JPH01296319A - Load carrying facility - Google Patents

Abstract

PURPOSE:To cause a self-running truck itself to safely make rear-end collision preventing control and, at the same time, to make the control of a ground controller easier by providing a curve detecting means, photoelectric switch, photosensor receiver, and photosensor transmitter and controlling the running speed of the self-running truck. CONSTITUTION:In the linear section of the route of self-running trucks where the curve detector 13 does not operate, the self-running trucks run at high speeds when both of the photosensor receiver 19 and photoelectric switch 18 do not operate due to the distance between the running trucks being long. When succeeding truck approaches the preceding truck to such an extent that the succeeding truck reaches the projecting section of the light projecting area of the photosensor transmitter 24 of the preceding truck and the receiver 19 operates, the succeeding truck 2 decelerates to the 1st low speed. When the truck 2 further approaches the preceding truck and the switch 18 operates, the truck 2 stops. In the curved section of the route where the detector 13 operates, the succeeding truck 2 decelerates and runs at the 2nd low speed until it approaches the preceding truck and, when the truck 2 reaches the fun section of the light projecting area of the transmitter 24 of the preceding truck and the receiver 19 of the truck 2 operates, the truck 2 stops.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to load conveyance equipment equipped with a self-propelled cart that is guided by a traveling rail.

BACKGROUND OF THE INVENTION The control of self-propelled carts in the above-mentioned load transport equipment is, for example, as seen in Japanese Patent Application No. 63-19370, in which the self-propelled carts transmit control signals from a ground controller via feeder lines installed on running rails. Feedback signals such as the position address from the self-propelled cart are received via the antenna and sent to the ground controller via a feeder line. In addition, the ground controller divides the traveling rail into zones, and controls the next self-propelled bogie to stop until the previous self-propelled bogie leaves the previous zone so that one self-propelled bogie exists in one zone. This prevents rear-end collisions with self-propelled trolleys. In addition, as seen in Utility Model Application No. 62-2190, the self-propelled trolley itself is equipped with three optical sensors on the front of the self-propelled trolley, and these optical sensors are switched according to straight lines or curves, and the self-propelled trolley in front of the self-propelled trolley is When it detects this, it automatically stops to prevent rear-end collisions.

Problems to be Solved by the Invention However, in the conventional structure for preventing rear-end collisions, one
Since there are several self-propelled bogies, the control of the ground controller becomes complicated, and the distance between the self-propelled bogies becomes long, which increases the cycle time for the self-propelled bogies to orbit the traveling rail. There was a problem with poor work efficiency. In addition, if we try to prevent rear-end collisions using only optical sensors, depending on the speed of the self-propelled trolley, a rear-end collision cannot be avoided, so the traveling speed of the self-propelled trolley must be reduced, which lengthens the recycling time and impairs work efficiency. Was.

The present invention solves the above problems, and aims to provide cargo transport equipment that can safely perform rear-end collision prevention control using a self-propelled trolley, simplify control of a ground controller, and shorten cycle time. This is the purpose.

Means for Solving the Problems In order to solve the above problems, the present invention includes a photoelectric switch that detects the presence or absence of an object in a specific area in front of the self-propelled trolley, and a light sensor receiver that detects light from the front. an optical sensor transmitter is provided on the rear surface of the self-propelled dolly, the center part of which projects rearward in a fan shape, and emits light to a wider area than the specific area of the photoelectric switch; 7J-p-section detection means for detecting a curved section is provided in the self-propelled trolley, and when the curve detection means does not operate and the optical sensor receiver and photoelectric switch do not operate, the vehicle runs at high speed. , when only the optical sensor receiver operates, the vehicle travels at the first low speed, and when the photoelectric switch operates, the vehicle is controlled to stop, and the curve detection means operates;
Further, the self-propelled cart is provided with a control means for controlling the self-propelled cart to run at a second low speed when the optical sensor receiver does not operate, and to stop when the optical sensor receiver operates.

Effect With the above configuration, in the straight mats on the route where the curve detection means does not operate, when the distance between the self-propelled bogies is too large and neither the optical sensor receiver nor the photoelectric switch operates, the self-propelled bogies run at high speed, and the self-propelled bogies When the light sensor receiver is activated by approaching the protruding part of the light emitting area of the light sensor transmitter until the distance between them touches the protrusion of the light emitting area of the light sensor transmitter, the self-propelled trolley decelerates and travels at the first low speed, and the self-propelled trolley approaches further. When the charging switch is activated, the self-propelled trolley will stop. In addition, in the curve part of the route where the curve detection means operates, the self-propelled cart first decelerates and travels at a second low speed, and the distance between the self-propelled carts NI touches a local part of the light emitting area of the optical sensor transmitter. The self-propelled trolley will stop when it approaches this point and the optical sensor receiver is activated.

Example Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 1 is a diagram illustrating a control block for a self-propelled cart of Komei's cargo conveyance equipment. In FIG. 1, reference numeral 1 denotes a ground controller consisting of a microcomputer, which is a ground control means for collectively controlling a plurality of self-propelled bogies 2, and is scattered along the running rail on which the self-propelled bogies 2 run. , a load transfer signal from a load transfer station and a host computer (both not shown), and a feedback signal for each self-propelled cart 2 from a ground modem 3 (described later), such as a current position address signal. It inputs and judges signals such as the presence or absence of cargo, and controls the destination of each self-propelled trolley 2 and whether or not to transfer or not. The ground controller 1 transmits signals with the self-propelled trolley 2.
As shown in FIG. 2, a ground modem 3 corresponding to a transmitter/receiver and a feeder line 5 as an antenna are laid along the entire length of the running rail 4 along the running direction of the self-propelled trolley 2.
is going through.

As shown in FIGS. 1 and 2, the self-propelled trolley 2 is provided with two antennas 6 and 7 in the traveling direction of the self-propelled trolley 2, approaching and facing the feeder [15]. The signal transmission between terrestrial controllers 0 and 1 is distributed between these two antennas 6 and 7! 19, and the main body modem 10, which is a transmitter/receiver. The main body controller 8 also includes a transfer section detector 11, a second sensor, and a photoelectric switch that detects the presence or absence of a load and the fixed position of the load.
As shown in the figure and FIG. 3, it consists of a magnetic sensor that can detect a curved part using a magnetic tape 12 laid on the curved part of the running rail 4, and can also detect whether it is a left curve or a right curve depending on the polarity of the magnetic tape 12. A curve detector 13, a bumper switch 14 that detects a rear-end collision, an encoder 17 that detects the travel distance using the rotational speed of the travel motor 16 of the drive wheel body 15 shown in FIG. 2, and detects the preceding self-propelled cart. A photoelectric switch 18 and an optical sensor receiver 19 are connected to each other, and signals from each sensor and control signals from the ground controller 1 inputted from the main body modem 10 or a control box (not shown) connected to the operation panel 20 are connected. ), the drive motor 16 is
Alternatively, switch the transfer motor 23 using the changeover switch 22.
is controlled to control the self-propulsion of the self-propelled trolley 2 and the transfer of loads from the self-propelled trolley 2. Further, the main body controller 8 uses an optical sensor transmitter 24, which will be described later, to project light to detect the approach of a fast-moving self-propelled cart.

In FIG. 2, 25 is a rail for power supply lines, 26 is a current collector that collects current from the rail 25, and 27 is a guide roller for preventing lateral vibration.

The photoelectric switch 18, the optical sensor transmitter 19, and the optical sensor receiver 24 will be described in detail.

As shown in FIG. 2, a photoelectric switch 18 mounted on the front surface of the self-propelled trolley 2 detects the presence or absence of an object in the fishing force detection area A shown in the shaded area in FIG. 4, and operates when an object is present. do.

As shown in FIG. 4, the optical sensor transmitter 24 attached to the rear surface of the self-propelled trolley 2 emits light to form a fan-shaped light projection area B with a protruding rear central portion. The optical path w1 and the light projection angle are adjustable, and as shown in FIG. 5, three light emitting diodes 28 form a local part of the light projection area 8 and one light emitting diode 29 for protruding the central part.
It consists of The maximum detection distance of detection area A is Lz
, if the projection distance of the central part of the projection area B is Lz, and the projection distance of the local part is L3, then (Lz > 13 > Ll
), the light projection area B is made wider than the detection area. However, depending on the speed and the size of the trolley (size of the curve), (
13>12>Lt). Traveling trolley 2
The optical sensor receiver 19 mounted on the front surface of the optical sensor receiver 19 is composed of a photodiode, and operates by detecting light when it enters the light projection area B of the optical sensor transmitter 24. Since the light projection area B is formed in a fan shape with a protruding center, as shown in FIG. When approaching, the optical sensor receiver 19 operates, and in the h-shaped portion of the traveling rail 4, when the self-propelled trolley 2 approaches a local part of the light projection area B, that is, the light projection distance L3 (13<12), the optical sensor receiver 19 operates. 19 works.

Next, the traveling control of the main body controller 8 will be explained according to the flowchart of FIG. 6.

First, the address signal of the position transmitted from the ground controller 1 is compared with the address of the current position to determine whether a travel command has been transmitted (Step 31), and if there is no travel command, the command is stopped (Step 32). If there is a travel command, it is determined whether a curve is detected by the curve detector 13 (step 33). If a curve is detected, it is determined whether the optical sensor receiver 19 is operating (step 34), and if the optical sensor receiver 19 is operating, it is determined that the self-propelled carts 2 have approached each other. At step 32, the vehicle is stopped, and if it is not operating, the vehicle is run at a second lower speed of the curve portion speed, for example, 40 i/min (step 35). If the curve is not detected in step 33, that is, if it is a straight section, it is determined whether the charging switch 18 is operating (step 36), and if it is operating, it is stopped in step 32, and it is determined that the charging switch 18 is not operating. If not, it is determined whether the optical sensor receiver 19 is operating (step 37). If the optical sensor receiver 19 is not operating, the vehicle is run at a high speed, for example, 100 Il/min (step 38), and if it is operating, the high speed is cut off and the vehicle is run at a first low speed, for example, 40 I/llin. (Step 39).

By performing running control in this manner, the self-propelled trolley 2 slows down in a straight section by detecting the protruding part of the light projection area B, which has a longer light projection area than the curved part, with the optical sensor receiver 19, and The speed is roughly stopped by the operation of the photoelectric switch 18, and the speed is reduced by the curve detection by the curve detector 13 at the curve part, and the light sensor receiver 19 detects the m part of the light projection area B where the light projection distance is shorter than that of the straight part. It stopped when it was detected. Therefore, unlike the conventional method, by setting the running speed in the direct aS to two stages, the speed when the self-propelled platform 112fIi is not approaching can be made high, and the self-propelled platform 112 can be moved regardless of the zone. Since the distance between cabinets can be shortened, cycle time can be shortened. Furthermore, since zone control is not performed, the control of ground controllers 0 and 1 can be simplified. Furthermore, by adjusting the light projection distance 12.13 of the optical sensor transmitter 24, it is possible to adjust the approach distance at which the self-propelled vehicle 2 decelerates or stops, thereby preventing rear-end collisions corresponding to the required traveling speed of the self-propelled vehicle 2. It can be measured.

Effects of the Invention As described above, according to the present invention, in the straight part of the route where the curve detection means does not operate, the speed is increased when the distance between the self-propelled platform skewers is large, and when the optical sensor receiver is activated, the speed is increased. 1
The cycle time can be safely shortened by setting the speed to a second low speed at curved sections, and unlike the conventional example,
Regardless of the zone, the distance between self-propelled platforms li can be shortened to a specific area of the charging switch, so cycle time can be shortened and the efficiency of the equipment can be increased. Further, unlike the conventional example, since zone control is not performed, control of the ground control means can be simplified.

[Brief explanation of the drawing]

Fig. 1 is a control block diagram of a self-propelled cart of load transport equipment showing an embodiment of the present invention, Fig. 2 is a cross-sectional view of the rail portion of the load transport equipment and a front view of the self-propelled cart, and Fig. 3 is the same. FIG. 4 is a schematic diagram illustrating the operation of the photoelectric switch, optical sensor transmitter, and receiver of the load conveyance equipment, and FIG. 5 is a configuration of the optical sensor transmitter shown in FIG. 4. FIG. 6 is a flowchart of travel control of the main body controller of the cargo conveyance equipment. 2... Self-propelled trolley, 4... Running rail (route), 8...
... Main body controller (control means), 13... Curve detector, 15... Drive transport body, 18... Photoelectric switch, 19... Optical sensor receiver, 24... Optical sensor transmitter. Agent Morimoto Tsuru Hiroshi Figure 2 4 A piece of running J completed, 1 piece of Kudzu and 1 piece of bronze, Figure 3 71

Claims (1)

[Claims] 1. A photoelectric switch that detects the presence or absence of an object in a specific area in front of the self-propelled trolley and an optical sensor receiver that detects light from the front are installed on the front of the self-propelled trolley, and a fan-shaped sensor receiver is installed at the rear of the self-propelled trolley in the center. an optical sensor transmitter having a protruding portion and projecting light to a wider area than the specific area of the photoelectric switch; a curved portion detection means for detecting a curved portion of the route; If the curve detection means does not operate in the traveling vehicle and neither the optical sensor receiver nor the photoelectric switch operates, the vehicle travels at a high speed, and when only the optical sensor receiver operates, the vehicle travels at a first low speed. If the vehicle is traveling and the photoelectric switch is activated, control is performed to stop the vehicle, and if the curve detection means is activated and the optical sensor receiver is not activated, the vehicle is driven at a second low speed, and the optical sensor receiver is activated. Cargo transport equipment equipped with a self-propelled trolley control means that controls the self-propelled trolley to stop if it starts operating.