JPH01206801A - Carriage control system - Google Patents

Abstract

PURPOSE:To prevent runaway of a carrier, by judging whether a sensor is faulty or not based on a detection result sent from a means for detecting the ON state of each sensor and exclude such sensor as judged to be faulty from the control. CONSTITUTION:Stators 1-6 are arranged respectively on the horizontal section of the second floor, the vertical running section and the horizontal section of first floor. Sensors 11-62 are arranged at the entering sections and escape sections of respective stators. A system controller 40 provides start, stop, acceleration and deceleration commands to controllers 10, 20, 30 for controlling stators at the horizontal section of first floor, the vertical section thereof and the horizontal section of the second floor. The controller 20 judges fault of sensor based on sensor signals S1 provided from sensors 21-52 and an ON detection signal S2 provided through an ON detection detector 60, and excludes the faulty sensor from the control.

Description

[Detailed Description of the Invention] [Summary] Concerning a transport control method for a transport device using a linear induction motor, the system can be controlled even if one of the sensors fails, prevents the transport vehicle from running out of control, and safely operates the system. The purpose is to improve reliability by providing detection means for detecting the ON state of each sensor, and determination means for determining whether or not the sensor is malfunctioning based on the detection result. The sensor that has failed is excluded from the control, and the control is resumed at the position where it is detected that the non-faulty sensor changes from the off state to the on state.

[Industrial application field]

The present invention relates to a transport control method for a transport device that uses a linear induction motor, and in particular, to a transport control method for a transport device that has a running component in the vertical direction [Prior art] In recent years, transport systems that use linear induction motors have become popular. are doing. Large items are FA (factory automation)
It is used for conveying workpieces, and smaller ones are used for conveying bank slips, etc. - For boat fishing, these transport devices are
A secondary side movable system is adopted in which stakes are arranged along the conveyance path and a required current is passed through the induction coil of the stator to drive the secondary conductor attached to the conveyance vehicle. In such a case, since the driving force cannot be controlled on the transport vehicle side, a plurality of sensors are provided on the transport path to detect passage of the transport vehicle, and based on this, the traveling of the transport vehicle is controlled.

FIG. 5 is a configuration diagram showing an example of a conveyance device using a conventional linear induction motor.

In FIG. 5, the conveyance path extends from the first floor to the second floor, and stator 1 and stator 2 are arranged on the horizontal part of the second floor.
Stators 3 to 7 are arranged in the vertical running part, and stators 8 and 9 are arranged in the horizontal part on the first floor. A sensor A is disposed at the entry part of each stator when viewed from the vertical downward direction, and a sensor B is disposed at the exit part, and the system controller 50 controls each stator based on their information. ing.

FIG. 6 is a waveform diagram of information signals from sensor A and sensor B. For example, when the transport vehicle travels in the downward direction on the stator 3, the change of sensor A from the off state to the on state causes the transport vehicle to move downward. The entry into the stator 3 is detected, and excitation of the stator 3 is started based on the detection. Further, when the sensor B changes from the on state to the off state, escape of the transport vehicle from the stator 3 is detected, and control of the stator 4 is started.

[Problem to be solved by the invention]

However, in the conventional transport control method as described above, if even one of the plurality of sensors fails, the system controller may lose track of the transport vehicle and become uncontrollable.

For example, in the example shown in FIG. 5, if sensor A fails while the vehicle is running and there is no change from the OFF state to the ON state as shown by the dotted line in FIG. The vehicle cannot be detected entering or exiting the vehicle, and the vehicle loses track of it and becomes uncontrollable.

For example, if this situation occurs in a horizontal part such as stator 1, the transport vehicle will simply stop midway (which is quite inconvenient), but it can occur in a part that has a vertical running component such as stator 3. This causes the transport vehicle to run out of control due to gravity, leading to dangers such as derailment and overturning, resulting in a loss of system reliability.

The present invention was created in view of these problems.5
．． The purpose is to provide a transport control method that can be controlled even if one of the sensors breaks down, prevents the transport vehicle from running out of control, allows the system to operate safely, and improves its reliability. do.

[Means to solve the problem]

Means for solving the above problems in the present invention are as follows:
This is a transport device using a linear induction motor, and in the transport control method that controls the transport vehicle based on on/off information from multiple sensors, there is a detection means that detects the on state of each sensor, and a sensor that detects the on state of each sensor based on the detection result. and a determination means for determining whether or not the sensor is malfunctioning, excludes the sensor determined to be malfunctioning from control, and resumes control at the position where it is detected that the non-faulty sensor changes from an OFF state to an ON state. It shall be based on the conveyance control method.

[Effect]

When driving is controlled using sensors, if a sensor other than the one currently in use fails, that sensor is either in an on state, an off state, or a switching state. This can be detected in advance, and when the transport vehicle reaches the faulty position, the sensor is not used and the next normal sensor is used.

In the present invention, the on/off status of all sensors is monitored, and if it is detected that a sensor on the other side changes from an off state to an on state during control, when control is transferred to that sensor, there is a failure on the other side than that sensor. Control starts from the position of the sensor that has not been set. do it like this.

Furthermore, at the time when a non-faulty sensor detects a change from an OFF state to an ON state, if a sensor further ahead of that sensor is already in an ON state or detects a change to an ON state, The sensor is determined to be a failed sensor and is removed from future travel control.

〔Example〕

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a configuration diagram showing an example of a linear induction motor conveyance device embodying the present invention.

In Fig. 1, the conveyance path extends from the first floor to the second floor, and stator l is arranged on the horizontal part of the second floor, stators 2 to 5 are arranged in the vertical running part, and the horizontal part of the first floor is The stator 6 is arranged at. Sensors 11, 21, . . . , 61 are provided at the entry portion of each stator, and sensors 12, 22, . . . , 62 are provided at the exit portion of each stator. These sensors are for detecting the traveling position of the transport vehicle.

In this device, controller 1 controls the horizontal part of the second floor.
0, a controller 20 that controls the vertical section, and a controller 30 that controls the horizontal section of the first floor are provided separately, and a system controller 40 is connected to them.
The system controller 40 includes each controller lO to 30.
In contrast, it supports starting, stopping, accelerating, and decelerating, and manages the entire journey. Therefore, stator 1 is connected to controller 10 and stator 6 is connected to controller 30.

The controller 20 is a control means for controlling the stators 2 to 5 in the vertical portion, and is based on the sensor signal S1 input directly from each sensor and the ON detection signal S2 input via the ON detector 60. According to the determination result, the excitation of the stator is controlled, and the lowering and raising of the stator in the vertical direction is controlled.

The ON detector 60 latches the ON state of each sensor, and corresponds to the detection means of the present invention.

FIG. 2 is a circuit diagram showing an example of a detection section in the above device. In the same figure, each sensor 21°22.31,3
2, 41, 42, 51, and 52 are connected in parallel to the amplifier 70, and the amplified signals are input to the controller 20. In addition, those traffic signals are also input to the ON detector 60, and the sensors that have turned ON even at -degrees are memorized unless they are reset, so the controller 20 can easily know this and adjust the sensor according to that information. A failure can be determined and a failed sensor can be canceled.

FIG. 3 is a sample diagram of waveforms to indicate cancellation of a faulty sensor, and FIG. 4 is a flowchart showing an example of descending control. The operation of one embodiment of the conveying device will be described below with reference to both figures.

It is assumed that the excitation control of the stator for the conveyance vehicle is constant excitation by a sensor, and there is no stopping on the vertical traveling path. Furthermore, the distance between each sensor is such that the conveyance vehicle does not straddle two sensors.

First, the controller 20 detects the ON detector 6 before driving control.
Search for 0 and check if there is an on sensor.

For example, if there is an on-sensor n as shown in FIG. 3 before travel control, that sensor n is removed from control as a faulty sensor because it is before the guided vehicle enters.

Next, the state of the sensors is detected in order from the topmost sensor that is not out of order, and the system waits for the transport vehicle to enter. In this state, when an ON sensor like sensor n in FIG. Check if there is. It suffices if it is on the off side as shown by sensor n+1 in Figure 3, but
If there is an ON sensor as shown by sensor n+2, the conveyance vehicle has not yet entered that sensor, so that sensor H+2 is removed from control as a faulty sensor. Then, after waiting for the conveyance vehicle to escape from the sensor n+1, the excitation is turned off and the process moves to the next sensor n+3 control.

Now, if the next sensor is faulty on the on side,
At the time of on-sensor check after excitation, it is considered to be a faulty sensor and removed from control, but if that sensor n+3 has failed to the off side as shown in Fig. 3, the next sensor fi+4 is turned off. Upon detection of ON, driving control automatically shifts to that sensor.

In this way, the controller 20 determines a sensor failure based on the sensor signal S1 directly input from each sensor and the ON detection signal S2 input via the ON detector 60, cancels the failed sensor, and excites the stator. control,
Since the vertical descent and ascent are controlled, the transport vehicle is prevented from running out of control.

〔Effect of the invention〕

As explained above, according to the present invention, even if some of the sensors fail, it can be controlled, the transport vehicle can be prevented from running out of control, the system can be operated safely, and its reliability can be improved. It is possible to provide such a transport control system.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram of an embodiment of the present invention, Fig. 2 is a circuit diagram of an embodiment of the invention, Fig. 3 is a waveform diagram of sensor cancellation, Fig. 4 is a flowchart of descending control of the embodiment, FIG. 5 is a configuration diagram of the conventional example, and FIG. 6 is a waveform diagram of the conventional example. 1 to 9; Stator; 10.30; Controller; 20; Controller (judgment means); 40.50; System controller; 60; On detector (detection means); Sl; Sensor signal; S2: On detection signal; S3; Stator excitation signal. Figure 1 IID of 1n+4 τnfcannir Figure 3

Claims (1)

[Claims] In a transport control system that controls a transport vehicle based on on/off information from a plurality of sensors in a transport device using a linear induction motor, a detection means (60) that detects the on state of each sensor. and a determination means (20) for determining whether or not the sensor (n...) is malfunctioning based on the detection result, and excluding the sensor (n+3) determined to be malfunctioning from control;
A conveyance control method characterized in that control is restarted at a position where it is detected that a non-faulty sensor (n+4) changes from an off state to an on state.