Accordingly, in this state, the transport carriage 4b can also proceed to the next zone ZC. According to such zone control, there is no fear of a rear-end collision even in the state shown in FIG. 4A, and even when the process in the predetermined zone is different and the time each vehicle is in the zone is different.
[0008]
FIG. 4B shows an example in which the transport carriages 4e and 4f merge at substantially the same time in the same merge zone ZJ. In FIG. 4B, the carriage 4f has already entered the junction zone ZJ, and the two traffic lights 51j1 and 51j2 provided at the entrance of the junction zone ZJ are both red signals. Therefore, in this state, the transport carriage 4e cannot enter the junction zone ZJ. Then, when the transport carriage 4f passes through the junction zone ZJ to the track 1g, the traffic lights 51j1 and 51j2 change to a green signal, and the transport carriage 4e can enter the junction zone ZJ. In this way, even in the merging travel, the collision between the transport carts can be prevented by the zone control.
[0009]
[Problems to be solved by the invention]
However, in order to perform zone control, the control system for the transport cart requires a lot of equipment such as traffic lights and sensors on the ground side. In particular, at the junction or branch point, the above-mentioned ground facilities are required as many as the number of lines connected to one zone, and the burden of maintenance management increases accordingly.
[0010]
In addition, when a track is laid in a relatively narrow space area, it may be difficult to install a traffic signal at the entrance of the zone, and even if a traffic signal is installed avoiding the space area, only one zone occupies it. Since the area becomes large, the waiting time of the transport cart passing there increases, and there is a risk of causing traffic jams.
[0011]
In order to solve the problems in the conventional technology, the present invention improves the control system of the transport carriage, and can perform zone control without requiring ground equipment such as traffic lights installed near the track. An object of the present invention is to provide a control system for a transport carriage that employs a contact power feeding method.
[0012]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a resonant power feeding means that resonates with a power feeding line laid along a line in which a plurality of zones are set and sends a current to the power feeding line, and a current is fed by the resonant power feeding means. Whether or not there is another vehicle in an adjacent zone adjacent to the zone where the transport cart is traveling and which is provided on the transport cart side, receiving power from the feeder line and traveling on the track. In a control system for a transport carriage comprising other vehicle judging means for judging, the feeding line is provided independently for each zone, and the resonance feeding means is provided independently for each zone and a load is provided. The other vehicle determination means is provided at the head of the transport carriage and enters the adjacent zone that should proceed next before the entire transport carriage. the adjacent zone near It comprises frequency detection means for detecting the oscillation frequency of the resonance power supply means oscillated from the power supply line, and determines whether or not there is another vehicle in the adjacent zone based on the signal from the frequency detection means It is comprised as a control system of the conveyance cart characterized by this. In the control system for the transporting carriage, whether or not another car is present in the adjacent zone where the transporting carriage is scheduled to proceed next is detected by a change in the oscillation frequency of the resonant power feeding means. This eliminates the need for ground-side traffic lights, sensors, etc., so far, for example, it is possible to centrally install each resonance power supply means in one place, which can greatly reduce the maintenance burden. . For example, even when the control is performed on the merge zone where the tracks merge, the above-described control system for the carriage cart only needs to install one resonant power feeding means in the merge zone regardless of the number of the merged tracks. The number of laying can also be reduced. Further, even when the line passes through a relatively narrow space area, the control system for the transport carriage does not necessarily require the resonant power feeding means to be arranged around the line. As a result, smoother zone control is possible.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention. The following embodiment is an example embodying the present invention, and does not limit the technical scope of the present invention. FIG. 1 is a block diagram showing a schematic configuration of a control system for a transport carriage according to an embodiment of the present invention.
[0014]
As shown in FIG. 1, the control system for a transport carriage according to the present embodiment resonates with a feed line 2 laid along a line 1 in which a plurality of zones are set, and causes a current to flow through the feed line 2. Resonance feeding means 3 (3a, 3b, 3c,...), A carriage 4 that travels on the line 1 by receiving electric power from the feeding line 2 through which current flows by the resonance feeding means 3, and a carriage 4 side. Similar to the conventional apparatus in that it includes the other vehicle determination means 5 for determining whether or not another vehicle exists in the adjacent zone adjacent to the zone in which the transport carriage 4 (4a, 4b, 4c,...) Is traveling. It is.
[0015]
On the other hand, the control system of the transport carriage is different from the conventional apparatus in that the feeder line 2 is provided independently for each zone, and the resonance feeding means 3 is provided independently for each zone, and the load changes. The other vehicle determination means 5 includes frequency detection means 401 for detecting the oscillation frequency of the resonance power supply means 3 oscillated from the power supply line 2 in the adjacent zone. Based on the signal from the detection means 401, it is a point formed by determining whether or not there is another vehicle in the adjacent zone.
[0016]
Hereinafter, the details of the control system for the transport carriage will be described. In addition, the same code | symbol is attached | subjected about the part similar to the conventional apparatus, and the description is abbreviate | omitted. As shown in FIG. 4 (a), FIG. 1 shows a state in which the transport carts sequentially travel in the same direction on the same line.
[0017]
As shown in FIG. 1, resonance feeding means 3a, 3b, 3c are provided in the zones ZA, ZB, ZC, respectively. If the power transmission environment is good, the resonance power feeding means 3a, 3b, 3c are not necessarily arranged around the line 1, and may be centrally arranged and managed in one place.
[0018]
Further, the other vehicle determination means 5 of the transport carriage 4 includes a frequency detection means 401. The frequency detection means 401 is provided, for example, at the leading portion of the transport carriage 4 and proceeds next to the entire transport carriage 4. Enter the zone to be entered, that is, the adjacent zone. As the frequency detection means 401, for example, the one shown in the circuit block diagram of FIG. 2 is used. The frequency detection is not limited to that shown in FIG. 2, and other methods may be used.
The frequency detection means 401 detects the waveform of the signal input from the input terminal 402 by the waveform detection circuit 403, and performs zero cross detection on the detected waveform by the zero cross detection circuit 404 and counts the pulses generated by the counter 405. The counter 405 is provided with a reference clock 406. For example, the counter 405 counts how many pulses are detected in a 1 MHz clock. The output of the counter 405 is converted into a frequency by a frequency conversion circuit 407 to determine the frequency.
[0019]
The resonance power supply means 3 uses a load resonance tracking control (PLL) type power source that can change its oscillation frequency following a change in load. In the load resonance tracking control type, the resonant load frequency on the load side and the own power supply side frequency are detected, and both are compared and calculated so that the own oscillation frequency matches the resonant load frequency.
[0020]
By the way, the presence of the carriage 4 in a certain zone corresponds to a change in the impedance of the zone from the viewpoint of the resonance power feeding means 5. That is, if the transport carriage 4 exists in the zone, the resonance frequency of the zone changes. The resonance power supply means 3 changes its own oscillation frequency in synchronization with the change of the load resonance frequency.
Therefore, in the control system for the transport carriage, the frequency detection means 401 detects the oscillation frequency of the feeder line 2 in the adjacent zone, and determines whether there is another vehicle in the adjacent zone. For example, the oscillation frequency when the conveyance carriage 4 does not exist in the zone is set in the frequency detection means 401 of each vehicle, and if the detected frequency is lower than the set oscillation frequency, the conveyance carriage 4 is in that zone. It is determined that it exists. On the contrary, if the detected frequency is higher than the set oscillation frequency, it is determined that there is no other transport carriage 4 in that zone, and the zone is entered. Note that once the vehicle enters the zone, frequency changes due to the vehicle are ignored. The frequency detection means 401 is also used to detect a break in the power supply line 2 between the zones. After the break is detected, the frequency detection means 401 detects a frequency for determining the presence or absence of another vehicle.
[0021]
As described above, in the control system for the transport carriage according to the present embodiment, the resonance power feeding means 3 of the load resonance tracking control type is installed in each zone, and oscillation of the resonance power feeding means 3 in the zone in which the host vehicle next travels. Since zone control is performed by detecting changes in frequency, it is not necessary to install ground equipment such as traffic lights and sensors, and maintenance and management of equipment can be performed by centrally arranging the resonance power supply means 3 in one place. Can be easily.
[0022]
【Example】
In the above-described embodiment, the present invention is applied to the zone control of the transport cart that travels on the same rail, but the transport cart control system according to the present invention can also be used for merging and branching. Here, FIG. 3 is a block diagram when the present invention is applied to the merge control.
[0023]
As shown in FIG. 3, when the present invention is applied to the merging zone ZJ, the merging zone ZJ may be provided with a single resonant power feeding means 3 as in the normal zone, as in the prior art (see FIG. 4B). It is not necessary to install traffic lights, etc., as many as the number of lines merging with each other because each carrier carriage 4 in the present invention only needs to detect the oscillation frequency of the resonant power feeding means 3 in the zone, so As a result, the number of facilities can be reduced, the maintenance burden is reduced, and the same is true for branches opposite to merging. It is not necessary to apply to the zone. For example, the control system of the transport carriage according to the present invention may be used only in the merge / branch zone, and the conventional control system may be used in other zones. The control system of the platform car is also an example of a control system of the transport vehicle according to the present invention.
[0024]
【The invention's effect】
As described above, the present invention provides a resonance power feeding unit that resonates with a power feeding line laid along a line in which a plurality of zones are set and sends a current to the power feeding line, and the current that is fed by the resonance power feeding means. In addition to determining whether or not there is another vehicle in the adjacent zone adjacent to the zone where the transport cart is running, which is provided on the transport cart side, receiving power from the feeder line and traveling on the track In the control system for a transport carriage comprising vehicle judging means, the power supply line is provided independently for each zone, and the resonance power supply means is provided independently for each zone, and the load changes. The oscillating frequency is changed following, and the other vehicle determination means is provided at the head portion of the transport carriage and enters the adjacent zone that should proceed next before the entire transport carriage and enters the adjacent zone. Power supply line And a frequency detecting means for detecting an oscillation frequency of the resonant power feeding means oscillated from the power supply, and based on a signal from the frequency detecting means, it is determined whether or not there is another vehicle in the adjacent zone. It is configured as a control system for the characteristic transport carriage. In the control system for the transporting carriage, whether or not another car is present in the adjacent zone where the transporting carriage is scheduled to proceed next is detected by a change in the oscillation frequency of the resonant power feeding means. This eliminates the need for ground-side traffic lights, sensors, etc., so far, for example, it is possible to centrally install each resonance power supply means in one place, which can greatly reduce the maintenance burden. . For example, even when the control is performed on the merge zone where the tracks merge, the above-described control system for the carriage cart only needs to install one resonant power feeding means in the merge zone regardless of the number of the merged tracks. The number of laying can also be reduced. Further, even when the line passes through a relatively narrow space area, the control system for the transport carriage does not necessarily require the resonant power feeding means to be arranged around the line. As a result, smoother zone control is possible.
[Brief description of the drawings]
FIG. 1 is a diagram showing a schematic configuration of a control system for a transport carriage according to an embodiment of the present invention.
FIG. 2 is a block diagram showing an example of a frequency detection unit according to the transport cart control system.
FIG. 3 is a diagram showing a schematic configuration of a control system for a transport carriage according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating an example of a conventional transport cart control system.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Line 2 ... Feeding line 3 ... Resonance feeding means 4 ... Conveyance cart 5 ... Other vehicle determination means 401 ... Frequency detection means

Claims (1)

Resonant power feeding means for resonating with a power feed line laid along a line in which a plurality of zones are set and flowing a current to the power feed line;
A transport carriage that receives power from the power supply line through which current is passed by the resonance power supply means and travels on the line;
A control system for a transport carriage provided on the transport carriage side, and comprising other vehicle determination means for determining whether or not another vehicle is present in an adjacent zone adjacent to a zone in which the transport carriage is running;
The feeding line is provided independently for each zone, and the resonance feeding means is provided independently for each zone and changes its oscillation frequency following the change of the load,
The other vehicle determination means is provided at the leading portion of the transport carriage, and enters the adjacent zone that should proceed next prior to the entire transport carriage and is oscillated from a feed line in the adjacent zone. Control of a transport carriage characterized by comprising frequency detection means for detecting the oscillation frequency of the means, and determining whether another vehicle is present in the adjacent zone based on a signal from the frequency detection means system.

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