JP7127615B2 - Blockage control system and its control method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a blockage control system and a control method thereof for executing blockage control for moving a plurality of trucks so that the distance between the trucks becomes a predetermined distance based on the position information of the trucks.

In general, the location information of the bogie is detected using a position detection tag such as a beacon or an RFID (Radio Frequency IDentifier) tag, and based on the detected position information, the bogie is moved so that the interval between the bogies is a predetermined interval. Occlusion control systems that move are known. In such a blockage control system, if a power failure occurs, the truck cannot be moved. Against this background, Patent Literatures 1 and 2 propose a technique for automatic restoration by starting up by backup and a position detection technique for offline use in order to enable the system to automatically recover from a power outage to a normal state. ing.

Japanese Unexamined Patent Application Publication No. 2011-116212 JP 2016-137731 A

However, the scope of application of the techniques described in Patent Documents 1 and 2 is limited only to systems that can always detect the position of the trolley. For this reason, in a system that can detect the position of a bogie only when it passes through one point in a certain blocked section, as typified by train block control, the position detection result of the bogie before the power failure and the current position of the bogie are the same. is the condition for restoration. As a result, even though the position detection result of the truck before the power outage is different from the current position of the truck, there is a possibility that the trucks will come into contact with each other when the trucks are moved. Moreover, in order to suppress the occurrence of such a problem, it is necessary for a worker to manually adjust the position of the carriage.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and its object is to detect the position of the truck without requiring labor even if the position detection result of the truck before the unsteady state is different from the current position of the truck. An object of the present invention is to provide a blockage control system and its control method that can safely and automatically recover from an unsteady state to a normal state.

The blockage control system according to the present invention detects the position information of the truck using the position detection tag provided in the blockage section, and based on the position information of the truck, a plurality of trucks are arranged so that the interval between the trucks is a predetermined interval. A blockage control system for executing blockage control for moving a bogie, comprising: a frontal collision prevention sensor provided on the front side of the bogie in the direction of travel for detecting an obstacle on the front side in the direction of travel of the bogie; a rear collision prevention sensor provided on the rear side of the truck in the direction of travel for detecting an obstacle behind the truck in the direction of travel; The bogie is caused to travel, and when the front collision prevention sensor provided on the bogie in the running state detects an obstacle, the bogie is stopped, and the rear collision prevention sensor provided on the bogie in the stopped state is activated. and a main control panel for repeatedly executing a process of causing the truck to travel in accordance with the detection of the obstacle until the positions of all the trucks are detected by the position detection tags.

A control method for a blockage control system according to the present invention uses a position detection tag provided in a blockage section to detect positional information of a truck, and based on the positional information of the truck, the distance between the trucks becomes a predetermined interval. A control method for a blockage control system that executes blockage control to move a plurality of trucks as described above, wherein, when recovering from an unsteady state, at least one truck among the plurality of trucks is made to travel to return to a running state. When a frontal collision prevention sensor provided on the front side of a certain bogie in the direction of travel detects an obstacle on the front side in the direction of travel, the bogie is stopped, and the sensor is provided on the rear side of the bogie in the stopped state in the direction of travel. repeating the process of causing the vehicle to travel in response to the rear collision prevention sensor detecting an obstacle located rearward in the traveling direction until the positions of all the vehicles are detected by the position detection tags. It is characterized by

According to the blockage control system and the control method thereof according to the present invention, even if the position detection result of the truck before the unsteady state is different from the current position of the truck, the unsteady state can be safely operated without labor. can be automatically restored to a normal state.

FIG. 1 is a schematic diagram showing the overall configuration of a blockage control system that is an embodiment of the present invention. FIG. 2 is a schematic diagram showing the configuration of the truck shown in FIG. FIG. 3 is a schematic diagram showing the structure of a section tag. FIG. 4 is a flow chart showing the flow of travel control processing by the bogie master control panel. FIG. 5 is a flow chart showing the flow of travel control processing by the bogie. FIG. 6 is a flow chart showing the flow of restoration processing, which is an embodiment of the present invention. FIG. 7 is a schematic diagram showing an example of recovery processing, which is an embodiment of the present invention.

The configuration and operation of a blockage control system according to an embodiment of the present invention will be described below with reference to the drawings.

〔Constitution〕
First, referring to FIGS. 1 to 3, the configuration of a blockage control system that is an embodiment of the present invention will be described. FIG. 1 is a schematic diagram showing the overall configuration of a blockage control system that is an embodiment of the present invention. 2(a) to 2(c) are schematic diagrams showing the configuration of the truck 2 shown in FIG. FIG. 3 is a schematic diagram showing the structure of a section tag.

As shown in FIG. 1, a blockage control system 1, which is an embodiment of the present invention, detects position information of a truck 2 using a section tag provided at one point in a section, and determines the distance between the trucks 2. is a system for moving a plurality of carriages 2 on the carriage track R so that there is at least one section or more. Here, the term "section" means a section (one section of 4 to 10 m) of the bogie track R, and corresponds to the closed section according to the present invention. In this embodiment, the bogie track R is divided into N sections, and each section is assigned a unique identification number n (=1 to N) in advance.

In this embodiment, the blockage control system 1 includes a plurality of trucks 2, a radio repeater 3, and a truck main control panel 4 as main components. In this embodiment, M trucks 2 are provided, and each truck 2 is given a unique number m (=1 to M) in advance.

As shown in FIGS. 2A to 2C, the truck 2 includes a truck body 2a, wheels 2b, a front collision prevention sensor 2c, a rear collision prevention sensor 2d, a section tag reader 2e, a truck control unit 2f, and a truck. It has a radio 2g.

The carriage body 2a is a structure on which conveyed objects such as coils are loaded. The wheels 2b are provided on the bottom surface of the truck main body 2a, and are rotated by the truck control unit 2f to make the truck 2 run.

The front collision prevention sensor 2c and the rear collision prevention sensor 2d are sensors such as optical sensors provided on the front side in the running direction and the rear side in the running direction of the bogie body 2a, respectively. A collision avoidance signal is output to the truck control unit 2f in response to detecting an obstacle within a predetermined range.

The section tag reader 2e is provided on the bottom surface of the carriage body 2a. The section tag reader 2e reads the section identification number n (=1 to N) stored in the section tag 5 such as a beacon or RFID tag provided at one point in each section, and reads the read identification. A signal indicating the number n is output to the truck control unit 2f as the position information of the truck 2. FIG. In this embodiment, as shown in FIG. 3, the section tag 5 is arranged at the starting point of each section of the bogie track R and functions as a position detection tag according to the present invention.

Returning to FIGS. 2(a)-(c). The truck control unit 2 f is composed of an information processing device such as a microcomputer having a processor and memory, and controls the operation of the truck 2 as a whole in accordance with control signals from the truck master control panel 4 . In this embodiment, the truck control unit 2f receives the collision prevention signals output from the front collision prevention sensor 2c and the rear collision prevention sensor 2d and the position information of the truck 2 output from the section tag reader 2e to the truck master control panel 4. automatically send to In addition, the carriage control unit 2f stores information of number m (=1 to M) assigned to itself in an internal non-volatile memory, and when transmitting various information, the number assigned to itself is stored. The information of m is transmitted with various information.

The bogie radio 2g is a device for controlling radio information communication with the bogie master control panel 4 via the radio repeater 3 .

Return to FIG. The radio repeater 3 is a device for relaying radio information communication between the bogie radio 2g and the bogie main control panel 4. FIG.

The truck master control panel 4 is configured by an information processing device such as a PLC (Programmable Logic Controller) having a processor and memory, and controls movement of the plurality of trucks 2 on the truck track R. In this embodiment, the bogie master control panel 4 stores information on the number of bogies 2 (M in this example) arranged on the bogie track R in an internal non-volatile memory.

[Running control processing]
Next, with reference to FIGS. 4 and 5, the operation of the truck main control panel 4 and the truck 2 when executing the travel control process for controlling the movement of the plurality of trucks 2 on the truck track R will be described.

First, referring to FIG. 4, the operation of the bogie master control panel 4 when executing the travel control process will be described.

FIG. 4 is a flow chart showing the flow of travel control processing by the bogie master control panel 4. As shown in FIG. The flowchart shown in FIG. 4 starts at the timing when power is supplied to the blockage control system 1 and the blockage control system 1 is activated, and the traveling control process proceeds to the process of step S1. The cruise control process shown in FIG. 4 is repeatedly executed while the blockage control system 1 is activated. 4 is executed for each bogie 2 on the bogie track R. As shown in FIG.

In the process of step S1, the truck master control panel 4 sends a signal indicating the identification number n of the section stored in the section tag 5 read by the section tag reader 2e of each truck 2 via the radio repeater 3. is received as the positional information of each truck 2 together with the information of the number m of each truck 2 . Thereby, the processing of step S1 is completed, and the traveling control processing proceeds to the processing of step S2.

In the process of step S2, based on the position information of each truck 2 and the information of the number m received in the process of step S1, the truck master control panel 4 sets another section ahead of the truck 2 to be processed in the traveling direction by two sections. It is determined whether or not the truck 2 is present. As a result of determination, if there is another truck 2 two sections ahead (step S2: Yes), the truck main control panel 4 advances the running control process to the process of step S3. On the other hand, if there is no other truck 2 two sections ahead (step S2: No), the truck main control panel 4 advances the traveling control process to step S4.

In the process of step S3, the trolley main control panel 4 transmits a speed command to set the running speed to zero to the trolley 2 to be processed, thereby executing the stop control of the trolley 2 to be processed. do. As a result, the process of step S3 is completed, and the travel control process returns to the process of step S1.

In the process of step S4, the truck master control panel 4 transmits a speed command to set the running speed to a predetermined speed (>0) via the wireless relay device 3 to the truck 2 to be processed. run control. As a result, the process of step S4 is completed, and the travel control process returns to the process of step S1.

Next, with reference to FIG. 5, the operation of the truck 2 when executing the travel control process will be described.

FIG. 5 is a flow chart showing the flow of travel control processing by the carriage 2. As shown in FIG. The flow chart shown in FIG. 5 starts when power is supplied to the blockage control system 1 and the blockage control system 1 is activated, and the travel control process proceeds to step S11. The traveling control process shown in FIG. 5 is repeatedly executed while the blockage control system 1 is activated. 5 is executed for each bogie 2 on the bogie track R. As shown in FIG.

In the process of step S11, the section tag reader 2e reads the section identification number n information stored in the section tag 5 as the position information of the truck 2, and the read position information of the truck 2 is read by the truck control unit 2f. output to Thereby, the processing of step S11 is completed, and the travel control processing proceeds to the processing of step S12.

In the process of step S12, the truck control unit 2f holds the position information of the truck 2 by storing the position information of the truck 2 output from the section tag reader 2e in the internal volatile memory. Thereby, the processing of step S12 is completed, and the travel control processing proceeds to the processing of step S13.

In the process of step S13, the truck control unit 2f uses the truck radio 2g to transfer the position information of the truck 2 stored in the internal volatile memory to the truck main control panel 4 together with the information of the number m of the truck 2. Send. Thereby, the processing of step S13 is completed, and the travel control processing proceeds to the processing of step S14.

In the process of step S14, the truck control unit 2f receives a speed command from the truck main control panel 4, and controls the operation of the truck 2 according to the received speed command. Specifically, when the received speed command is a speed command for setting the running speed to zero, the truck control unit 2f stops the truck 2. FIG. On the other hand, when the received speed command is a speed command for setting the traveling speed to a predetermined speed (>0), the truck control unit 2f causes the truck 2 to travel at the predetermined speed. Thereby, the processing of step S14 is completed, and the travel control processing proceeds to the processing of step S15.

In the process of step S15, the truck control unit 2f determines whether or not new position information of the truck 2 has been output from the section tag reader 2e. It is determined whether or not the information of the section identification number n stored in the section has been read. As a result of the determination, when the information of the identification number n of the next section is read (step S15: Yes), the truck control unit 2f advances the running control process to the process of step S16. On the other hand, when the information of the identification number n of the next section has not been read (step S15: No), the truck control unit 2f returns the running control process to the process of step S14.

In the processing of step S16, the truck control unit 2f deletes the position information of the truck 2 currently stored in the internal volatile memory. Thereby, the processing of step S16 is completed, and the travel control processing returns to the processing of step S12.

[Restoration process]
The occlusion control system 1 having such a configuration performs the recovery process described below when recovering from an unsteady state in which power is not supplied to the occlusion control system 1 to a driving state. To safely and automatically recover from an unsteady state without requiring labor even when the position information of a trolley 2 obtained and the current position information of the trolley 2 are different. Hereinafter, the restoration processing, which is one embodiment of the present invention, will be described with reference to FIG.

In the present invention, a steady state is defined as a state in which each device is normal, there is no risk of power failure or disconnection of the power supply for driving the device, and the truck master control panel can recognize the position of the truck. , is said to be in a non-steady state if it is not in a steady state. Specifically, the unsteady state refers to, for example, the following states.
(1) When the PLC of the truck master control panel 4 fails (2) When the power supply to the PLC of the truck master control panel 4 is turned off (3) When the power supply to the truck radio 2g is turned off (4) When the bogie radio 2g fails. (5) When the coil falls over in the bogie track R and the operator presses the emergency stop push button to forcibly turn off the power of the bogie 2.

FIG. 6 is a flow chart showing the flow of restoration processing, which is an embodiment of the present invention. The flowchart shown in FIG. 6 starts when the unsteady state is resolved, power is supplied to the blockage control system 1, and a recovery process execution command is input to the bogie main control panel 4. The recovery process starts at step The process proceeds to S21.

In the process of step S21, the bogie master control panel 4 resets the value m of the program counter for counting the number m of the bogie 2 to one. Thereby, the process of step S21 is completed, and the recovery process proceeds to the process of step S22.

In the process of step S22, the bogie master control panel 4 transmits a speed command to set the traveling speed to a predetermined speed (>0) to the m-th bogie 2 corresponding to the value m of the program counter. run control of the bogie 2 of . Thereby, the process of step S22 is completed, and the recovery process proceeds to the process of step S23.

In the process of step S23, the truck master control panel 4 determines whether or not it has received a collision prevention signal output from the front collision prevention sensor 2c of the truck 2 of number m. It is determined whether or not the anti-collision sensor 2c is in an OFF state in which no obstacle is detected. As a result of determination, if the anti-collision signal has not been received (step S23: Yes), the trolley main control panel 4 determines that the front anti-collision sensor 2c is in the OFF state, and advances the recovery process to the process of step S24. . On the other hand, if the anti-collision signal has been received (step S23: No), the trolley main control panel 4 determines that the front anti-collision sensor 2c has detected an obstacle and is in the ON state, and starts the recovery process in step S29. Proceed to processing.

In the process of step S24, the trolley main control panel 4 determines whether or not the position information of the trolley 2 of number m has been received. It is determined whether or not the information of the stored section identification number n has been read. As a result of the determination, if the position information of the m-th truck 2 has been received (step S24: Yes), the truck main control panel 4 reads the section identification number n information from the section tag reader 2e of the m-th truck 2. It is determined that the data has been read, and the recovery process proceeds to step S25. On the other hand, if the position information of the m-th truck 2 has not been received (step S24: No), the truck master control panel 4 detects that the section tag reader 2e of the m-th truck 2 has the section identification number n. It is determined that the information has not been read, and the recovery process is returned to the process of step S23.

In the process of step S25, the bogie master control panel 4 transmits a speed command to zero the running speed to the m-th bogie 2 via the radio repeater 3, thereby executing stop control of the m-th bogie 2. do. As a result, the process of step S25 is completed, and the recovery process proceeds to the process of step S26.

In the process of step S26, the bogie master control panel 4 determines whether or not the value m of the program counter is equal to the total number M of the bogies 2, thereby determining whether or not the processing for all M bogies has been completed. discriminate. As a result of determination, when the value m of the program counter is the total number M of the trucks 2 (step S26: Yes), the truck master control panel 4 determines that the processing has been completed for all M trucks, and starts the recovery process. The process proceeds to step S28. On the other hand, when the value m of the program counter is not the total number M of the trucks 2 (step S26: No), the truck main control panel 4 determines that the processing has not been completed for all the M trucks, and restores the trucks. to the process of step S27.

In the processing of step S27, the bogie master control panel 4 increments the value m of the program counter by one. Thereby, the process of step S27 is completed, and the recovery process returns to the process of step S22.

In the process of step S28, the truck master control panel 4 determines whether or not the interval between all the trucks is one section or more based on the position information of the M trucks 2. As a result of the determination, if there is an interval of one section or more between all the trucks (step S28: Yes), the truck master control panel 4 terminates a series of restoration processing. On the other hand, if the interval between all the trucks is less than one section (step S28: No), the truck master control panel 4 returns the recovery process to the process of step S21.

In the process of step S29, the bogie master control panel 4 transmits a speed command to zero the running speed to the m-th bogie 2 via the radio repeater 3, thereby executing stop control of the m-th bogie 2. do. Thereby, the process of step S29 is completed, and the recovery process proceeds to the process of step S30.

In the process of step S30, the bogie main control panel 4 determines that the m-th bogie 2 has approached the rear surface of the other bogie 2, and has transmitted the collision prevention signal output from the rear collision prevention sensor 2d ( A traveling control is executed by transmitting a speed command to set the traveling speed to a predetermined speed (>0) via the wireless repeater 3 to the carriage (hereinafter referred to as "proximal carriage"). Thereby, the process of step S30 is completed, and the recovery process proceeds to the process of step S31.

In the process of step S31, the truck main control panel 4 determines whether or not it has received a collision prevention signal output from the rear collision prevention sensor 2d, so that the rear collision prevention sensor 2d of the approaching truck detects an obstacle. It is determined whether or not it has turned off. As a result of determination, if the anti-collision signal has not been received (step S31: Yes), the main truck control panel 4 determines that the rear collision prevention sensor 2d of the approaching truck is in the OFF state, and starts the recovery process in step S32. Proceed to processing. On the other hand, when the anti-collision signal is received (step S31: No), the main truck control panel 4 determines that the rear collision prevention sensor 2d of the approaching truck is in the on state that an obstacle has been detected, and performs predetermined control. After the elapse of time, the process of step S31 is executed again.

In the process of step S32, the truck master control panel 4 transmits a speed command to zero the running speed to the nearby truck via the wireless repeater 3, thereby executing stop control. Thereby, the process of step S32 is completed, and the recovery process returns to the process of step S22.

〔Example〕
FIGS. 7A to 7D are schematic diagrams showing an example of recovery processing, which is one embodiment of the present invention. In this embodiment, as shown in FIG. 7(a), when the restoration process is started, the bogie master control panel 4 is set to No. 1 truck 2 is moved, and No. 1 truck 2 is moved. At the timing when the front collision prevention sensor of truck 2 of No. 1 is turned on, No. Stop the truck 2 of 1. Next, as shown in FIG. 7(b), the bogie master control panel 4 changes to the No. 1 with the rear collision prevention sensor turned on. 8 is moved, and No. 8 is moved. At the timing when the front collision prevention sensor of truck 2 of No. 8 was turned on, No. The truck 2 of 8 is stopped. Next, as shown in FIG. 7(c), the bogie master control panel 4 changes to the No. 1 vehicle with the rear collision prevention sensor turned on. No. 2 truck 2 is moved, and No. 2 is detected at the timing when the section tag is detected. Stop the truck 2 of 2. Then, as shown in FIG. The truck 2 of 1 is made to travel again.

As is clear from the above description, in the blockage control system 1 according to one embodiment of the present invention, when recovering from an unsteady state, the truck master control panel 4 controls at least one truck among the plurality of trucks 2. and stop the truck 2 in response to the detection of an obstacle by the front collision prevention sensor 2c provided on the truck 2 in the running state, and the rear collision prevention sensor provided on the truck 2 in the stopped state 2d is repeatedly executed until the position of all the trucks 2 is detected by the section tag 5, so that the position of the truck 2 before the unsteady state Even if the detection result and the current position of the truck 2 are different, the unsteady state can be safely and automatically restored to the normal state without labor.

Although the embodiments to which the inventions made by the present inventors are applied have been described above, the present invention is not limited by the descriptions and drawings forming part of the disclosure of the present invention according to the embodiments. That is, other embodiments, examples, operation techniques, etc. made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

1 Occupancy control system 2 Carriage 2a Carriage main body 2b Wheel 2c Front collision prevention sensor 2d Rear collision prevention sensor 2e Section tag reader 2f Carriage control unit 2g Carriage radio 3 Radio relay 4 Car master control panel 5 Section tag

Claims (2)

Positional information of the trolleys is detected using position detection tags installed in the blocked section, and based on the positional information of the trolleys, multiple trolleys are moved so that the intervals between the trolleys are equal to a predetermined interval. An occlusion control system for
a front collision prevention sensor provided on the front side of the truck in the direction of travel for detecting an obstacle on the front side in the direction of travel of the truck;
a rear collision prevention sensor provided on the rear side of the truck in the direction of travel for detecting an obstacle on the rear side in the direction of travel of the truck;
When recovering from an unsteady state in which the master control panel cannot recognize the position of the truck, at least one truck among the plurality of trucks is driven, and the front collision prevention device provided on the truck in the running state. The process of stopping the truck in response to the detection of an obstacle by a sensor and moving the truck in response to the detection of an obstacle by the rear collision prevention sensor provided on the truck in the stopped state is performed as described above. A main control panel that repeatedly executes until the positions of all the trucks are detected by the position detection tags ,
The position detection tags are provided in a number that is more than twice the number of the trucks, and the positions of all the trucks are detected in association with the plurality of position detection tags . control system. Positional information of the trolleys is detected using position detection tags installed in the blocked section, and based on the positional information of the trolleys, multiple trolleys are moved so that the intervals between the trolleys are equal to a predetermined interval. A control method for an occlusion control system comprising:
When recovering from an unsteady state in which the main control panel cannot recognize the position of the truck, at least one of the plurality of trucks is caused to run, and the front side of the truck in the traveling direction is installed. When the front collision prevention sensor detects an obstacle on the front side in the direction of travel, the truck is stopped, and the rear collision prevention sensor provided on the rear side in the direction of travel of the stopped truck detects an obstacle on the rear side in the direction of travel. a step of repeatedly executing the process of causing the truck to travel in response to detecting an obstacle in the position detection tag until the positions of all the trucks are detected by the position detection tags; A control method for a blockage control system, characterized in that the number of trucks provided is more than twice the number, and the positions of all the trucks are detected in association with the plurality of position detection tags .

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