JP5024193B2 - Transport device - Google Patents

Description

  The present invention relates to a technical field of a transport apparatus that transports an object to be transported such as a container containing various substrates for manufacturing a semiconductor device on a curved track.

  As this type of conveyance device, for example, a curve traveling speed for traveling stably on a curve is set, and there is an apparatus that controls a transportation vehicle so as to travel at the curve traveling speed during curve traveling (see Patent Document 1). ).

JP 2003-44139 A

  However, according to the above-described transport device of Patent Document 1, for example, a response delay due to calculation time for setting or changing a new route or a response delay of the servo mechanism when operating according to an actual command occurs, and the transport vehicle is It may happen that the vehicle is not decelerated to the curve speed before reaching the curve. Such a situation has a technical problem that an accident such as a derailment of the carriage from the curve may occur.

  On the other hand, if there is a curve on one of the branch paths ahead, it will decelerate early regardless of whether it enters the curve, or if there is a curve on a single path ahead, anyway If this is started, there is a technical problem that the conveyance efficiency on the upstream side of the curve may be lowered.

  The present invention has been made in view of the above-described problems, for example, and an object of the present invention is to provide a transport device that can stably travel a curve while avoiding a decrease in transport efficiency.

  In order to solve the above-described problems, the transport device of the present invention sets, for example, a transport unit that travels on a track and can load a transported object, and a planned route on which the transport unit is scheduled to travel. Alternatively, a receiving unit capable of receiving a conveyance command indicating that a change is to be made, a specifying unit for specifying a speed command indicating a target speed when traveling on a scheduled route indicated by the received conveyance command, and a new unit by the specifying unit It is assumed that the vehicle travels on a new scheduled route indicated by a new transport command newly received by the receiving means while changing the speed toward a new target speed indicated by the new speed command specified in Then, based on the current speed of the transport unit and the current target speed indicated by the current speed command specified by the specifying unit, the transport unit moves to the new scheduled route. A determination means for determining whether or not the speed change is completed before entering a predetermined place, and when it is determined that the speed change is completed, the vehicle travels on the new planned route while performing the speed change. And a transport control unit that controls the transport unit by invalidating the new scheduled route and the new target speed when it is determined that the speed change is not completed.

  According to the transport apparatus of the present invention, during the operation, a transported object such as FOUP (Front Opening Unified Pod) is laid on a ceiling or a floor, for example, by a transport means such as OHT (Overhead Hoist Transport) or a vehicle. It is transported along a track such as a rail. The track according to the present invention has, for example, a simple single path track portion, a track portion branched from the branch portion, a track portion joined to the merge portion, and the like.

  In the present invention, while the conveyance means is traveling on the track, for example, a conveyance command transmitted from a control device having a computer, a controller, a processor, a memory, or the like disposed outside the conveyance device is transmitted along the transmission path along the track. Via a wire or wirelessly via a receiving means. Here, the “conveyance command” indicates that the planned route on which the conveyance unit is to travel is set or changed. Then, the speed command based on the transport command is specified by the specifying unit. Here, the “speed command” is calculated in detail from the map information of the transport unit and the planned route indicated in the transport command, and a target speed (for example, a target speed V1 described later) when the transport unit travels on the planned route. , V3, V4, etc.). The “target speed” is a speed limit at a specific location such as a curve. Specifically, for example, when changing from a planned route when traveling along a straight track portion to a planned route when traveling along a curved track portion, a target speed lower than the current speed is determined by the specifying means. It is calculated and the traveling speed is lower than the current speed. Alternatively, when the planned route when traveling on the track portion having a curve is changed to the planned route when traveling on the straight track portion, a target speed higher than the current speed is calculated by the specifying means, and the traveling speed is calculated. Will be faster than the current speed.

  Subsequently, for example, the determination unit configured to include, for example, a processor, a memory, etc., first, the conveying unit changes the speed toward a new target speed (for example, a target speed V4 described later) indicated by the new speed command. However, it is assumed that the vehicle travels on a new planned route (for example, a branched route having a curve) indicated by the new conveyance command.

  Under this assumption, based on the current speed of the transport means (for example, a current speed Vn described later) and the current target speed (for example, the currently effective target speed, that is, the target speed V3 described later), the transport means It is determined whether or not the speed change, which is deceleration or acceleration, is completed before entering a predetermined location such as a curve (that is, the entrance of the curve) included in the new planned route. In this determination, it is determined whether or not the travel position where the speed change is completed is before entering a predetermined location on the track. Alternatively, it is determined whether or not the time point at which the speed change is completed is before entering a predetermined location on the time axis.

  In particular, when a new conveyance command is received, a response including, for example, calculation time, processing time, etc., from when the new conveyance command is received to when the conveyance control unit actually starts controlling the conveyance unit. Delay time (hereinafter referred to as “first response delay period” as appropriate). Furthermore, when a new speed command is specified, a delay time due to a response delay (for example, a servo delay) from the time when the speed change is actually started after the conveying means is controlled to change the speed (hereinafter referred to as a delay time) Appropriately referred to as a “second response delay period”). For example, from the time when the specifying means specifies the speed command to the time when the speed command is executed, the first response is, for example, one hundred to several hundreds msec (1/1000 seconds) due to a pool pulse (that is, calculation time or response delay). Elapsed as a delay time. Furthermore, for example, one hundred to several hundreds msec elapses as the second response delay time due to a servo delay or the like in the travel motor of the transport unit. In such first and second response delay times, the current speed is the current speed until the new target speed becomes effective (that is, the speed change toward the new target speed is started). If the speed continues to change toward the target or if the current speed already matches the current target speed, the current speed is maintained as it is.

  For this reason, if it is determined whether or not the speed change (for example, deceleration) is completed before entering a predetermined location (for example, a curve), the current speed and the current target speed are determined based on only the current speed. The determination becomes inaccurate to the extent that it cannot be ignored, depending on the magnitude of the difference between them and the length of the first and second response delay times. Alternatively, if this determination is made based only on the current target speed, which is the current target, the difference between the current speed and the current target speed and the length of the first and second response delay times described above are still used. Accordingly, the determination becomes inaccurate to the extent that it cannot be ignored. That is, in any case, there is a very high possibility of erroneous determination.

  However, according to the present invention, since this determination is based on at least two of the current speed and the current target speed, the conveyance during at least one of the first response delay period and the second response delay period described above is performed. The determination can be made in consideration of the travel distance or speed change related to the travel of the means. In other words, for each type of combination of the current speed and the current target speed, if it is determined in advance by experiment etc. how much distance or time it will take to complete the speed change, When changing the speed during the actual operation, it is possible to specify simply and quickly the travel distance or travel time required to complete the speed change with these two inputs. That is, it can be specified simply and quickly in accordance with a relational expression or function set in advance by an experiment or the like, or a preset table. It should be noted that the amount of travel distance or travel time required to complete the speed change for various combinations of the two may be obtained in advance not only by experiments but also by simulation, calculation, and the like.

  As a result of such determination, when it is determined that the speed change is completed before entering the predetermined location included in the new planned route, the transport unit is controlled by the transport control unit including the controller. Actually drive the route. That is, the new planned route and the new target speed are validated. At this time, the actual speed change is performed in accordance with the new conveyance command and the speed command. Then, the transport unit proceeds toward the curve, for example, but before entering a predetermined location such as the entrance of the curve, the speed change to the new target speed such as the speed limit of the curve is completed.

  On the other hand, as a result of such determination, if it is determined that the speed change is not completed before entering a predetermined location included in the new planned route, the transport unit controls the new planned route under the control of the transport control unit. Do not actually drive. That is, the new planned route and the new target speed are invalidated, and the vehicle continues to travel on the currently effective route at the current target speed that has been valid until then.

  Therefore, in any case, it is possible to efficiently avoid inconvenience such as derailment without needing to change the speed as soon as unnecessary. For example, it is possible to set a relatively high target speed for a straight path as the target speed at this time upstream of the branch portion where the curve exists on one side of the branch path, so that the conveyance means is unnecessary. It is not necessary to decelerate and the conveyance efficiency can be maintained high.

  As a result, it is possible to stably travel on the track including a predetermined portion such as a curve while avoiding a decrease in conveyance efficiency.

  In one aspect of the conveying apparatus of the present invention, the determination means determines whether the speed change is completed based on the previous target speed specified by the specifying means in addition to the current speed and the current target speed. Determine whether or not.

  According to this aspect, the transport unit first sets the current speed and the current target speed under the assumption that the transport unit travels on the new planned route while changing the speed toward the new target speed. In addition, based on the previous target speed (for example, target speed V1 to be described later), whether or not the speed change, which is deceleration or acceleration, is completed before the transport unit enters a predetermined location included in the new planned route. Is determined.

  In particular, when a new speed command is specified, if the new speed command is specified before the target speed switching from the previous target speed to the current target speed is completed, the current speed command Within the first and second response delay times described above, the conveying means temporarily changes its speed toward the previous target speed, and then changes its speed toward the current target speed. Further, within the above-described first and second response delay times after the new speed command is specified, the conveying means temporarily changes the speed toward the current target speed, and thereafter, toward the new target speed. Speed changes.

  For this reason, if it is determined based on only the current speed and the current target speed (that is, the current target speed) whether the speed change is completed before entering the predetermined location, the previous target The determination becomes inaccurate by the above-described first and second response delay times depending on what the speed is or whether the speed already matches the current target speed (that is, the current target speed). .

  However, according to the present invention, this determination is based on at least one of the previous target speed in addition to the current speed and the current target speed, so at least one of the first response delay period and the second response delay period described above. It is possible to make a determination by more strictly adding the travel distance or speed change related to the travel of the transport means during the delay time. That is, for each of these three combinations, if the distance or time required to complete the speed change is determined in advance through experiments, the speed change during actual operation In this case, the travel distance or travel time required to complete the speed change can be specified simply and quickly using these three inputs.

  The determination by the determination means may be based on the target speed before the previous time, but in reality, the response delay time is on the order of several tens to several hundreds msec, but the time interval for specifying the speed command is It is generally over that order. Therefore, the target speed before the previous time has almost no influence on whether or not the deceleration is completed before entering a predetermined portion that is a curve, for example. That is, these three (that is, the current target speed that is approaching the current speed, the previous target speed that is still valid within the response delay time for the current target speed, and the previous target speed once approached) Based on the current speed approaching the current target speed), it is possible to determine with high accuracy whether or not the deceleration is completed before the conveying means enters the predetermined location.

  As a result, it is possible to more stably travel on the track including a predetermined portion such as a curve while further avoiding a decrease in conveyance efficiency.

  In another aspect of the transport apparatus of the present invention, the predetermined portion is a curve, the new target speed includes a speed limit defined in advance with respect to the curve, and the determination means includes the current speed and Based on the current target speed, it is determined whether or not deceleration to the speed limit is completed as the speed change before the conveying means enters the curve.

  According to this aspect, based on the two of the current speed and the current target speed, the determination means decelerates to the speed limit until the transport means enters the curve included in the new planned route. It is determined whether or not to complete. Therefore, it is possible to reliably avoid a situation where the detour is caused by entering the curve at a speed higher than the limit speed, and at the same time, a relatively high target speed for the straight path is set as the current target speed before the curve. Therefore, it is not necessary to reduce the conveyance efficiency before the curve.

  In another aspect of the transport apparatus of the present invention, the speed change is started when the determination unit assumes that the vehicle travels on the new planned route based on the current speed and the current target speed. By virtually going back to the issuance time when the new transfer command is issued from the start time of the dredging, the speed change start position and the speed change start speed of the transfer means at the start time correspond to the speed change start speed. The virtual speed command position and the virtual speed of the conveying means are specified, and the speed change from the specified virtual speed to the new target speed is completed before entering the predetermined location from the virtual speed command position. It is determined whether or not.

  According to this aspect, the speed change start position at the start time (e.g., described later) is first determined virtually by the determination unit from the start time to the issue time based on the current speed and the current target speed. Speed change start position Sc) and a speed change start speed (for example, speed change start speed Vc described later) corresponding to a virtual speed command position (for example, virtual speed command position S2 described later) and a virtual speed (for example, virtual speed command position S2 described later). A virtual speed V2), which will be described later, is specified. Here, in particular, the speed change start position and the speed change start speed at the start time are unambiguous regardless of the level of the new target speed (that is, whether the speed is reduced or accelerated after the current time). Determined. For this reason, the virtual speed command position and the virtual speed at the time of issuance are uniquely determined regardless of the level of the new target speed. Here, “virtually going back” means that the axis that takes the travel position on the two-dimensional coordinates stretched between the travel position and the travel speed is assumed to travel on the start point (that is, travel on a new planned route). This means that it goes back from the issuance time (that is, when the speed change is started) to the issuance time (that is, when a new conveyance command is issued).

  Further, the determination means determines whether or not the speed change from the virtual speed thus specified to the new target speed is completed before entering the predetermined location from the virtual speed command position thus specified. The

  Therefore, the speed change start position and the speed change start speed are identified and used as a criterion for determination regardless of the level of the new target speed, and the determination can be performed relatively easily. .

  In this aspect, the determination means is identified on a table storing various speed change distances necessary to complete the speed change in association with the difference between the various virtual speeds and the various target speeds. One speed change distance corresponding to the virtual speed and the new target speed is extracted, and the magnitude of the extracted one speed change distance and the distance from the specified virtual speed command position to the predetermined location It may be configured to determine whether or not the speed change is completed by comparison.

  With this configuration, when the virtual speed is specified as described above, one speed change distance corresponding to the virtual speed and the new target speed is extracted on the table. Further, it is determined whether or not the speed change is completed by comparing the one speed change distance extracted in this way with the distance from the virtual speed command position specified as described above to the predetermined position. . Therefore, if a table is created in advance and stored in a memory or the like included in the determination means, a series of processes in actual determination can be performed quickly and easily. The relationship between the difference between the various virtual speeds and the various target speeds and the various speed change distances required to complete the speed change (for example, the braking distance required to decelerate by the difference) Such a table can be constructed in advance by obtaining in advance experimentally or by simulation or the like.

  In such a configuration, the speed change start speed and the speed change start position include the various current speeds, the various current accelerations or decelerations of the transport means, and the transport control after the new transport command is received. The deceleration is actually started after the first response delay period until the control of the transport means by the means is actually started and the new speed command are specified and the transport means is controlled to perform the deceleration. And is calculated in advance as a function of the second response delay period until the difference between the various virtual speeds corresponding to the calculated speed change start speed and the speed change start position and the various target speeds. Various speed changing distances may be stored in association with each other.

  If comprised in this way, in consideration of both the 1st and 2nd response delay period, the difference between various virtual speeds and various target speeds, and various speed change distances required to complete the speed change A table showing a relationship with (for example, a braking distance necessary to decelerate by the difference) can be constructed. In other words, such a table can be constructed in advance if the delay time in each transport device is known. Therefore, during the actual operation thereafter, the virtual speed command position and the virtual speed can be specified with high accuracy on this table, and finally the determination can be performed with extremely high accuracy.

  In such a configuration, the speed change is a deceleration, and the determination means is a value closest to the calculated speed change start speed and not less than the calculated speed change start speed on the table. May be specified as the virtual speed.

  With this configuration, even if the table is created larger or smaller, the specified virtual speed (that is, the closest to the calculated speed change start speed on the table and equal to or higher than the calculated speed change start speed). As long as the speed change is deceleration, it is determined that the deceleration is completed only when the deceleration is actually completed. That is, there is a possibility that the margin is increased by the coarser table, but in any case, it is determined that the deceleration is completed only when the deceleration is completed with a sufficient margin. Therefore, it is very advantageous in practice to avoid derailment when entering a curve with a relatively simple process.

  In another aspect of the transport apparatus of the present invention, when the new transport command is received, the transport control unit waits for a determination result by the determination unit and changes the speed toward the new target speed. The conveyance unit is controlled so as to perform or not, and the determination unit moves the speed toward the new target speed until the speed change is performed by the conveyance control unit according to the determination result. On the assumption that no change is made, it is determined whether or not the speed change is completed.

  According to this aspect, after the new conveyance command is received, the speed change toward the new target speed is actually started in response to the determination that the speed change by the determination unit is completed. The current target speed is maintained. Since processing such as determination is executed on the premise of this maintenance, the processing such as determination is simple.

  Alternatively, in another aspect of the transport apparatus of the present invention, when the transport control unit receives the new transport command, the transport control unit does not wait for a determination result by the determination unit and moves toward the new target speed. The conveyance unit is controlled to temporarily change the speed, and the determination unit temporarily changes the speed change until the speed change is performed by the conveyance control unit according to the determination result. Whether or not the speed change is completed is determined on the assumption that the speed change has been performed.

  According to this aspect, after the new conveyance command is received, the speed change toward the new target speed is actually started in response to the determination that the speed change by the determination unit is completed. In this case, the current target speed is temporarily changed to a new target speed. Since processing such as determination is executed on the premise of this change, it is possible to shorten the time until the change is made in earnest (that is, not tentatively) according to the determination that the speed change by the determination means is completed.

  In another aspect of the transport apparatus of the present invention, the receiving unit, the specifying unit, the determining unit, and the transport control unit are mounted on the transport unit, and the transport command is mounted on the transport unit. It is transmitted from the transmission means provided in the non-control device.

  According to this aspect, for example, when a conveyance command is transmitted from a control device that is not mounted on the conveyance device and has a fixed computer or the like, the subsequent determination is performed by the conveyance device traveling on the track. The Therefore, for example, since the transfer device that has received the transfer command can execute the determination immediately before the curve, derailment or the like in the curve can be avoided more reliably. Alternatively, it is possible to suppress a decrease in conveyance efficiency due to avoiding a curve with a more unnecessary margin or decelerating closer.

  The operation and other advantages of the present invention will become apparent from the best mode for carrying out the invention described below.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, the configuration of a transport system to which the transport device according to the embodiment is applied will be described. Here, FIG. 1 functionally shows the configuration of the transport apparatus according to the embodiment, and FIG. 2 schematically shows one state of the transport means of FIG. 1 and the travel speed corresponding to the travel position of the transport means. Is shown in the graph.

  In FIG. 1, the transport system 100 includes a track 1 and a transport device 20. The transport device 20 includes a vehicle 3 and a transport controller 11.

  In FIG. 2, the track 1 is a rail for the vehicle 3 to travel. The track 1 includes a main track 1a and a support track 1b branched from the main track 1a. As shown in FIG. 2, the track 1a is a track extending in a straight line. A branch point B1 is set at a predetermined position on the main track 1a. The support track 1b includes a track portion that curves rightward with respect to the traveling direction D1 at a branch point B1 on the main track 1a. The track portion is set as a curve C1. A limit speed v4 for driving the curve C1 stably is set in advance for the curve C1.

  In FIG. 1, as an example of “conveying means” according to the present embodiment, a vehicle 3 travels on a track 1 and loads a FOUP (not shown), and conveys the loaded FOUP to a manufacturing apparatus or stocker (not shown). Make it possible.

  The vehicle 3 includes a control unit 9 including a receiving unit (not shown), a speed command specifying unit 4, a point specifying unit 5, a curve traveling determination unit 6, and a memory 7 in the main body 3 a. As an example of the “reception unit” according to the present invention, the reception unit receives a conveyance command from a command unit 10 described later, and sends a signal indicating the command to the control unit 9. As an example of the “conveyance control unit” according to the present invention, when the control unit 9 receives a conveyance command from the reception unit, the control unit 9 comprehensively controls each unit of the vehicle 3 according to the command.

  As an example of the “control device” according to the present invention, the transport controller 11 comprehensively controls the plurality of vehicles 3 according to a transport process for manufacturing a semiconductor device. The transport controller 11 includes a command unit 10.

  The command unit 10 provisionally sets a planned route (an example of a “new planned route” according to the present invention) as an example of a “transmission unit” according to the present invention, based on a transport process. The command unit 10 transmits a conveyance command indicating the planned route to each vehicle 3. The vehicle 3 that has received these commands executes these commands according to the determination result of the curve traveling determination unit 6 described later. By executing the command, the vehicle 3 travels on the planned route while changing the travel speed toward the target speed.

  The speed command specifying unit 4 calculates the target speed corresponding to the planned route indicated by the transport command from the command unit 10 by using the map data indicating the trajectory 1 as an example of the “specifying unit” according to the present invention. The speed command specifying unit 4 specifies a speed command indicating the calculated target speed.

  In FIG. 2, the target speed indicated in the speed command will be described in detail. When traveling on the planned route including the curve C1, the speed command specifying unit 4 specifies the speed command four times on the upstream side of the branch point B1 on the track 1. For the four speed commands, specifically, when the vehicle 3 travels at the travel speed vn at the current time N1, the first speed command S1 is the speed command specified last time from the command unit 10, and is the target Speed v1 (an example of “previous target speed” according to the present invention) is shown. The next speed command S2 is a speed command specified this time from the command unit 10, and indicates the target speed v3 (an example of “current target speed” according to the present invention). The next speed command S3 indicates a target speed v3 that is the same value as the current target speed. The final speed command S4 indicates a target speed v4 (an example of “new target speed” according to the present invention) that is a speed limit of the curve C1. In the present embodiment, when the last speed command S4 is specified by the speed command specifying unit 4, the traveling speed is temporarily changed toward the target speed v4 (that is, the speed is changed).

  In FIG. 1, the point specifying unit 5 functions as part of the “determination means” according to the present invention, and based on the previous target speed v1, the current target speed v3, and the current speed vn at the current time N1, It is assumed that the vehicle travels on a new route corresponding to the speed command S4 (target speed v4 with respect to the curve C1). In this case, the point specifying unit 5 starts the speed change (specifically, it is a change from the target speed v3 to v4, and deceleration starts toward the curve C1). Speed change start position Sc (an example of a “speed change start position” according to the present invention) and a virtual speed command position Si (“virtual speed command position according to the present invention” at an issue point P1 corresponding to the speed change start speed Vc. Example) and the virtual speed Vi. At the time of the specification, as shown in FIG. 2, the travel position and travel speed of the vehicle 3 are from the start position P0 to the issue time point P1 (that is, the current time N1) when the conveyance command for running the curve C1 is issued. Go back virtually.

  Prior to specifying the virtual speed command position Si and the virtual speed Vi, the speed change start speed Vc is specified by the following expression (1), and the speed change start position Sc is specified by the following expression (2). Regarding the codes included in the expressions (1) and (2), “α” is the acceleration of the vehicle 3, and “T1” is the calculation time delay elimination time (an example of the “first response delay period” according to the present invention). , “T2” is a response delay elimination time (an example of a “second response delay period” according to the present invention).

Vc = Vn + α * (T1 + T2) (1)
Sc = Vn * (T1 + T2 ) + α * (T1 + T2) 2/2 (2)

  The point specifying unit 5 specifies the virtual speed command position Si and the virtual speed Vi based on the specified speed change start position Sc and the speed change start speed Vc. In the present embodiment, it is assumed that the vehicle 3 has received a new conveyance command for traveling on the curve C1 at the current time N1, and the vehicle 3 is decelerated from the assumed speed Vi (v2) to the speed change start speed Vc. Specify the braking distance. The braking distance is recorded in advance in an assumed speed information table described later.

  Next, the virtual speed information table of this embodiment will be described. FIG. 3 shows an assumed speed information table of this embodiment. The assumed speed information table is recorded in the memory 7.

  The memory 7 stores a virtual speed information table 20 as an example of “storage means”. In FIG. 3, the virtual speed information table 20 shows “speed after speed change” and “braking distance L1” in association with “virtual speed Vi” as an example of the “table” according to the present invention. It is assumed that the virtual speed Vi (v2) at the issue time point P1 is closest to the speed change start speed Vc on the virtual speed information table 20 and has a value equal to or higher than the speed change start speed Vc. The speed change speed (v4) may be the speed change start speed Vc in addition to the speed limit for traveling on the curve C1. The braking distance L1 is a distance for decelerating from the virtual speed Vi to the post-shift speed as an example of the “speed changing distance” according to the present invention, and is set in consideration of the current speed vn, the deceleration, and the accumulation pulse. ing.

  The curve travel determination unit 6 functions as part of the “determination means” according to the present invention, and changes from the virtual speed v2 to the speed after speed change (restricted speed) v4 before the vehicle 3 enters the entrance of the curve C1. It is determined whether or not the speed change is completed.

  The position where the virtual speed Vi is virtually received (that is, the virtual speed command position) Si is specified by the following equation (3). For the code included in Equation (3), “β” is the deceleration of the vehicle 3.

^{Si = Sc-Vi * T2- (} Vi 2 -Vc 2) / (2 * β) (3)

  Next, a determination method by the curve travel determination unit 6 will be described. The curve traveling determination unit 6 first acquires a braking distance corresponding to the virtual speed Vi and the speed after speed change v4 from the assumed speed information table 20. For example, when the virtual speed v2 is “3000” and the speed v4 after the speed change is “700”, the braking distance L1 is “2312”. Further, the curve traveling determination unit 6 calculates a distance Lw (hereinafter referred to as “inter-curve distance”) Lw from the virtual speed command position Si on the track 1 to the entrance of the curve C1 using the map data. Further, the curve travel determination unit 6 compares the calculated braking distance L1 with the inter-curve distance Lw, and determines whether or not the following equation (4) is satisfied.

      Lw> Lx (4)

  When the equation (4) is satisfied (the inter-curve distance Lw is greater than the braking distance L1), the curve travel determination unit 6 determines that the vehicle 3 can decelerate to the speed limit v4 before entering the curve C1. And the new target speed v4 is validated. On the other hand, if equation (4) does not hold (inter-curve distance Lw is smaller than braking distance L1), the new speed and new target speed v4 are invalidated because it is impossible to decelerate to speed limit v4 before entering curve C1. And The curve traveling determination unit 6 sends a determination result, that is, a signal indicating that the new route and the new target speed are “valid” or “invalid” to the transport controller 11.

  When the determination result by the curve traveling determination unit 6 indicates “valid”, the speed command specifying unit 4 specifies the speed command indicating the assumed speed Vi as the assumed speed command position Si. Then, the controller 9 decelerates the vehicle 3 toward the curve C1 in accordance with the speed command. On the other hand, when the determination result by the curve travel determination unit 6 indicates “invalid”, the transport controller 11 transmits a new transport command for the vehicle 3 to travel on the main track 1 a to the vehicle 3. Then, the speed command specifying unit 4 specifies a speed command based on the new transport command, and the control unit 9 causes the vehicle 3 to travel toward the main track 1a without decelerating according to the speed command.

(First curve travel determination process)
Next, the first curve travel determination process of the transport device according to the present embodiment will be described with reference to FIG. FIG. 4 is a flowchart showing the first curve traveling determination process of the present embodiment.

  In FIG. 4, first, a new route is provisionally set by the command unit 10 of the transport controller 11 (step 51). Then, the target speed corresponding to the new route is calculated by the speed command specifying unit 4 of the vehicle 3. Then, the point specifying unit 5 corresponds to the speed change start speed Vc and the speed change start position Sc based on the target speed v1 based on the first speed command S1, the target speed v3 based on the next speed command S2, and the current speed vn. The virtual speed Vi (v2) and the virtual speed command position Si are specified (step S52). Then, the curve travel determination unit 6 obtains the braking distance L1 corresponding to the virtual speed v2 and the new target speed (speed after speed change) v4 from the virtual speed information table 20 (step S53), and the virtual speed command The inter-curve distance Lw from the position corresponding to the position Si to the curve entrance is acquired (step S53), and the braking distance L1 and the inter-curve distance Lw are compared (step S54). As a result of this comparison, if the braking distance L1 is shorter than the inter-curve distance Lw (step S55: YES), the provisionally set new route is validated as the vehicle 3 can be decelerated to the curve entrance (step S55). (S56) The vehicle 9 decelerates at the virtual speed v2 virtualized by the control unit 9 (step S57). Thereby, a series of 1st curve driving | running | working determination processes are complete | finished.

  On the other hand, if the braking distance Lx is not shorter than the inter-curve distance Lw as a result of the comparison in step S55 (step S55: NO), the new path is invalidated because the vehicle 3 cannot be decelerated by the curve entrance ( In step S58), a new route is newly set by the command unit 10. Then, the control unit 9 continues the travel of the vehicle 3 (that is, does not decelerate) so as to travel on the new new route, that is, the main track 1a that travels straight after the branch point B1 (step S59). Thereby, a series of 1st curve driving | running | working determination processes are complete | finished.

  Thus, according to the first curve travel determination process of the present embodiment, it is assumed that the vehicle travels on a new route, the braking distance L1 is compared with the inter-curve distance Lw, and the braking distance L1 is greater than the inter-curve distance Lw. When the route is short, by enabling the new route, the vehicle 3 can stably travel on the curve C1 included in the new route while avoiding a decrease in conveyance efficiency.

  In the present embodiment, the braking distance L1 and the inter-curve distance Lw are acquired for determining whether or not it is possible to decelerate to the curve C1, but instead, the braking time and the inter-curve distance are obtained. You may acquire the time which drive | works Lw.

(Second curve travel determination process)
Next, the second curve travel determination process of the transport device according to the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing the second curve traveling determination process of the present embodiment. Note that the second curve travel determination process is a process for increasing the opportunity to validate the new route including the curve C1 as compared to the first curve travel determination process shown in FIG.

  In FIG. 5, first, similarly to the first curve travel determination process, a new route is provisionally set by the command unit 10 of the transport controller 11 (step S51). Then, deceleration is instruct | indicated by the control part 9, and the vehicle 3 carries out deceleration driving | running | working (step S61). Thereafter, similarly to the first curve travel determination process, the processes of steps S52 to S59 are performed, and the series of second curve travel determination processes is ended.

  As described above, according to the second curve travel determination process of the present embodiment, the opportunity to travel on the curve C1 is increased by temporarily decelerating during a series of determination processes and the like. As a result, the vehicle 3 can travel more stably on the curve C1 included in the new route with high probability.

  In the present embodiment, as shown in FIG. 2, the vehicle 3 starts decelerating from the speed change start position Sc (in other words, the speed change start speed Vc) toward the curve C1, but in FIG. As shown, the acceleration starts toward the curve C1 or toward the straight line based on the target speed v1 based on the first speed command S1, the target speed v3 based on the next speed command S2, and the current speed vn at the current time N1. May be. Whether the vehicle is accelerated or decelerated, the speed change starts from the speed change start speed Vc at the speed change start position Sc.

  The present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the spirit or concept of the invention that can be read from the claims and the entire specification.

It is a functional block diagram which shows the structure of the conveying apparatus which concerns on embodiment. It is a schematic diagram which shows an example of the conveyance means which concerns on embodiment, and a graph which shows an example of the travel speed with respect to the travel position of a conveyance means. It is a table | surface which shows the speed information table corresponding to the virtual speed which concerns on embodiment. It is a flowchart which shows the 1st curve driving | running | working determination process by the conveying apparatus which concerns on embodiment. It is a flowchart which shows the 2nd curve travel determination process by the conveying apparatus which concerns on embodiment. It is a graph which shows the other example of the travel speed with respect to the travel position of the conveyance means which concerns on embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Track | orbit, 3 ... Vehicle, 4 ... Speed command specific | specification part, 5 ... Point specific | specification part, 6 ... Curve run determination part, 7 ... Memory, 9 ... Control part, 10 ... Command part, 11 ... Conveyance controller, 20 ... Conveyance Apparatus, 100 ... conveying system

Claims (10)

A transport means that travels on a track and can load an object to be transported;
A receiving unit capable of receiving a conveyance command indicating that the planned route on which the conveyance unit is scheduled to travel is set or changed in the trajectory;
A specifying means for specifying a speed command indicating a target speed when traveling on the planned route indicated by the received transport command;
Traveling on a new planned route indicated by a new transport command newly received by the receiving means while changing the speed toward a new target speed indicated by the new speed command newly specified by the specifying means On the basis of the current speed of the transport unit and the current target speed indicated by the current speed command specified by the specifying unit, the transport unit is included in the predetermined new route. Determining means for determining whether or not the speed change is completed before entering the location;
When it is determined that the speed change is completed, the transport unit is controlled to travel on the new scheduled route while performing the speed change, and when it is determined that the speed change is not completed, the new And a transport control means for controlling the transport means by invalidating the scheduled path and the new target speed.   The determination means determines whether or not the speed change is completed based on a previous target speed specified by the specifying means in addition to the current speed and the current target speed. The transport apparatus according to claim 1. The predetermined portion is a curve,
The new target speed includes a speed limit that is predefined for the curve;
The determination means determines, based on the current speed and the current target speed, whether or not deceleration to the speed limit is completed as the speed change before the transport means enters the curve. The conveying apparatus according to claim 1 or 2, characterized in that The determination means includes
Issuing time when the new conveyance command is issued from the starting point of the dredging at which the speed change is started when it is assumed that the vehicle travels on the new planned route based on the current speed and the current target speed The virtual speed command position and the virtual speed of the transport means at the issue time point, corresponding to the speed change start position and the speed change start speed of the transport means at the start time point,
It is determined whether or not the speed change from the specified virtual speed to the new target speed is completed before entering the predetermined location from the virtual speed command position. The conveyance apparatus as described in any one of 3.   The determination means associates the difference between various virtual speeds and various target speeds on a table storing various speed change distances necessary to complete the speed change, and Extracting one speed change distance corresponding to the new target speed, and comparing the extracted one speed change distance with the distance from the identified virtual speed command position to the predetermined location, 5. The transfer apparatus according to claim 4, wherein it is determined whether or not the speed change is completed. The speed change start speed and the speed change start position include various current speeds, various current accelerations or decelerations of the transport means, and control of the transport means by the transport control means after the new transport command is received. First response delay period until actual start and second response delay period from when the new speed command is specified and the conveying means is controlled to perform the deceleration until the deceleration is actually started As a function of
The table stores various speed change distances in association with differences between the various virtual speeds corresponding to the calculated speed change start speed and the speed change start position and various target speeds. 5. The transfer device according to 5. The speed change is a deceleration;
The determination unit specifies a virtual speed that is closest to the calculated speed change start speed and is equal to or greater than the calculated speed change start speed on the table. The conveying apparatus as described in. When the new conveyance command is received, the conveyance control unit waits for a determination result by the determination unit, and controls the conveyance unit to perform or not perform the speed change toward the new target speed. And
The determination means assumes that the speed change is not performed toward the new target speed until the speed change is performed by the transport control means according to the determination result. It is determined whether completion is complete | finished. The conveying apparatus as described in any one of Claim 1 to 7 characterized by the above-mentioned. When the new conveyance command is received, the conveyance control unit does not wait for a determination result by the determination unit and temporarily changes the speed toward the new target speed. Control
Whether the speed change is completed on the premise that the speed change is made provisionally before the speed change by the transport control means according to the determination result is performed. It determines whether it is. The conveying apparatus as described in any one of Claim 1 to 7 characterized by the above-mentioned. The receiving means, the specifying means, the determining means, and the transport control means are mounted on the transport means,
The transport apparatus according to any one of claims 1 to 9, wherein the transport command is transmitted from a transmission unit included in a control device that is not mounted on the transport unit.

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