JPH01264504A - Conveyance controller - Google Patents

Abstract

PURPOSE:To eliminate a front collision of conveyance vehicles even if a power interruption occurs during their traveling by obviating the travel of vehicles when the travel of vehicles according to a command allows the vehicles to travel opposite to other traveling vehicles. CONSTITUTION:When a travel command for traveling a conveyance vehicle is generated from a system controller 10, a traveling zone/direction discriminator 114 discriminates the instructed zone and the direction of the vehicle. Then, a traveling zone/direction comparator 115 compares it with the traveling zone/ direction of another traveling conveyance vehicle. If the fact that the instructed travel of the vehicle allows the vehicle to travel opposite to other traveling vehicle is identified, a signal for allowing the vehicle to travel is not output to a travel managing unit 116. Thus, even if a power interruption occurs at any time, it can prevent a front collision of the vehicles.

Description

[Detailed Description of the Invention] [Summary] A linear motor-type conveyance system in which a secondary conductor is attached to a conveyance vehicle storing documents, etc., and the conveyance vehicle travels by receiving magnetic fields from primary iron cores distributed on a conveyance path. Regarding the transportation control device 1, the purpose is to provide a transportation control device that controls transportation vehicles so that they do not collide with each other even if a power outage occurs while traveling. In a transport control device for transporting a vehicle, a first storage unit stores a travel command from a transport station, and a determination unit determines a travel section and a travel direction of the travel command stored in the first storage unit. a second storage unit that stores the running section and running direction; and a comparison unit that identifies whether or not the vehicle is traveling in opposite directions based on the output of the determining unit and the output of the second storage unit. and a travel management unit that controls the execution of the travel instructed by the travel command based on the result of the comparison unit, and if the result of the comparison unit indicates that the travel is not in the opposite direction, the travel management unit The unit is configured to execute the travel specified by the travel command.

[Industrial Application Field] The present invention attaches a secondary conductor to a carrier that stores documents, etc.
The present invention relates to a conveyance control device for a linear motor type conveyance system that causes a conveyance vehicle to travel in response to magnetic fields from primary iron cores distributed on a conveyance path.

2. Description of the Related Art In recent years, banks, securities companies, and other establishments have been using linear motor cars with a secondary side movable system to transport documents, slips, cash, etc., to carry out high-speed transport processing.

If such a power outage occurs in the transport system, the transport vehicle cannot stop immediately, so if a plurality of transport vehicles are running, they may collide, and it is desired to prevent this.

[Prior Art] FIG. 3 shows a configuration diagram of a conventional station and a conveyance vehicle, and FIG. 4 shows a configuration diagram of a conventional conveyance system.

To explain FIG. 3, 50 is a general transportation vehicle (or Chiaria), 51 is a rail that guides the transportation vehicle, 52 is a stator that is a stator of a linear motor, 53 is a secondary conductor that is a movable element of a linear motor, 54 is a pulse encoder constituted by a comb-tooth-shaped light-shielding plate, and 55 is a for detecting passage or interruption of light according to the unevenness of the comb-tooth of the pulse encoder 54.
A guide roller 56 is provided on the legs at the four corners of the transport body and guides the fastest body along the rail 51. The pulse encoder 54 and the sensor 55 constitute a speed detection device.

As is conventionally known, this carrier 50 moves on the principle of a linear induction motor, and has two motors attached to the carrier 50.
The secondary conductor 53 is driven when a stator 52, which is a fixed secondary iron core provided at the station, is excited, and the carrier 50 travels along the rail 51. In that case, the transport vehicle 50 is not equipped with any power source, and various slips,
It stores documents, cash, etc. and is sent to a designated station, from where it is returned to its original home position.

To outline the conventional transport system shown in FIG. 4, 61 is a system control device, 62 is a transport control device, and 63 is a system control device.
64 is the rail that makes up the track, 64 is the stator (indicated by STI~7) which is the primary core (stator) of the near motor, which is installed in large numbers along the rail, and 65 is the secondary conductor (mover)
(represented by CR1, 2), 66 represents a station controller (represented by STC1 to 7) that controls the stator of the linear motor according to commands from the transport control device 62, and the system controller 61 and the transport side Door device 62
constitutes the travel control section of the transport vehicle.

A home position is set for each conveyance vehicle, and when a destination station (for example, a cash handling clerk) is designated and inputted from that station (the position where the counter operator is located) using a key (not shown), the system control device 61 A command signal is given to the transport control device 62 from there, and a command signal is given from there to the relevant station controllers 66 to control the start, acceleration, deceleration, and stop of the transport vehicle 65. Each station is equipped with a conveyor vehicle detector, a speed detector, etc., and their detection outputs are used for travel control. When the conveyor vehicle reaches its destination station, the operator returns the vehicle to its original Baume position. It is specified, transported and returned.

[Problems to be Solved by the Invention] In the conventional linear motor type transport system described above, if a power outage occurs while the transport vehicle is running, the running transport vehicle continues to run due to inertia. In case this happens,
Damage is prevented by replacing the dampers at each end of the II conveyance route to soften the impact of mechanical shock on the first general conveyance vehicle.

Moreover, if a power outage occurs while multiple vehicles or vehicles are running in opposite directions on one rail, there is a risk of a head-on collision. To deal with dirt, making a transport vehicle strong enough to withstand an iE '1Tii collision or attaching a shock absorbing member increases the size and weight of the fastest vehicle. However, if the shape of the transport vehicle becomes large, the shape of the entire transport device becomes large, which is not preferable. When the weight increases, the energy required for transportation increases, resulting in increased power consumption, and the secondary iron core becomes larger, resulting in an increase in the size of the transportation device.

Further, in the case of a head-on collision, there is a problem in that even if there is no abnormality in the transport vehicle, the articles loaded on the transport vehicle may be damaged due to the collision.

SUMMARY OF THE INVENTION An object of the present invention is to provide a transport control device that controls transport vehicles so that they do not collide head-on with each other during travel (even if an electric shock occurs).

[Means to solve the problem] FIG. 1 shows a basic configuration diagram of the present invention.

10 in FIG. 1 is a Nostem control unit, 11 is a conveyance control device,
12-1 to 12-n are station controllers (・rollers (S)
T C1 to S T Cn), 13-1 to 13-
n is a station (STI~S'Fn
), 14. -1.14-2 is a transport vehicle (CRI, C
R2), 15 represents a conveyance path, and conveyance control device 11
, 111 is a first storage section that stores a running command, 112 is a conveyance path shape information table, 1] 3 is a second storage section 1a that records the running section and direction during running,] 14 is a running section A determination unit 115 represents a comparison unit that identifies the travel section/direction, 116 represents a travel management unit, and 117 represents a travel control unit.

When a travel command is issued, the present invention compares the travel details of the command with the travel conditions of other guided vehicles running at the time, and determines when the commanded travel will result in a run facing another guided vehicle. In other cases, the vehicle is controlled so that the vehicle does not travel, and in other cases, the vehicle travels.

[Function] When the first system control unit 10 generates a travel command to cause the guided vehicle to travel, the first storage unit 111 of the first general transport control device 11 stores this command. First note 41) When the information is sent to the section 111, the traveling section/direction discriminating section 11
4. The section and direction of the commanded travel are determined with reference to the conveyance path shape information table 112. Note that the 1st general conveyance path shape information table 112 shows the shape of the entire conveyance path (straight line, loop shape, horizontal path, vertical path, etc.) and the sections of each conveyance path (sections are set for each predetermined distance, and Then, it is memorized whether a predetermined number of transport vehicles are allowed to run simultaneously.

Next, the traveling section/direction comparison section 115 retrieves information on other traveling guided vehicles from the second storage section 113 that stores the traveling section/direction in progress, and outputs the information from the traveling section/direction determining section 114. Compare with −8= ru. In this comparison, the traveling section and traveling direction are also compared. If it is determined through the comparison that the commanded travel is a travel opposite to another traveling guided vehicle, a signal to permit the travel is not outputted to the travel management section 116. Specifically, in FIG. 1, the transport vehicle CRI
This is a case where a command to travel to the left is issued to the transport vehicle CR2 while the vehicle CR2 is traveling to the right.

In other cases, the travel management unit 116 generates a permission signal,
Specifically, in FIG. 1, when the transport vehicles CR1 and CR2 are both in the same direction, and when a travel command is issued to move them away from each other.

In response to this output, the travel management section 116 controls the travel control section 116 when the travel conditions are satisfied when travel permission is displayed.
A driving instruction is issued at 7. The travel control unit 117 receives the travel instructions and the commands output from the travel command storage unit 111, and controls each station, roller, and roller.
A control signal is generated to cause the vehicle to run.

[Example] Figure 2 (al shows a configuration diagram of an example of the present invention, Figure 2 (b)
shows a control flow diagram of the embodiment.

20-1.2 in Figure 2 [a] is the 1-den transport vehicle CRI, CR2
, 21-1 to 21-n are stations (stators) STI to STn, 22-1 to 22-n are station controllers STC1 to 5, respectively.TCn123 is a transport control device, and 230 and 231 are ink face circuits (
1, F, ), 232 is a central processing unit CPU, 233 is a memory, 24 is a system control device, and 25 is a transport path.

In the configuration shown in FIG. 2(a), the transport control device 23 is controlled by the central processing unit CPU under program control, and receives travel commands from the system control device 24 to determine the state (presence or absence of a transport vehicle, other transport Check the driving condition of the car, etc.)
If transport is possible, a control signal (start, acceleration/deceleration, stop, etc.) for the respective transport is output to each station controller STC to perform transport.

The station controller has a processing device (microprocessor) inside, receives control signals from the transport control device 23, generates output to control the stake, detects the state of the station, and sends it to the transport control device 23. Perform processing. In addition, the memory 233 of the transport control device 23 stores travel status information (including travel section and direction information), but information based on sensors is received and received each time the transport vehicle passes through each station. As a result, the contents of the travel section are updated.

A control flow diagram of the embodiment of FIG. 2(al) is shown in FIG. 2(bl).

Figure 2 (al) shows the operation by the transport control device 23 of
This will be explained with reference to bl.

When a travel instruction is generated by a key human power device at a station, it is input to the system control device 24 via the station controller and the transport control device 23, and then the system control device 24 gives it to the transport control device 23 as a travel command. The travel command passes through the interface circuit 231 and is stored in the memory 233.

= 11- Upon receiving this travel command, the CPU 232 executes the
The process moves to step 200, and the travel section and direction of the commanded travel are determined based on the conveyance path shape information in the memory 233. When the determination is completed, the process moves to step 210,
It is determined whether there is a traveling guided vehicle by referring to the running state information in the memory 233, and if no traveling guided vehicle is detected at that point, the traveling section/direction of the command determined in step 200 is determined. After storing the driving state information in the memory, driving control is started (see Fig. 2 (bl 240)).
).

When a traveling guided vehicle is detected in step 210, the running section and direction of the traveling guided vehicle are then read from the traveling state information in the memory 233.

Information on the traveling section and direction of the traveling conveyance vehicle and information on the traveling section and direction based on the command I4 (discrimination method in step 200)
In step 230, it is determined whether the two guided vehicles (the running guided vehicle and the instructed guided vehicle) are running toward each other. If it is determined that the vehicles are not running opposite each other, the process moves to step 240, where the travel section and direction are stored in the memory as described above, and then travel control is started.

If it is determined in step 230 that the two transport vehicles are traveling toward each other, the commanded traveling is not executed and the process returns to step 200 again.

Due to this engagement, when the other traveling conveyance vehicle finishes traveling and the corresponding traveling data disappears from the traveling state information in the memory 233, the commanded traveling becomes executable.

[Effects of the Invention] According to the present invention, it is possible to always prevent a head-on collision of a guided vehicle even if a power outage occurs in a transportation system that transports a guided vehicle between stations on a track using a linear motor. .

[Brief explanation of the drawing]

Fig. 1 is a basic configuration diagram of the present invention, Fig. 2 fa+ is a configuration diagram of an embodiment of the present invention, Fig. 2 (bl is a control flow diagram of the embodiment, and Fig. 3 is a diagram of the conventional station and transport vehicle. The configuration diagram, FIG. 4, is a configuration diagram of a conventional conveyance system.In FIG. 5Tn14-1,
2: Conveyance vehicle CR1, 2 15: Conveyance path 111: First storage section 112: Conveyance path shape information table 113: Second storage section 114: Travel section/direction determination section 115; Comparison section 116: Travel management section 117 : Travel control section

Claims (1)

[Scope of Claims] A transport control device for transporting a transport vehicle between stations on a track using a linear motor, comprising: a first storage unit (111) that stores an input travel command; and a travel command. A determination unit (114) that determines the travel section and travel direction of the travel command stored in the storage section (111), and a second storage section (114) that stores the travel section and travel direction that are currently being traveled.
113), the output of the discrimination section (114) and a second storage section (113)
a comparator (115) that identifies whether or not the vehicle is traveling in opposite directions based on the output of the comparator (115);
a travel management section (116) that controls execution of the travel instructed by the travel command based on the result of step 5), and if the result of the comparison section (115) indicates that the travel is not in opposite directions; , the driving management section (11
6) A transport control device that executes the travel specified by the travel command.