JPH0421006A - Running control system for track type self-running truck - Google Patents

Abstract

PURPOSE:To prevent the malfunction caused by noise, and also, to facilitate the change of a running path layout by loading a communication part, a code reader and a microcomputer on a self-running truck, and installing a communication line, a code display part and communication part on the ground side. CONSTITUTION:In a state that a self-running truck 1 goes into a prescribed zone and a code display part 13 on the ground side is detected by a code reader 5 on the truck side, its ground side state is given to a microcomputer 9 loaded on the self-running truck 1 through a communication line 11 going along a running path and a truck side communication part 7 from a ground side communication part, and in the microcomputer 9, a prescribed running control program is executed by taking the ground side state into consideration. Accordingly, it becomes unnecessary to perform wiring between a control computer on the ground side and each zone. In such a way, a malfunction caused by noise is prevented, ad also, a change of a running path layout is executed very easily.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a travel control system for a track-type self-propelled trolley that travels on a fixed travel route.

(Prior art and its problems) In the above-mentioned transport device using a track-type self-propelled cart, the self-propelled cart is equipped with means for preventing rear-end collisions using photoelectric distance sensors, proximity detectors, etc. The vehicle is configured to automatically decelerate and stop when it approaches within a certain distance of the preceding bogie, but when the traveling route curves around a turn, the rear-end collision prevention means such as the distance sensor is not activated normally. I can't get it to work. Therefore, the turn route is divided into multiple sections, the presence status of self-propelled carts in each section is detected on the ground side, and the information is sent to the control computer installed on the ground side. Each command for deceleration, stop, and start is given by communication to the self-propelled vehicle that is to travel on the turn travel route by executing a turn section travel control program set in the computer for the turn section, and the self-propelled vehicle is The vehicle is run in such a way that it does not approach the preceding vehicle abnormally. It is also known to divide the traveling route into a plurality of sections even in the case of a straight route, and to control the running of each self-propelled bogie so that one gold brother is present in each section by the above-mentioned section control. ing.

In this way, in the conventional control method where the running of a self-propelled bogie is controlled by a control computer on the ground side based on the presence information of other self-propelled bogies on the travel route detected on the ground side, The number of wires between the control computer and each travel control zone such as the turn route section becomes extremely large, which not only increases the possibility of malfunction due to noise, but also makes it difficult to change the travel route layout. Furthermore,
When the number of self-propelled bogies on the same travel route increases, the communication time between the ground-side control computer and each self-propelled bogie increases, making responsive control difficult.

(Means for Solving the Problems) In order to solve the conventional problems as described above, the present invention has the following features:
A self-propelled trolley that runs on a fixed travel route is equipped with a microcomputer equipped with a communication unit for communication with the ground side, a code reader, and a travel control program. A communication line, a code display unit that instructs the microcomputer to start the travel control program through the code reader, and a communication unit with the self-propelled cart are installed, and the code display unit controls the travel control through the code reader. In a state where the start of a program is instructed, the ground side state that is a condition for executing the program, for example, the presence state of another self-propelled vehicle on the turn travel route, etc. is communicated through the ground side communication. A track-type self-propelled bogie, characterized in that the microcomputer is supplied with the data through the communication line, and the bogie-side communication unit, and the microcomputer controls the running of the self-propelled bogie by executing the travel control program. This paper proposes a driving control method.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIG. 1, reference numeral 1 denotes a self-propelled trolley that is guided by guide rails and supported so that it can run on a fixed track, and includes a running motor 3 and a brake 4 controlled by a controller 2, a code reader 5, A position detector 6, a control communication section 7, a signal communication section 8, and a control microcomputer 9 are installed. A power supply line 10 is laid along the travel route of the self-propelled trolley l, and a control communication line 11 and a signal communication line 12 are laid in required sections. Further, a code display section 13 read by the code reader 5 and a fixed position display section 14 detected by the position detector 6 are provided at required locations on the travel route. 15-17
is a current collector provided on the self-propelled trolley 1. Although the power supply line 10, the control communication line 11, and the signal communication line 12 are all double-line, they are omitted in the figure and are each shown as a single line.

As shown in FIG. 2, the turn travel route section 18 in the travel route of the self-propelled trolley l includes an entrance section 18a, a turn section 1
8b, and an exit section 18c, each section 18a~
The signal communication lines 12a to 12c are laid every 18c,
In front of the entrance section 18a, the control communication line 11 is laid over an area the length of one self-propelled trolley, and furthermore, a code display section 13a for turn section control instruction and a fixed position display section are installed at appropriate locations in front of the entrance section 18a. 14 is arranged and the exit section 18
A code display section 13 for instructing the end of turn section control is provided at the end of c.
b is arranged. Next to this turn travel route section 18, there is a turn that supplies the bogie presence information for each section 18a to 18c obtained from the signal communication lines 12a to 12c to the control communication line 11 via the communication section 19. A section I10 box 20 is installed.

Therefore, when the self-propelled bogie 1 is traveling on the turn travel route section 18, the signal communication section 8 of the self-propelled bogie 1 is connected to the signal communication lines 12a to 12c in the section where the bogie is present among the sections 18a to 18b. A presence signal is supplied from the turn section I10 via the collector 17, and this cart presence signal is supplied to the control communication line 11 by the communication section 19 of the turn section I10 box 20.

The self-propelled trolley 1 stores the destination given from the ground side via communication in the microcomputer 9 before starting, and selects a destination from among a plurality of control programs registered in advance in the microcomputer 9. Based on the selected travel control program, the microcomputer
9 controls the traveling motor 2 and the brake 3 via the controller 2, so that the self-propelled trolley 1 automatically travels on the travel route toward the destination, but during this travel, as shown in FIG. The turn traveling path section 18 shown in
When the code reader 5 reads the turn section control instruction code display section 13a, the code reader 5 selects the turn section control instruction code display section 13a from among a plurality of control programs registered in advance in the microcomputer 9. The turn portion travel control program corresponding to the code is selected, and the turn portion travel control program is started in place of the previous travel control program.

This turn section travel control program is executed in accordance with the procedure shown in the flowchart of FIG. That is,
When the code reader 5 reads the turn section control instruction code display section 13a, the microcomputer 9 controls the turn section control instruction code display section 13a from the control communication line 11 via the collector 16 and the truck side control communication section 7. The vehicle is in a state where the bogie presence information in section 18 is read, and based on this bogie presence information, if the bogies are vacant in sections 18b and 18c, the vehicle is allowed to continue traveling to the entrance section 18a;
If the trolley 18c is present, the self-propelled trolley 1 is stopped when the fixed position detector 6 detects the fixed position display section 14 by moving to the fixed position stop control.

When the sections 18b and 18c become empty, the self-propelled cart 1 is caused to run, and when the self-propelled cart 1 reaches the entrance section 18a, it is confirmed that the exit section 18c is empty and continues to run. If the exit section 18c is occupied at this time, it is assumed that there is an abnormality and the self-propelled trolley 1 is brought to an emergency stop. When the entrance section 18a becomes empty due to the movement of the self-propelled trolley l, it is assumed that the vehicle is passing through the turn section traveling route, and then the code reader 5 reads the code display section 13b for instructing the end of the turn section control, and the turn section traveling control program is activated. The original travel control program is returned to, and the self-propelled trolley l will self-propel in the original travel mode.

The travel control of the self-propelled vehicle 1 on the turn travel route portion 18 is also carried out by a microcomputer provided in the self-propelled vehicle 1 itself.
9 is performed by controlling the driving motor 3 and brake 4 via the controller 2.

Note that when the preceding self-propelled vehicle 1 is located in a position where only the entrance section 18a is in the state where the vehicle is present, the following self-propelled vehicle I is prevented from using the conventional well-known rear-end collision prevention means provided in the self-propelled vehicle 1. Since the preceding self-propelled vehicle 1 is detected and the deceleration/stop control is performed, the following self-propelled vehicle 1 does not travel to a position where the code reader 5 reads the turn section control instruction code display section 13a.

The travel control method of the present invention is not limited to the travel control of the self-propelled vehicle 1 in the turn travel route section 18 of the above embodiment, but also controls the presence of other self-propelled vehicles on the travel route, etc. It can be used to control the running of a self-propelled bogie in a specific zone where the side state must be used as a travel control condition, and therefore the presence status of other self-propelled bogies on the travel route, etc. Any method can be used to detect the ground side state depending on the object to be detected.

(Operations and Effects of the Invention) As described above, the running control system of the track-type self-propelled bogie of the present invention can control the presence of other self-propelled bogies on the running route, such as the turn traveling route, on the ground side. It can be used to control the running of a self-propelled bogie in a specific travel control zone where the running of the self-propelled bogie must be controlled by determining the state, and the self-propelled bogie enters the specific zone and When the code reader on the bogie side detects the code display section on the side, the ground side status is transmitted from the ground side communication section to the micro mounted on the self-propelled bogie via the communication line along the travel route and the bogie side communication section. The microcomputer executes a predetermined travel control program in consideration of the above-mentioned ground side conditions, and the self-propelled bogie is controlled in accordance with the travel control program. Computer control is no longer necessary, and each specific zone has a simple structure consisting of means for detecting ground side conditions such as the presence of bogies, and a communication section for supplying the detection results to the communication line. All you need to do is install the I10 box.

Therefore, there is no need for wiring between the ground-side control computer and each of the specific zones, as was the case in the past.
This not only greatly reduces the possibility of malfunctions due to noise, but also
It is also very easy to change the travel route layout. Furthermore,
Since one-to-one communication is performed between the self-propelled bogies and the ground-side communication unit in each specific zone, the communication time will not increase even if there are many self-propelled bogies on the same travel route. , always provides highly responsive control. In addition, the means installed on the ground for each specific zone, such as the 110 boxes described above, can be implemented easily and inexpensively because the same hardware configuration can be used if the type of specific zone is the same. You can.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of the configuration of the self-propelled trolley, FIG. 2 is an explanatory diagram of the configuration of the turn travel route, and FIG. 3 is a flowchart illustrating the control procedure of the turn travel control program. l... Self-propelled trolley, 2... Controller, 3...
Traveling motor, 4... Brake, 5... Code reader, 6... Fixed position detector, 7... Control communication section, 8... Signal communication section, 9... Control micro Computer-IO...power supply line, 11...control communication line, 12°12a=12c...signal communication line, 13...
Code display section, 13a... Code display section for instructing turn section control, 13b... Code display section for instructing end of turn section control, 14... Fixed position display section, 18... Turn travel route section, 18a-18c...Divided sections, 19
...Ground side communication section, 20...Turn section I10 box.

Claims (1)

[Claims] A self-propelled trolley that runs on a fixed travel route is equipped with a microcomputer equipped with a communication unit with the ground side, a code reader, and a travel control program, and on the ground side,
A communication line along the traveling route, a code display unit that instructs the microcomputer to start the travel control program through the code reader, and a communication unit with the self-propelled cart are installed, and a code is transmitted from the code display unit. In a state where activation of the travel control program is instructed through the reader, the ground side state which is a condition for executing the program is transmitted to the microcomputer through the ground side communication unit, the communication line, and the bogie side communication unit. A traveling control method for a track-type self-propelled bogie, characterized in that the traveling of the self-propelled bogie is controlled by executing the traveling control program by the microcomputer.