JP4172160B2 - Dolly traveling system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a cart traveling system in which a power feeding line is laid along a predetermined traveling course, and a plurality of carts travel while receiving power from the power feeding wire.
[0002]
[Prior art]
A cart traveling system in which a feeder line is laid along a predetermined traveling course and the cart travels while receiving electric power from the feeder line is known as, for example, a parts conveying system in a factory. This type of system is often automatically controlled for travel by instructions from the center unit.
[0003]
In the above-described cart traveling system, if the number of carts is to be increased, it is inevitably necessary to increase the power to be supplied to the feeder line. That is, a large power supply device is required. However, a large-sized power supply device is not only expensive per se, but in some cases, a safety measure for using the large power supply device is required, and the cost increases as a whole.
[0004]
For this reason, a system has been implemented in which a traveling course is divided into a plurality of traveling sections and a small power supply device is provided for each traveling section. In addition, as a trolley | bogie traveling system provided with a several power supply device, it describes in Unexamined-Japanese-Patent No. 7-7818, for example.
[0005]
[Problems to be solved by the invention]
However, in a cart traveling system including a plurality of small power supply devices, the number of carts that can travel in each traveling section is severely limited. For example, assuming that each trolley travels in a maximum power consumption state, the number of trolleys that can travel in each travel section is limited by the relationship between the maximum power consumption and the capacity of each power supply device. Specifically, if the capacity of each power supply device is 500 W and the maximum power consumption of each carriage is 110 W, the number of carriages that can travel in each traveling section is limited to four.
[0006]
In this case, if the number of carriages traveling in a certain traveling section has reached the upper limit allowed by the power supply device, other carriages are prohibited from entering the traveling section. As a result, the conveyance efficiency of the cart traveling system is lowered.
The subject of this invention is providing the trolley | bogie traveling system with sufficient conveyance efficiency with the minimum necessary power supply equipment.
[0007]
[Means for Solving the Problems]
The bogie travel system of the present invention is based on the premise that the bogie travels along a predetermined travel course, and a plurality of power supply lines respectively provided along a plurality of travel sections obtained by dividing the travel course. A plurality of power supply devices that supply power to the plurality of power supply lines, and a plurality of carts that travel along the travel course while receiving power from the plurality of power supply lines, Then, it is determined whether or not each vehicle can be accelerated so that the number of vehicles being accelerated does not exceed a predetermined threshold value for the corresponding travel section.
[0008]
In the above system, each carriage travels using the electric power received from the power supply line. At this time, the power consumed by the cart is maximized when the cart is accelerating. Therefore, even if a large number of trolleys are located in a certain travel section, the power consumption in the travel section is relatively small if the number of accelerating trolleys is small. In other words, if the number of trolleys that accelerate in each traveling section is limited, the number of trolleys that exceed the upper limit of the number of trolleys determined by the relationship between the capacity of the power supply and the maximum power consumption of each trolley Can be located within.
[0009]
In the system of the present invention, the number of accelerating vehicles as a threshold is set for each traveling section, and the condition that the number of trolleys that actually accelerate in each traveling section does not exceed the number of accelerating vehicles, It is determined whether or not each carriage can be accelerated. For this reason, each carriage can freely travel on the traveling course within the range where the above conditions are satisfied, and entry into the traveling section to be traveled next is less likely to be prohibited. Accordingly, the degree of freedom of traveling of the carriage is increased. Moreover, since the number of trolleys that consume a large amount of power in each travel section is limited, the power supply device to be provided for each travel section can be reduced in size.
[0010]
A cart traveling system according to another aspect of the present invention is a cart traveling system in which a cart travels along a predetermined traveling course, each along a plurality of traveling sections obtained by dividing the traveling course. A plurality of power supply lines provided; a plurality of power supply devices that respectively supply power to the plurality of power supply lines; and a plurality of carriages that travel along the traveling course while receiving power from the plurality of power supply lines. Prepare. The traveling course is a round course. A threshold value is set for each traveling section, and only the number of trucks represented by the corresponding threshold value from the head of each traveling section can accelerate.
In the bogie traveling system of the present invention, the determination as to whether or not each bogie may be accelerated may be made autonomously by each bogie or by a center device that controls the operation of the system. Also good.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a configuration diagram of a cart traveling system according to an embodiment of the present invention. In the cart traveling system of the present embodiment, a power feed line is laid along a predetermined travel course, and the cart travels while receiving power from the power feed line.
[0012]
The traveling course is a circuit course and is divided into a plurality of traveling sections (a first traveling section to a third traveling section). In addition, feed lines 1a to 1c are laid for the first travel section to the third travel section, respectively, and power supply apparatuses 2a to 2c are connected to the feed lines 1a to 1c, respectively. That is, the power supply devices 2a to 2c supply power to the corresponding power supply lines 1a to 1c, respectively.
[0013]
The center device 3 has a function of transmitting and receiving information to and from the carts 4a to 4c, and controls traveling of the carts 4a to 4c. Specifically, the center device 3 instructs each of the movement destinations to the carts 4a to 4c, for example. The communication path between the center apparatus 3 and each of the carts 4a to 4c is a wireless transmission path in this embodiment, but information may be transmitted / received via a feeder line.
[0014]
The carriages 4 a to 4 c receive electric power from the power supply lines 1 a to 1 c, respectively, and travel according to instructions from the center device 3. Further, each of the carts 4 a to 4 c has a function of detecting its own position and notifying the center device 3. In this embodiment, a large number of position display boards 5 are arranged along the traveling course, and the carts 4 a to 4 c detect their positions by identifying the position display boards 5. Here, each position display board 5 is given an identification number. Specifically, “1” to “L” are attached to the position display board disposed in the first travel section, and “L + 1” to “L + 1” to the position display board disposed in the second travel section. “M” is attached, and “M + 1” to “N” are attached to the position display plates arranged in the third travel section. Then, the carts 4a to 4c notify the center device 3 of the detected identification numbers.
[0015]
Moreover, the trolley | bogies 4a-4c can intercept the communication between another trolley | bogie and the center apparatus 3, respectively. That is, for example, the cart 4a can receive information transmitted / received between the cart 4b and the center device 3 and information transmitted / received between the cart 4c and the center device 3. . Accordingly, each carriage can recognize the position of another carriage.
[0016]
Thus, in the cart traveling system of the present embodiment, a plurality of carts travel on a predetermined traveling course in accordance with instructions from the center device 3. Each cart cannot be overtaken by another cart. That is, the arrangement order of the plurality of carriages is not changed during the operation of the system.
[0017]
FIG. 2 is a configuration diagram of the carriage. The plurality of carts used in the system of the present embodiment have basically the same configuration, and hereinafter, they will be collectively referred to as “cart 4”.
The power receiving unit 11 receives power from the power supply lines 1a to 1c. In addition, the method of receiving electric power from a feeder line may be a contact-type feeding method in which power is delivered while the power receiving unit 11 and the feeder line are in contact with each other, or power delivery is performed without bringing them into contact with each other. A non-contact type power feeding method may be used. The output of the power receiving unit 11 is rectified by the rectifier 12 and further converted into a predetermined voltage and supplied to the motor and each circuit.
[0018]
The position sensor 13 detects the position of the cart. In this embodiment, the position is detected by the method described with reference to FIG. 1, but the present invention is not limited to this. That is, for example, a reference position can be determined on the travel course, and the position of the cart can be detected from the travel distance from the reference position. In this case, the travel distance can be detected by, for example, the rotational speed of the wheel of the carriage.
[0019]
The speed sensor 14 detects the speed of the cart. The method for detecting the speed of the carriage is realized by existing technology.
The database 15 is created in a memory area accessible by the controller 17 and stores information shown in FIGS. 3 (a) and 3 (b). The table shown in FIG. 3 (a) manages information related to each travel section. Specifically, route information, the number of vehicles that can be accelerated, and the number of vehicles that can enter are set for each traveling section. “Route information” is expressed by using the identification number of the position display board 5 shown in FIG. The “number of accelerating vehicles” represents the number of trolleys allowed to accelerate in the travel section. The “number of vehicles that can enter” represents the number of vehicles that can be located in the travel section.
[0020]
The table shown in FIG. 3 (b) manages the position of each carriage. The “position” is represented by an identification number of the position display board 5 shown in FIG. 1 and a value detected by the position sensor 13 is written. The “travel section” is a travel section corresponding to “position”. The correspondence relationship between “position” and “traveling section” is obtained by referring to the table shown in FIG.
[0021]
The communication unit 16 provides an interface for communicating with the center apparatus 3. The communication unit 16 can also receive information transmitted / received between other carts and the center device 3.
The controller 17 notifies the center device 3 of information indicating the position of the host vehicle detected by the position sensor 13 and writes it in the database 15. When information indicating the position of another cart is received via the communication unit 16, the information is written in the database 15. Further, when the movement destination of the cart is notified from the center device 3, the motor 18 is driven accordingly. At this time, the controller 17 refers to the database 15 to determine whether or not the vehicle can be accelerated and whether or not to enter the travel section to be traveled next, and based on the determination results, the motor 17 18 is controlled.
[0022]
FIG. 4 is a diagram for explaining the operation of the cart traveling system of the embodiment. Here, it is assumed that 10 carts 4a to 4j travel along the traveling course. Further, it is assumed that the number of vehicles that can be accelerated in each traveling section is “4”, and the number of vehicles that can enter in each traveling section is “8”. In FIG. 4, the power supply devices 2a to 2c, the center device 3, and the position display board 5 are omitted.
[0023]
In the example shown in FIG. 4, there are six carts (carts 4a to 4f) in the first travel section. However, the number of trucks allowed to accelerate in this travel section is four. Therefore, in this travel section, it is eased that only four of the carriages 4a to 4f are accelerated.
[0024]
In this embodiment, the fourth to fourth trucks from the head of each travel section are allowed to accelerate. Specifically, in the first travel section, only the carriages 4a to 4d are allowed to accelerate, and the carriages 4e and 4f are prohibited from accelerating. However, the carriages 4e and 4f are allowed to travel at a constant speed, travel while decelerating, and stop. Thereafter, when the carriage 4a moves from the first traveling section to the second traveling section, the carriages 4b to 4e can be accelerated in the first traveling section.
[0025]
In this embodiment, the number of vehicles that can be entered in each travel section is “8”. Therefore, even before the carriage 4a moves from the first travel section to the second travel section, the carriages 4g and 4h can enter the first travel section. However, it is prohibited for the cart 4i to enter the first travel section.
[0026]
Next, an explanation will be given of the effects of the system of the above embodiment. Here, the case where the above-mentioned cart traveling system is designed by the conventional method is compared with the case where it is designed based on this embodiment.
FIG. 5 is a diagram for explaining the operation of a cart traveling system designed by a conventional method. Here, it is assumed that the capacity of each power supply apparatus is 500 W, and the maximum power consumption of each carriage is 110 W. At this time, in the conventional system, the number of trolleys that can travel in each travel section is determined on the assumption that each trolley travels at the maximum power consumption, so the number of trolleys that can enter is “4”. Therefore, as shown in FIG. 5, the section in which the four carriages (carts 4a to 4d) are located in the first traveling section is the next carriage (here, the carriage 4e) is the first traveling section. It is forbidden to enter. As a result, in the cart traveling system designed by the conventional method, the freedom of movement of each cart is low, and the conveyance efficiency is low.
[0027]
On the other hand, in the system of this embodiment, paying attention to the fact that the power consumption of the bogie is maximized when the bogie is accelerating, the number of bogies allowed to be accelerated for each travel section is limited. At the same time, the number of trucks allowed to enter each travel section is increased. As a result, the number of cases where the carriage is stopped without entering the travel section to be traveled next is reduced. That is, in the cart traveling system of the present embodiment, the degree of freedom of movement of each cart is increased, and the conveyance efficiency is improved.
[0028]
In the system of the present embodiment, the number of trolleys allowed to be accelerated is limited for each traveling section, so that an excessive load is not applied to the power supply device. For example, in FIG. 4, it is assumed that the carts 4a to 4d are accelerating and the carts 4e and 4f are stopped. In this state, it is assumed that a movement instruction is given from the center device 3 to the carriage 4e. In this case, the cart 4e needs to perform an acceleration operation in order to follow the instruction from the center device 3. However, since the bogie 4e recognizes that it is located at the fifth position from the top in the first traveling section, it maintains the stopped state. After that, when it is detected that the carriage 4a has moved from the first traveling section to the second traveling section, the traveling is started. Therefore, the total power consumption in each traveling section can be prevented from exceeding the capacity of the corresponding power supply device.
[0029]
FIG. 6 is a flowchart for explaining the operation of the carriage 4. The processes shown in steps S1 to S14 in this flowchart are started at predetermined intervals and executed by the controller 17 shown in FIG. On the other hand, step S21 is executed independently of steps S1 to S14. This step S21 is a process of receiving information transmitted / received between the other cart and the center device 3, thereby recognizing the position of the other cart. Information representing the positions of other carts is stored in the table shown in FIG.
[0030]
In step S1, the database 15 is referred to and the traveling section where the vehicle is located is checked. Specifically, in the table shown in FIG. 3B, a record corresponding to the own vehicle is referred to. In step S2, the database 15 is referred to and the order from the head of the own vehicle in the travel section where the own vehicle is located is checked. At this time, in the table shown in FIG. 3B, a record in which the same travel section as the travel section where the vehicle is located is set. Note that the table shown in FIG. 3B stores position information detected in each carriage as described above.
[0031]
In step S3, it is checked whether or not the own vehicle can be accelerated. Specifically, the number of trolleys allowed to accelerate in the travel section in which the host vehicle is located is compared with a value representing the order of the host vehicle in the travel section. The former value is stored in the table shown in FIG. If the value representing the turn of the vehicle is smaller than the number of accelerating vehicles, it is regarded that acceleration is permitted and the process proceeds to step S4. Otherwise, it is regarded that acceleration is prohibited and step. Proceed to S11.
[0032]
In step S4, the database 15 is referred to and the number of carriages located in the travel section where the vehicle is scheduled to travel next is checked. At this time, the table shown in FIG. Subsequently, in step S5, it is checked whether or not the vehicle can enter a travel section scheduled to travel next. Specifically, the number of vehicles that can be entered that is set for the travel section in which the vehicle is scheduled to travel next is compared with the number of trucks that are actually located in the travel section. Here, the number of vehicles that can enter each traveling section is set in the table shown in FIG. If the actual number of trolleys is smaller than the number of vehicles that can be entered, it is assumed that the vehicle can enter the travel section, and the process proceeds to step S6. If the actual number of vehicles has reached the number of vehicles that can enter, the travel section The process proceeds to step S7.
[0033]
In step S6, an acceleration operation is performed. Specifically, the current to be supplied to the motor 18 is increased. In this system, the maximum speed of each truck is specified. Therefore, if the speed of the vehicle has reached the maximum speed, the acceleration operation is not performed. On the other hand, in step S7, the running state is controlled so that it can be stopped immediately before the entrance of the next running section. That is, for example, if the entrance of the next travel section is near, the speed of the own vehicle is reduced.
[0034]
Steps S11 and S12 are basically the same as steps S4 and S5. However, the acceleration operation is not performed even if the vehicle can enter the next travel section. That is, if the vehicle can enter the next travel zone, the motor 18 is controlled so that the host vehicle travels at a constant speed in step S13. On the other hand, if the vehicle cannot enter the next travel zone, the speed of the host vehicle is reduced in step S14.
[0035]
Each carriage has a function for avoiding a collision with another carriage. That is, for example, even if a certain truck can be accelerated, if the distance from the carriage traveling in front of the carriage becomes smaller than a predetermined value, the carriage automatically reduces the traveling speed. This control has priority over the control shown in FIG.
[0036]
By the way, although the system of the above-mentioned Example is comprised so that acceleration may be permitted with respect to the predetermined number of trolley | bogie from the head in each driving | running | working area, this invention is not limited to this. For example, if each cart has a function of detecting whether or not it is accelerating and notifies the center device 3 of the detection result, the number of carts that actually perform acceleration operation in each travel section is limited. can do. Alternatively, if each cart has a function of detecting the power consumed by the own vehicle and notifies the center device 3 of the detection result, the number of carts that consume a large amount of power in each travel section is limited. it can. FIG. 7 shows an operation flowchart of the cart 4 in the former method.
[0037]
The process shown in FIG. 7 is realized by replacing steps S2 and S3 of the process shown in FIG. 6 with step S31. In step S31, the number of trolleys allowed to accelerate in the travel section where the host vehicle is located is compared with the number of trolleys actually accelerating in the travel section. If the number of trolleys being accelerated is smaller than the number of accelerating trolleys, the process proceeds to step S4. Otherwise, it is regarded that acceleration is prohibited, and the process proceeds to step S11.
[0038]
Moreover, in the system of the above-mentioned Example, it was judged by each trolley whether each trolley may accelerate. However, the present invention is not limited to this configuration. That is, the center device 3 may make the above determination. In this case, the database 15 shown in FIG. 2 is provided in the center apparatus 3, and each carriage does not need to have it. Then, the center device 3 determines whether or not each carriage may accelerate by executing the processing of the flowchart shown in FIG. 6 or FIG. 7, and notifies each carriage of the result. Further, each carriage travels on a traveling course in accordance with notification from the center device 3.
[0039]
Furthermore, in the above-described embodiment, control for permitting acceleration for a predetermined number of carts is performed for each travel section, but finer control may be performed according to the system configuration. For example, even if the acceleration operation is the same, the power consumption is higher when accelerating at high speed than when accelerating at low speed. In this case, for example, in each traveling section, a large maximum speed and maximum acceleration are set for the leading carriage, and the maximum speed and / or maximum acceleration that should be set for the following carriages are sequentially reduced. You can think of a way to go. At this time, the maximum speed and the maximum acceleration to be set for each carriage should be set so that the running of the carriage can be hindered by the balance with the capacity of the power supply device.
[0040]
【The invention's effect】
In a system in which the traveling course is divided into a plurality of traveling sections, and the plurality of carriages travel while receiving electric power from the feeders laid for each traveling section, the number of carriages allowed to accelerate is limited. The minimum power supply equipment increases the degree of freedom in running the carriage and improves the conveyance efficiency. In other words, downsizing of the power supply facility is realized while maintaining the conveyance efficiency. In addition, since the number of carts that consume a large amount of electric power is limited, breakdown of the power supply device can be prevented.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a cart traveling system according to an embodiment of the present invention.
FIG. 2 is a configuration diagram of a carriage.
FIG. 3 is an example of a database included in a cart.
FIG. 4 is a diagram for explaining the operation of the cart traveling system of the embodiment.
FIG. 5 is a diagram for explaining the operation of a cart traveling system designed by a conventional method.
FIG. 6 is a flowchart for explaining the operation of a carriage used in the system of the present embodiment.
FIG. 7 is a flowchart for explaining the operation of a carriage used in the system of another embodiment.
[Explanation of symbols]
1a to 1c Power supply lines 2a to 2c Power supply device 3 Center device 4 (4a to 4j) Dolly 5 Position display board 13 Position sensor 15 Database 16 Communication unit 17 Controller

Claims (2)

A cart traveling system in which a cart travels along a predetermined traveling course,
A plurality of power supply lines respectively provided along a plurality of travel sections obtained by dividing the travel course;
A plurality of power supply devices that respectively supply power to the plurality of feeder lines;
A plurality of carriages that travel along the traveling course while receiving power from the plurality of power supply lines,
The above traveling course is a circuit course,
A cart travel system characterized in that a threshold value is set for each travel segment, and only the number of carts represented by the corresponding threshold value can be accelerated from the head of each travel segment. The cart traveling system according to claim 1 ,
Each carriage enters the travel section based on whether or not the number of trucks located in the travel section to enter next reaches the predetermined number of vehicles that can be entered for the travel section. A cart traveling system characterized by determining whether or not it is acceptable.

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