JPH01315202A - Conveyance controller - Google Patents

Abstract

PURPOSE:To efficiently utilize a conveying vehicle and a station by monitoring the state of a storage battery of each vehicle, and guiding a vehicle required to be charged to one of a plurality of stations which can charge the battery. CONSTITUTION:A conveyance generalizing controller 5 monitors the present positions of a plurality of conveying vehicles 16, working states of the vehicles 16 and conveyance requests or the like from a plurality of stations. Upon reception of various requests concerning the conveyance of a luggage from a distribution managing device 3, various commands based on the requests are output to a local controller 31. The controller 5 monitors the consumption state of a storage battery for each vehicle, and guides the vehicle 16 required to be charged to one station on the basis of monitoring information of the monitoring means. Thus, the vehicles and the stations can be efficiently operated, and a management regarding the maintenance of the battery can be suitably conducted.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to a transport control device that transports objects by a plurality of transport vehicles that run while receiving power supply from a storage battery, and particularly relates to The present invention relates to a transport control device that monitors the state of consumption of storage batteries mounted on each transport vehicle and charges them appropriately.

(Conventional technology) In recent years, the technological development of so-called factory automation has been remarkable, and it is now possible to automatically transport objects such as industrial products or raw materials between multiple stations on the premises of a factory etc. using a transport device. I have to.

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 /Ai is installed between these multiple stations, and controls the transport path for the transport vehicles to travel, the travel control of each transport vehicle, and the assignment control of transport vehicles in response to transport requests from each station. It is equipped with a control device. Therefore, when a transport request is sent from each station, the control device monitors it and sequentially allocates waiting transport vehicles to automatically transport cargo between multiple stations. I have to.

In addition, in such conventional equipment, a special equipment section is attached to the transport path for lifting the waiting transport vehicle to the shore, and the transport vehicle that has completed the transport work is sent to the special equipment section, and the special equipment I try to wait at the end of the section. Therefore, when a transport request is made from each station, the transport vehicles waiting at the head of this special equipment 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 is equipped with a storage battery for driving, and runs by receiving power supply from this storage battery.
The storage battery is charged while the vehicle is on standby at the aforementioned station or at a charging station attached to the transport path.

(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, the storage battery must be charged every time the transport vehicle waits at a station. During this period, the station or charging station is occupied by the vehicle.

Therefore, it has been difficult to effectively utilize transport vehicles and stations to meet transport requests.

In addition, with conventional transport control devices, maintenance management such as replacement of each storage battery mounted on multiple transport vehicles has no choice but to be performed based on the usage time after being installed on the transport vehicle, and sufficient management is required. I couldn't.

The present invention has been made in view of the above, and by guiding only transport vehicles equipped with storage batteries whose storage batteries are exhausted and need to be charged to a station or charging station for charging, transport vehicles and stations can be efficiently operated. It is an object of the present invention to provide a transport control device that can be utilized to ensure the management of maintenance such as replacement timing of each storage battery mounted on a transport vehicle.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention controls the running of a plurality of guided vehicles for each guided vehicle, each traveling by receiving power supply from an on-board storage battery. A transport control device that transports objects to be transported includes a plurality of stations having charging means for charging the storage battery, a monitoring means for monitoring the state of the storage battery for each transport vehicle, and monitoring information of the monitoring means. The present invention includes guiding means for guiding a conveyance vehicle that requires charging based on the above to one of the plurality of stations where charging is possible.

(effect) In the present invention, objects to be transported are transported using a plurality of transport vehicles.

Each of the plurality of transport vehicles is equipped with a storage battery, and this s'i
ii It runs on power supplied from the pond. In addition, a monitoring means is provided to monitor the state of the storage battery for each transport vehicle based on the distance traveled by each transport vehicle, the number of times of charging, etc., and the guidance means selects the transport vehicle that needs charging based on the monitoring information of this monitoring means. The vehicle is guided to one of the stations where charging is possible. 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.

The physical distribution management device 3 possesses management information related to the transportation of objects to be transported, and requests transportation to the transportation general controller 5 based on the management information.

Control equipment r! Reference numeral 11 includes a local controller for the main line (not shown), a conveyance general controller 5, and a terminal device.

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, it outputs various commands based on the transport request to the local controller 31. That is, the conveyance general controller 5
controls a plurality of control stations, which will be explained below, based on a transport request from the physical distribution management device 3.

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 travel control of the transport 1116 is executed in

Next, referring to FIG. 3, a description will be given of the conveyance path 10 along which cargo is conveyed by a plurality of conveyance vehicles. The conveyance path 10 includes a donut-shaped main line 10a provided in the center, and a plurality of branch lines 10b, 10c, 10d, connected to this main line 10a.
1Qe. In addition, conveyance path 1Q
is a straight path unit 11 for forming a straight conveyance path.
and a curved path unit 1 for forming a curved conveyance path.
2 and a curved branch path unit 13 for branching a curved conveyance path. In addition, the above-mentioned donut-shaped main track 10a and a plurality of branch roads 10b are provided.
, 10c, 10d and 10e are provided with a rotary branching unit 15.

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. Also, at this time, transport vehicle 1
6 is waiting at the retraction 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.

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 conveyance vehicle 16 advances to the retraction mechanism 8゛1, and the conveyance vehicle 16
When the carrier is located at the transfer position Po, the carrier detector 53 detects this and sends a detection signal to the control unit 51a. Also,
The station has a receiving shelf 85 for carrying in luggage,
It is equipped with a delivery shelf 87 for carrying out luggage. When the station controller 51 built in the control unit 51a receives the detection signal from the transport vehicle detector 53, it starts controlling the transfer of the cargo, drives the transfer device 55 and the elevator 83, and transfers the cargo by the transport vehicle 16. The baggage is transferred to the receiving shelf 85, and if there is a baggage on the delivery shelf 87, the baggage is transferred to the transport vehicle 16.

The station controller 51 includes such a control unit 5.
Based on the transfer control of 1a, it is determined whether loading or unloading of the cargo onto the transport vehicle 16 has been completed, and the information regarding the determined transfer is transmitted to the local controller 31.
is relayed and transmitted to the conveyance general controller 5.

Each of the plurality of transport vehicles 16 is set with a mutually 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. Detection information from such traffic detectors and identification code detectors is transmitted to the control device 1.

In addition, the system configuration shown in FIG. 3 is configured using a so-called magnetically levitated conveyance vehicle using a near motor, as described in, for example, the already published Japanese Patent Laid-Open Publication No. 61-102105. .

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 applied to the coil of the linear motor 37, an induced current flows through the reaction plate, and an induced magnetic field that is almost synchronized with the induced magnetic field generated in the iron core of the linear motor 37 is also generated on the reaction plate. pole and S
The poles pull each other to generate propulsive force, and the transport vehicle 16
is made to run along the conveyance path 10.

Each of the scales of the plurality of transport vehicles 16 is equipped with a storage battery, and is driven by power from the storage battery.

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

A control station 20a and a station 21b are provided on a branch line 10b connected to the donut-shaped main line 10a via a rotary branch unit 15.

This control station 20a is composed of a station 21a and a travel control device fef23a. Further, the branch line 10c includes a control station 20b and a station 2.
5b, 25c, 25d and 25e are arranged respectively.

Further, the control station 20b is composed of a travel control device 23b and a station 25a.

This control station 20b is connected to other stations 25b, 25c, 25d and 2 connected to the branch line 10c.
5e. Similarly, the branch line 10d
control station 20c and stations 27b, 2.
7G is installed. This control station 200 is composed of a travel control device 23c and a station 27a. This control station 20c controls stations 27b, 27c connected to the branch line 10d. Next, the branch line 10e is provided with a control station 20d and a station 29b. This control station 2
0d is composed of a travel control device 23d and a station 29a. This control station 20d is connected to the branch line 1
Controls station 29b connected to 0e.

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, and 26d are N units mounted on each transport vehicle 16.
It has a charging device for charging the battery.

Next, the connection configuration between the control device 1 and each station will be explained with reference to FIGS. 1 and 2.

The control device 1 includes a plurality of control stations 20a.

20b, 20C and 20d. Further, a control station 20a provided on the branch line 10b is connected to a 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 a station 27.
b and 27c. Similarly, the control station 20d provided on the branch line 10e is the station 29
connected to b.

Next, a plurality of control stations 20a, 20b.

Of the control stations 20c and 20d, the control station 20b provided on the branch line 10c will be explained as an example.

As shown in FIGS. 1 and 2, a control station 20b provided on the branch line 10c is a travel control device g! 23b and a station 25a.

First, the traveling control device 23b will be explained. The local controller 31 is connected to the transport general controller 5 of the control device 1, and executes monitoring control of the transport vehicle 16 existing on the branch line 10c based on control commands from the transport general controller 5. That is, the local controller 31 is connected to the 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 command from the conveyance general controller 5, and by controlling the linear motor 37 described above via the inverter 35, the conveyance vehicle existing on the branch line 10c is driven. Controls the running of 16. Further, a traffic detector 39 for detecting passage and passing speed of the guided vehicle 16 and an identification code detector 41 for detecting the identification code of the guided vehicle 16 are connected to the linear motor controller 33, respectively. Detection information from a traffic detector 39 and an identification code detector 41 installed at a predetermined point on the branch line 10c 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 . A charging device 61 is connected to the local controller 31 that constitutes the travel control device 23b. This charging device 61 charges the storage battery mounted on the transport vehicle 16.

The internal configuration of the cruise control device 23b is similar to the other cruise control devices 23a, 23c, and 23d.

Next, among the plurality of stations, the control station 20b
The station 25a incorporated in the station 25a will be explained.

As shown in FIG. 1, the station controller 51 is the local controller 31. It is connected to each of the transport vehicle detector 53, transfer device 55, and terminal device 57. The station controller 51 is the local controller 3
The transfer control within the area of the station 25a is executed based on the control command from the transfer general controller 5 obtained by relaying the transfer control unit 1. That is, when it is determined that the guided vehicle has arrived at the station 25a based on the detection information from the guided vehicle detector 53 which outputs detection information when the guided vehicle is detected, the transfer device 55 is driven to remove the transported vehicle from the guided vehicle. order the loading and unloading of cargo.

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 is connected to the station controller 51. This charging device 63 charges the storage battery mounted on the transport vehicle 16.

The internal configuration of the station 25a described above is similar to that of the other (7)
) Stations 21a, 2lb, 25b,
25C, 25d, 25e, 27a, 27b, 27c.

29a and 29b1. : The same is true for setting.

Further, the conveyance general controller 5 has built-in monitoring means for monitoring the consumption state of the storage battery during each conveyance, and guiding means for guiding the conveyance vehicle that requires charging to the station - based on the monitoring information of this monitoring means. ing.

To explain the monitoring means, for each guided vehicle, the cumulative value of the cumulative running time and the cumulative value of stopping time such as waiting is multiplied by a predetermined coefficient, and the cumulative value of both is multiplied by this coefficient. to add. This added value is compared with a preset specified value, and if the added value exceeds the specified value, it is determined that the storage battery mounted on the corresponding transport vehicle requires charging.

Next, the guiding means will be described. It sends out a command to exclude a transport vehicle whose storage battery has been determined to require charging from the targets of transport request allocation. If the corresponding transport vehicle has already been assigned to a transport request, the transport vehicle is guided to the - station after the transport processing of the transported object related to this transport request is completed. During this guidance, it is first determined whether or not there is an empty charging station that can be charged among the charging stations 26a, 2'6b, 26c, and 26d, and it is determined whether there is an empty charging station that can be charged. If so, the carrier is guided to the charging station. Also an empty charging stage.

If there is no vehicle, it is determined whether another transport vehicle is being charged at this charging station or is simply on standby. If there is a waiting vehicle at the charging station, the waiting vehicle is moved to another station, and the vehicle that requires charging is guided to the empty charging station. In addition, all charging stations 26a, 26b, 26c,
If there is a vehicle being charged at 26d, an empty station is searched and the vehicle that requires charging is guided to the station. The storage battery mounted on the transport vehicle is charged at the charging station or stations guided 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 value of the number of times the storage battery has been charged.

Next, the operation of the embodiment according to the present invention will be explained with reference to FIG.

In step 10'1, the search index i of the transport vehicle is set to 0.
Clear to. Search index i (
0, 1, 2, -MAX-1) are stored in a storage unit (not shown) built into the GE control device 1, and each search index i (0, 1, 2°...MAX-1)
contains the number (identification code) of the transport vehicle, the number of the object to be transported by this transport vehicle, the number of each destination and source station that transports this object, and the number of the transport object. It includes various information such as the progress stage, the number of times the battery has been charged, and information related to charging.

Subsequently, in step 103, it is determined whether or not the storage battery mounted on the transport vehicle corresponding to index i needs to be charged. If the traveling time is short and there is no need for charging, the process proceeds to step 113. Further, if it is determined in step 103 that the storage battery needs to be charged, step 10
Proceed to step 5. In step 105, it is determined whether the conveyance vehicle corresponding to the index i is assigned to the conveyance request of the object to be conveyed, and if it is assigned to the conveyance request, the process proceeds to step 113. If the transport vehicle corresponding to the index i is not assigned to the transport request in step 10''5, the process proceeds to step 107.

In step 107, the carriers corresponding to index 1 are charging stations 26a, 26b, 26C226d.
It is determined whether the battery exists in any of the charging stations, and if the battery exists in the charging station, the process advances to step 109.

In step 109, the content of the search index i of the guided vehicle is changed to indicate that it is being charged, and the storage battery mounted on this guided vehicle is charged in the charging station. In step 111, the value of the number of times of charging included in the search index i of the guided vehicle is incremented by +1. Subsequently, in step 113, the value of the search index i of the guided vehicle is incremented. Step 115
Then, the value of the search index i of the guided vehicle is the predetermined value MAX
It is determined whether the value of search index 1 has been reached, and if the value of search index 1 is less than the predetermined value MAX, the process returns from step 115 to step 103 again.

In step 107, if the carrier corresponding to the search index i does not exist in the charging station, the process proceeds to step 121, and it is determined whether the carrier vehicle exists in a station other than the charging station. Step 121
If the carrier corresponding to the search index i does not exist within the station, the process advances to step 113. Further, in step 121, if the guided vehicle corresponding to the search index i exists in the station, the process proceeds to step 123, and it is determined whether the guided vehicle corresponding to the search index i is the one that has been sent for charging. . If it is determined in step 123 that the vehicle has been transferred, the process advances to step 109.

If it is determined in step 123 that the vehicle is not a forwarded conveyance vehicle, the process proceeds to step 125 and it is determined whether or not there is an empty charging station. Step 12
If there is an empty charging station in step 5, the process proceeds to step 127, and the guided vehicle corresponding to the search index i is guided toward the empty charging station.

If there is no vacant charging station in step 125, the process advances to step 131, and a search is made for a charging station where there is a waiting vehicle, that is, a vehicle that does not require charging of the storage battery. In step 131, if there is a waiting carrier at the charging station, the process advances to step 133, and the waiting carrier, which does not require charging, is simply sent to the station.

In addition, if there is no waiting conveyance vehicle in any of the charging stations in step 131, step 13
5, it is determined whether there is a station that does not correspond to the transport request, that is, a station 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 135, the process advances to step 113. Furthermore, if there is a station that does not correspond to the transport request in step 135, the process proceeds to step 137, and loading and unloading of the transport object at the station is prohibited. In step 139, the conveyance vehicle corresponding to search index 1 is sent toward the station.

Next, with reference to FIG. 6, the operation of the monitoring means for monitoring the consumption state of the storage battery for each transport vehicle will be explained.

In step 151, the search index 1 of the transport vehicle is cleared to O. In step 153, it is determined whether the conveyance vehicle corresponding to the search index i is not being charged and is floating relative to the conveyance path 1o. Step 1 if charging or not levitating in step 153
Proceed to 65.

Further, if it is determined in step 153 that the device is not being charged and is levitating, the process proceeds to step 155, and the search index i
Determine whether the transport vehicle corresponding to is running.

If the conveyance vehicle corresponding to the search index l is running in step 155, the process advances to step 157;
A value obtained by multiplying the usage time T1 of the storage battery while driving by a coefficient α is added to the usage time T+. Also step 155
If the conveyance vehicle is not running, for example, if it is on standby, the process proceeds to step 159, and the value obtained by multiplying the usage time T2 of the storage battery during standby by a coefficient β, which is smaller than the coefficient α, is added to the usage time T2. do. The coefficients α and β are set, for example, to a value greater than or equal to 0 and less than 1.Subsequently, in step 161, the above-mentioned step 157
In step 159, the weighting is determined by adding the calculated values of both the processed values, that is, the weighting determines whether or not the cumulative value of the processed usage time of the storage battery exceeds a preset specified value. If the cumulative value is less than or equal to the specified value in step 161, the process advances to step 165. If the cumulative value exceeds the specified value in step 161, the process proceeds to step 163, and the content of search index 1 is set to indicate that the storage battery needs to be charged.

In step 165, the value of search index i is incremented. In step 167, it is determined whether the value of search index 1 has reached the predetermined value MAX, and if the value of search index i is less than the predetermined value MAX, the process returns from step 167 to step 153 again.

The processes from step 151 to step 167 described above are executed, for example, every one minute.

As described above, when the monitoring means determines that charging is required, the guiding means directs the corresponding guided vehicle to an empty charging station where no other guided vehicles are present, or an empty charging station where other guided vehicles exist but the charging operation is not performed. Since charging stations that are not being used are appropriately guided according to the priority order of other stations where the transport vehicle does not exist, the transport vehicle and each station can be operated efficiently.

In addition, the cumulative value of running time and the cumulative value of stopping time during standby are weighted, and the added value of both is compared with a specified value to determine whether or not charging the storage battery is necessary. Therefore, maintenance related to storage batteries can be properly managed.

[Effects of the Invention] As explained above, according to the present invention, the consumption state of the storage battery is monitored for each transport vehicle, and based on the result of this monitoring, the transport vehicle that requires charging is selected from the transport vehicle equipped with a charging means. Since the transport vehicle and the station are guided to the station, the transport vehicle and the station can be operated efficiently, and maintenance of the storage battery can be appropriately 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 entire transport control device (1 is a block diagram showing the configuration) to which the present invention is applied, and FIG. 3 is a perspective view of a transport control rJO device to which the embodiments of FIGS. 1 and 2 are applied. , FIG. 4 is an explanatory diagram of the stations shown in FIGS. 1 to 3, FIG. 5 is a flow chart showing the overall control flow of FIGS. 1 to 3, and FIG. 6 is a diagram showing the monitoring by the monitoring means. It is a flowchart showing the control. 1... Control I inquiry direct... Transport general controller 16... Transport vehicle 61.63... Charging devices 26a, 26b, 26c, 26d =- Charging station

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 each having a charging means for the storage battery; a monitoring means for monitoring the state of the storage battery for each transport vehicle; 1. A conveyance control device comprising a guide means for guiding the user to one of the charging stations.