JPH01295604A - Carriage controller - Google Patents

Abstract

PURPOSE:To operate a carrier efficiently, by selecting one of a plurality of stations upon judgement that the battery voltage of the carrier has dropped and the battery requires recharge, then leading the carrier mounting a battery to be recharged toward the selected station. CONSTITUTION:A physical distribution management unit 3 sends a carriage request to a carriage integration controller 5 based on management information concerning to carriage of a material. The carriage integration controller 5 monitors current position and working state of each carrier, carriage request from each station and the like, and provides a control command to a local controller 31 based on a carriage request from the physical distribution management unit 3. When information requiring recharge of battery is fed from a carrier, an empty recharge station is selected and the carrier requiring recharge of its battery is run to the selected recharge station.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Field of Application) The present invention relates to a transport system in which objects are transported by a plurality of transport vehicles that are supplied with an IIfi source supply pipe from a storage battery and run. I
This invention relates to a transportation system m+vii, which is based on the I'InH system, and in particular, each transportation vehicle is provided with a function to determine the state of consumption of a storage battery so as to appropriately charge the storage battery.

(Conventional technology) In recent years, the technological development of so-called factory automation has been remarkable, and objects to be transported such as industrial products or raw materials are automatically transported by the V4 transport system using the bolts of multiple stations within the premises of factories etc. That's what I do.

Such conventional transport control devices include multiple transport vehicles for transporting loads such as industrial products or raw materials, and multiple stations equipped with facilities for loading and unloading the goods transported by the transport vehicles. and a control device that is installed between these plurality of stations and that controls the travel of each transport vehicle and allocates transport vehicles in response to transport requests from each station. ing. Therefore, when a transport request is sent from each station, the control device monitors it and sequentially allocates available transport vehicles to automatically transport cargo between multiple stations. (Japanese Unexamined Patent Publication No. 61-102105).

In addition, in such conventional equipment, a special equipment section is installed on the transport path to wait the transport vehicle after the transport process is completed, and the transport vehicle after the transport process is forwarded to the timing section, and the special equipment I try to wait until the end of the class. Therefore, when a transport request is made from each station,
Transport vehicles waiting at the head of this ¥1 machine section are sequentially assigned, and the assigned transport vehicles carry out the transport of the cargo.

In addition, each of the plurality of transport vehicles has a drive unit ′? ! IW1
The vehicle is equipped with a storage battery and is powered by the storage battery to drive the vehicle, and the storage battery is charged during the above-mentioned station or while waiting at a charging station attached to the transport route.

(Problem to be Solved by the Invention) However, in the conventional transport control device, even if the transport vehicle travels a short distance and does not require charging, charging is performed every predetermined time period or when the transport vehicle is at a station. Charge the storage battery at a constant rate.

During this period, the station or charging station became occupied by the vehicle. Therefore, it has been difficult to effectively utilize transport vehicles and stations to meet transport requests.

In addition, in the conventional transport U all device, each transport unit is loaded on multiple transport vehicles. ;? Maintenance management such as replacement of the ft pond is based on the usage time after being mounted on the transport vehicle, so it has not been possible to perform maintenance management to a sufficient extent.

The present invention has been made in view of the above-mentioned problems, and it is possible to efficiently charge transport vehicles and station controllers by transporting only transport vehicles equipped with storage batteries that have exhausted their storage batteries and need to be charged to a station or charging station for charging. In addition, we ensured management of maintenance, such as when to replace each storage battery mounted on the transport vehicle.1. I
The purpose is to provide JIII equipment.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention performs u-control on the traveling of a plurality of guided vehicles that run by receiving power supply from an on-board storage battery for each guided vehicle. , a transport control 11 for transporting objects to be transported.
The device includes a plurality of stations having charging means for charging the storage battery, and a device that compares the voltage value of the storage battery with a predetermined reference value and indicates that charging is required when the voltage value is less than the ISl value. A determination means for determining whether charging is required, and a conveyance vehicle determined by the determination means to require charging to one of the plurality of stations where charging is possible. and a guiding means for guiding.

(Operation) The present invention is based on the &IJa directive of IIJI11 means.
Objects are transported using a plurality of transport vehicles. Each of the plurality of transport vehicles is equipped with an AM battery, and can travel by receiving power from this storage battery. In addition, it has a determination means that compares the voltage value of the storage battery with a preset reference value and determines that the storage battery needs to be charged when the voltage value is lower than the reference value. Monitor the consumption status of the storage battery. Further, the guided vehicle that has been determined to require charging by the determining means directs the guided vehicle that requires charging to one of the plurality of stations where charging is possible.
It will be R84. Thereby, the storage battery mounted on the transport vehicle is appropriately charged.

(Example) Hereinafter, an example according to the present invention will be described in detail with reference to the drawings.

First, the configuration will be explained with reference to FIGS. 1 and 2.

Logistics'r11! I! The device 3 has management information related to the transportation of the object to be transported, and issues a transportation request to the transportation general controller 5 based on the management information.

The t11 control device 1 includes a local controller for the main line (not shown), a conveyance general controller 5, and a terminal v42.

The transport general controller 5 monitors the current position of each of a plurality of transport vehicles, the working status of each transport vehicle, transport requests from a plurality of stations, etc., which will be explained later, and monitors various transport related items from the logistics management device 3. When receiving the request, various fingers 9 based on the transport request are output to the local controller 31. That is, the conveyance general controller 5
Based on a transport request from the physical distribution management device 3, the controller 1111111111111111111111111111111111111111111111111111114

A local controller for the main line (not shown) is connected to the conveyance general controller 5, and based on a command from the conveyance general controller 5, the main line 10a, which will be described later.
The transport vehicle 16 travels &l11tII is executed.

Next, referring to FIG. 3, a description will be given of the conveyance path 10 through which cargo is conveyed by a plurality of conveyance vehicles and its peripheral devices. Conveyance path 10
A donut-shaped main line 10a provided in the center, and a plurality of branch lines 10b and 10c connected to this main line 10a.
, 10d, and 10e, respectively. Further, the conveyance path 10Lt includes a straight path unit 11 for forming a straight conveyance path, a curved path unit 12 for forming a curved conveyance path, and a curved branch path for branching the curved conveyance path. It is composed of a combination of units 13. Further, a rotary branch unit 15 is provided at the connection portion between the donut-shaped main line 10a and the plurality of branch paths 10b, 10c, 10d, and 100. In addition, a retraction mechanism is secured between such a transport path 10 and a station to be described later, as a space for waiting the transport vehicles 16, and each transport vehicle 16 is able to carry out cargo in this secured space. can be loaded or unloaded. At this time, while the transport vehicle 16 is waiting at the retracting mechanism of each station for loading or unloading cargo, other transport vehicles are allowed to travel on the transport path in front of the station.

Each of the plurality of transport vehicles 16 is equipped with a storage battery, and travels using power from the storage battery. Each of the plurality of transport vehicles 16 is assigned a different identification code, such as a bar code or a code consisting of white and black stripes.

Further, a traffic detector (not shown) for detecting the passage of the guided vehicle 16 at a predetermined location on the conveying path 10, for example, points set at predetermined intervals, and an identification code (not shown) for detecting the identification code of the guided vehicle 16 are provided. Each of the detectors is provided. For detection information from such traffic detectors and identification code detectors, please contact l11911! ! 1.

Further, the system configuration shown in FIG. 3 is configured using a so-called magnetic levitation type conveyance vehicle using a near motor, as described in, for example, Japanese Patent Laid-Open No. 61-102105, which has already been published.

That is, a linear motor 37 is provided on the transport path 10 side, and a reaction plate is provided at a position facing the linear motor 37 on each transport vehicle 16 side. When a current is passed through the coil of the linear motor 37, an induced current flows through the reaction plate and is generated in the iron core of the linear motor 37: A! Since an induced magnetic field that is almost synchronized with the induced magnetic field is also generated on the reaction plate, the N pole and S bridge of these induced magnetic fields pull together to generate a propulsive force, causing the conveyance vehicle 16 to travel along the conveyance path 10. It is something.

Next, each station provided along the conveyance path 10 will be explained.

Rotary branch unit 1 for donut-shaped main line 10a
[11 station 20a and station 21b are provided on the branch line 10b connected via [11].

This control station 20a consists of a station 21a and a travel 1I111tIIl device 23a.

Further, the branch line 10c includes a control station 20b and stations 25b and 25c.

25d and 25o are arranged respectively. Also, l
The control station 20b is a traveling 1III 111 device 23.
b and station 25a. This gA
IIl station 20b is connected to other stations 25b, 250.25d and 25e connected to branch line 10c.
control each of them. Similarly, the branch line 10d includes a control station 20c and stations 27b and 27c.
is provided. The &IJn station 20c is composed of a travel control device 23C and a station 27a. This control station 20c connects stations 27b and 27c connected to the branch line 10d to υ1t11.
d and station 29b are provided. This control station 20d is composed of a travel control device fff23d and a station 29a. This control station 20d is a station 29b connected to the branch line 10e.
control.

Further, a maintenance station 22 is connected to the donut-shaped main track 10a to mainly perform maintenance such as maintenance and inspection of the transport vehicle 16. Charging stations 26a, 26b, 26c, and 26d are located on the transport path between the main track 10a and the station 24, which is mainly used to take goods in and out of a warehouse (not shown).
is connected. Each charging station 26a, 26
b, 26C, 2 (3d has a charging device for charging the storage battery mounted on each transport vehicle 16.

Next, the configuration of each station will be specifically explained with reference to FIG.

A retraction mechanism 81 is connected to the conveyance path 10.

The transport TR 16 advances to the retraction mechanism 81, and the transport vehicle 16
When the carrier is located at the transfer position ffPo, the conveyance vehicle detector 53 detects this and sends a detection signal to the control section 51a. Furthermore, the station is equipped with a reception area 185 for carrying in luggage and a delivery shelf 87 for carrying out luggage. Control group 5 that has been internalized by the station controller 51
When 1a inputs the detection signal from the conveyance vehicle detector 53, it starts the cargo transfer control, and the transfer device 55 and the elevator 8
3 to transfer the cargo transported by the transport vehicle 16 to the receiving shelf 85, and if there is a cargo on the delivery shelf 87, transfer the cargo to the transport vehicle 16.

The station controller 51 has the following 1.11
Based on the transfer control of the 111 unit 51a, it is determined whether loading or unloading of the cargo onto the transport vehicle 16 is completed, and the information regarding the determined transfer is relayed through the local controller 31 to the transport general controller 5. Transmit to.

Next, referring again to FIGS. 1 and 2, 1ilJ control device 1
The connection configuration between the station and each station will be explained.

The control device 1 has a plurality of 1bllllll stations 20a.
.

20b, 20c and 20d. Also,
υ111Il station 2 installed on branch line 10b
0a is connected to station 21b.

Furthermore, a control station 20b provided on the branch line 10c
are stations 25b, 25c, 25d and 25e
are connected to each of them. Further, the control station 20c provided on the branch line 10d is the station 27b.
and 27c. Similarly, the control station 20d provided on the branch line 10e is the station 29b.
It is connected to the.

Next, a plurality of l#III stations 20a, 20b
.

200 and 20d, the I provided on the branch line 10c
This will be explained by taking the tlJIIl stage engine 20b as an example.

As shown in Figures 1 and 2, the branch line 10c has m Kerareta! II 1IIl Station 20 b Ha running Ti system tIlvtff 123b and station 25a
It is made up of.

First, the travel control device ffff23b will be explained. The local controller 31 is connected to the transport general controller 5 of the control device 1, and is connected to the transport general controller 5.
Transport vehicle 16 located on branch line 10c based on control command
Execute monitoring and control of 1J. That is, the 0-cal controller 31 is connected to a linear motor controller 33, and the linear motor controller 33 is connected to a linear motor 37 via an inverter 35. Therefore, the linear motor controller 33 is driven via the local controller 31 based on the control #d command from the conveyance general controller 5, and the above-mentioned linear motor 37 is driven II and II Ill via the inverter 35, thereby controlling the branch line 10c. Conveyance l that exists in! Controls the running of 16. In addition, the linear motor controller 33 also has a transport 1'
A traffic detector 39 for detecting passage and passing speed of the transport vehicle 16 and an identification code detector 41 for detecting the identification code of the transport vehicle 16 are connected to each other, and are installed at a predetermined point on the branch line 10C. Detection information from the traffic detector 39 and the identification code detector 41 is transmitted to the linear motor controller 33. The linear motor controller 33 transmits each piece of information from the traffic detector 39 and the identification code detector 41 to the transport general controller 5 via the local controller 31 . Driving system all ¥
A charging device 61 and an interface circuit 62 are connected to the local controller 31 that constitutes the tW 123b. This charging device 61 charges the storage battery mounted on the transport 1116.

The interface circuit 62 includes a receiver @n for receiving information wirelessly transmitted from the carrier vehicle 16.

The information received by this receiving device is sent to the local controller 3.
1 is relayed to the transport general controller 5.

The internal configuration of such a traveling υIll equipment ff123b is as follows:
The same applies to the other travel control devices 23a, 23c, and 23d.

Next, among the multiple stations, VI control station 20
The station 25a incorporated in FIG.

As shown in FIG. 1, the station controller 51 is the local controller 31. Transport vehicle detector 53, transfer device 55, and terminal bag f! 57 respectively.

The station controller 51 executes the transfer & IJ III within the area of the station 25a based on a control command from the transport general controller 5 obtained through the local controller 31. That is, when it is determined that the transport vehicle 16 has arrived at the station 25a based on the detection information of the transport vehicle detector 536S, which outputs detection information when the transport vehicle 16 is detected, the transfer Hfa 55
to command the loading and unloading of cargo from the transport vehicle.

In addition, by operating the terminal device 57, information requesting transport of the cargo is sent to the station controller 51. The station controller 51 is the terminal device 5
When transport request information from 7 is input, this transport request information is relayed through the local controller 31 and sent to the control device 1.
Transmit to.

A charging device 63 and an interface circuit 64 are connected to the station controller 51. This charging device 6
3 charges the storage battery mounted on the transport 116.

The interface circuit 64 includes a receiving device for receiving information wirelessly transmitted from the transport vehicle 16.

The information received by this receiving device is 0-Cal controller 3
1 is relayed to the transport general controller 5.

The internal configuration of the station 25a explained above is similar to that of the other stations 21a, 21b, 25b, 25C, 2.
5d, 258.27a, 27b, 27c.

The same applies to 29a and 29b.

Next, referring to FIGS. 5 and 6, the voltage value of the storage mFv1 provided for each transport vehicle and the predetermined J! Determination means and its peripheral devices that compare the voltage with the reference value and determine that charging is required when the voltage value is less than the reference value will be described.

As shown in FIG. 5, 'rtl!' is used to output a predetermined voltage yb to the transport vehicle 16. It is equipped with Ike91.

The depletion state of the storage battery 91 is monitored by a voltage drop detection circuit 93. The interface circuit 95 is equipped with a wireless transmitting means, and when the voltage drop detection circuit 93 determines that charging is required due to a drop in the voltage of the storage battery 91, charging is performed! ! The interface circuit 9
Send via 5.

This determination that charging is required is performed regardless of whether the vehicle is running or on standby. Station or 1, II @
The O station has an interface circuit equipped with wireless reception means, and the information that charging is required transmitted from the transport vehicle 16 is received at the station or the &1IIII station via the interface circuit 62 or 64.

Next, the internal configuration of the voltage drop detection circuit 93 will be explained with reference to FIG.

The voltage vb from the storage battery 91 is applied to the inverting input terminal of the operational amplifier circuit OP. A variable resistor VR is connected between a predetermined voltage VL and ground, and this variable resistor VR
The divided voltage divided by is applied as a reference voltage VS to the non-inverting input terminal of the reluctant amplifier circuit OP. Further, the output terminal of the amplifier circuit OP is feedback-connected to the non-inverting input terminal via the resistor R2.

Here, the relationship between the voltage vb of the storage battery and the reference voltage VS is expressed as
This will be explained with reference to the figures.

As shown in FIG. 7, the conveyor 116 is running while receiving power from a storage battery 91, and as the storage battery 91 is consumed, I! The value of battery voltage vb gradually decreases. When the storage battery 91 is exhausted and the value of the voltage vb of this storage battery 91 becomes less than the value of the reference voltage Vs, the voltage vb of the storage battery rapidly decreases due to subsequent consumption of the storage battery. Such a voltage Vs is applied as a reference voltage to the non-inverting input terminal of the operational amplifier circuit OP. Therefore, when the value of the voltage vb of the vt battery exceeds the value of the reference voltage VS, the operational amplifier circuit OP outputs an L level signal, and
When the value of the storage battery voltage vb is less than the value of the reference voltage ■S, H
Outputs a level signal.

The output terminals of the operational amplifier circuit OP are diodes D1 and D2.
is connected to the base of transistor Q via. A predetermined voltage is applied to the anode side of each of the diode D1 and the diode D2 via a resistor R1.

Therefore, when the operational amplifier circuit OP outputs an L level signal, 11fl flows through the resistor Rs and the diode D1, pulling the pace of the transistor Q to the L level, thereby turning off the transistor Q.

Also, when the operational amplifier circuit oP outputs an H level signal, the ? ft current flows, turning on transistor Q.

In this way, the voltage drop detection circuit 93 outputs information according to the operating state of the transistor Q. That is, when the transistor Q/fi becomes conductive, information indicating that the storage battery 91 needs to be charged is output.

Further, the conveyance general controller 5 includes a selection means for selecting a - station from among a plurality of stations in consideration of the situation at J3 at the time when the aforementioned determination means determines that charging is required, and a selection means for selecting a - station from among a plurality of stations. The vehicle is equipped with a guiding means for guiding a conveyance vehicle that requires charging toward the station where the battery is charged.

First, the selection means will be explained. When information indicating that charging is required from a specific transport vehicle 16 is received, the charging station 26a at the time of receiving the information is selected.

It is determined whether there is an empty charging station among 26b, 26c, and 26d that can be charged. If there is an empty charging station that can be charged, this empty charging station is selected as the first priority. If there is no vacant charging station, it is determined whether another transport vehicle is being charged at this charging station or whether it is simply on standby.

If there is only a waiting transport vehicle within the charging station, such a charging station is selected as the second priority. In addition, charging station > 26a,
If a charging vehicle exists at stations 26b, 26c, and 26d, an empty station is selected as the third priority.

Next, the guiding means will be explained. First, when an empty charging station is selected as the first priority, a vehicle being transported that requires charging is guided to this empty charging station that can be charged. Next, the second priority is simply ¥i
When the charging station where the in-flight carrier is present is selected, the waiting carrier is moved to another station, and the carrier that requires charging is guided to the empty charging station. If an empty station, which is the third priority, is selected, the conveyance vehicle that requires charging is guided toward this station. The storage battery mounted on the transport vehicle is charged at the charging station or station LIJed by the guiding means in this manner.

In addition, the transport general controller 5 counts the number of times the storage battery has been charged for each transport vehicle, and determines when to replace the storage battery based on the counted number of times the storage battery has been charged.

Next, the operation will be explained with reference to FIG.

r? mounted on any of the transport vehicles 16? If the information that the battery 91 is exhausted and needs to be charged is transmitted, the information that the battery 91 needs to be charged is transmitted from the transport vehicle 16 to the transport general controller 5 of the control device 1 via the station or the ajj fil station controller. Sent out. In step 101, it is determined whether the conveyance vehicle that transmitted the information indicating that charging is required exists within the charging station or not. If the corresponding conveyance vehicle is present in the charging station, the process advances from step 101 to step 103, where the content of the conveyance request for this conveyance vehicle is set to be charging, and a command to perform charging is issued. If the conveyance vehicle that transmitted the information that charging is required is present in the station, the process advances from step 101 to step 102.

In step 102, it is determined whether the guided vehicle has been sent for charging, and if it is determined that the guided vehicle has not been sent for charging, the process proceeds to step 104.

In step 104, it is determined whether or not there is an empty charging station, and if there is an empty charging station, step 104 to step 1
Proceed to 07. In step 107, the conveyance vehicle requiring charging is started toward an empty charging station.

If there is no vacant charging station in step 104, the process proceeds to step 105, where it is determined whether there is a waiting transport vehicle within the charging station. 1 in the charging station in step 105.
If there is a waiting transport vehicle in step 11, step 1
The process advances to 0.6 and a start command is output to this merely waiting conveyance vehicle to move it to another station. In step 107, the guided vehicle that is on standby in step 106 is simply moved to another station, and the guided vehicle that requires charging is guided to the empty charging station.

Next, in step 105, if other transport vehicles are being charged in all charging stationcons, step 1
The process proceeds from step 05 to step 108.

In step 108, it is determined whether there is a station that does not correspond to the transport request, that is, a station controller that is not the transport destination or transport source of the transported object.

If there is no station that does not correspond to the transport request in step 108, the process advances to step 111. Furthermore, if there is a station that does not correspond to the transport request in step 108, the process advances to step 109, and loading and unloading of transported items at this station is prohibited.

Subsequently, in step 110, a conveyance vehicle that requires charging is started toward this station.

As described above, upon receiving information indicating that charging is required from a specific carrier, the selection means selects a station for charging the storage battery mounted on the carrier. That is, an empty charging station where no other carrier exists is selected as the first priority. Next, as a second priority, a charging station where another transport vehicle exists but is not performing a charging operation is selected. As the third priority, another station where no transport vehicle is present is selected.

In this manner, the guiding means appropriately guides the conveyance vehicle to be charged toward the station a selected by the selecting means.

[Effects of the Invention] As described above, according to the present invention, a determination means is provided for each transport vehicle to detect a drop in the voltage of the storage battery and determine that charging is required, and the control means includes a determination means Selects a - station from among multiple stations, taking into account the situation at the time when it is determined that charging is required.
Since the transport vehicle that requires charging is guided to the selected station, the transport vehicle and the station can be operated efficiently, and storage battery maintenance can be properly managed.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the main parts of an embodiment of the present invention, FIG. 2 is a block diagram showing the overall configuration of a conveyance controller to which the present invention is applied, and FIG. Transport to which the embodiments of Figures and Figure 2 are applied 1iIII till @1iff
FIG. 4 is an explanatory diagram of the station shown in ff11, FIG. 2, and FIG. 3. FIG. 7 is an explanatory diagram showing the relationship between the voltage vb of the storage battery in FIG. 6 and the reference voltage ■S, and FIG. 4 is a flowchart showing the control flow of FIGS. 2 and 3; FIG. 1...Control device 5...Transportation general controller 16...Transportation vehicle 26a, 26b, 26c, 26d...Charging station 61.63...Charging device 93...Voltage drop detection circuit soujin valve Genshi Yasuo Miyoshi 1st figure 5th figure 6th time ■ 纂7 figure

Claims (1)

[Claims of Claims] In a transport control device that transports objects by controlling the running of a plurality of transport vehicles each traveling by receiving power supply from an on-board storage battery, the storage battery is charged. a plurality of stations having charging means for the storage battery; a determination means for comparing the voltage value of the storage battery with a predetermined reference value and determining that charging is required when the voltage value is lower than the reference value; and this determination means 1. A transport control device comprising: guiding means for guiding a transport vehicle that has been determined to require charging to one of the plurality of stations where charging is possible.