JPH04281302A - Abnormal speed detecting means for electric carrier - Google Patents

Abstract

PURPOSE:To detect abnormal speed regardless of a command speed decided by an electric vehicle itself by arranging sections to be detected at same intervals along a travel path, determining the pitch thereof according to a set speed and then making a decision whether the frequency of pulse signals detected through a sensor deviates more than an allowable limit from a reference frequency. CONSTITUTION:A mark tape 16 is applied along the longitudinal direction of a rail and sections 17a to be detected are arranged, while partitioning from sections 17b not to be detected, at predetermined intervals along the longitudinal direction of the rail. Mark tapes 16A, 16B, 16C, corresponding respectively with upper limits of low, intermediate and high speeds, are made such that the pulse signals to be outputted from a sensor 18 when an electric carrier travels through low, intermediate and high speed travel zones at the upper limit speeds has the same frequencies as a reference frequency fo. Consequently, when the electric carrier travels at a speed higher than an upper limit set speed due to some cause, a comparison operating function 21 outputs an emergency stop command (abnormal speed detection signal) 20.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention relates to a transport train that can be used to self-diagnose whether or not a transport train running on a fixed travel route is running at a set speed in a predetermined zone. The present invention relates to a speed abnormality detection method.

0002

[Prior Art] The running speed of a transport train that runs on a fixed running route varies by zone, for example, low speed in a curve zone, high speed in a straight route between work zones, and medium speed within a work zone. This is generally set. When entering each zone, for example, a speed command marker on the side of the route is read by a mark reader on the transport train, and a speed change command is given to the speed control controller of the travel motor according to the reading content.
The transportation train is configured to run at a speed set for each zone.

[0003] In the speed control system of such a transportation train, for example, a mistake in reading the speed command marker by the mark reader, a mistake in speed switching command to the speed control controller, a control mistake in the speed control controller itself, etc. As a result, there is a possibility that the running speed of the transport train may not be switched normally, and the transport train may run at an abnormal speed that is different from the speed set for each zone.

[0004] Such speed abnormalities must be detected immediately and countermeasures such as automatic stopping must be taken, but the conventional speed abnormality detection method is to determine the current speed from the oscillation pulses of a pulse encoder that interlocks with the running wheels. A method is known in which the current speed is calculated and the commanded speed determined by the transport train itself at that time is compared, and when the two differ from each other, it is determined that the speed is abnormal.

[0005]

[Problems to be Solved by the Invention] In the conventional speed abnormality detection method as described above, if, for example, there is a mistake in reading the speed command marker by the mark reader or a mistake in the speed switching command to the speed control controller, the transport train Since the commanded speed itself determined at that time is different from the actual set speed (the commanded speed by the speed command marker, etc.), the conveyance is carried out at the speed set for each zone by the speed command marker, etc. It is not possible to accurately determine whether a commercial train is running or not.

[0006]

[Means for Solving the Problems] In order to solve the above-mentioned conventional problems, the present invention provides detected parts at equal intervals along the running route of the transport train, and is attached with a sensor that detects the detected part, and the detected part is arranged so that the frequency of the detection pulse signal of the sensor when the transport train runs at a set speed substantially matches a preset reference frequency. The speed of the transport train is characterized in that the pitch of the part corresponds to the set speed of the transport train, and a speed abnormality is determined based on the difference between the frequency of the detection pulse signal of the sensor and the reference frequency. This paper proposes an anomaly detection method.

[0007]

According to the above speed abnormality detection method according to the present invention, in a zone where speed abnormality detection is required, the detected part is moved along the traveling route at a pitch corresponding to the speed set in the zone. By setting this, when the transport train runs in the zone at the set speed, the frequency of the detection pulse signal of the sensor will be the same as the reference frequency or within the tolerance range, but for some reason the transport train If the train runs at an abnormal speed that exceeds the permissible limit for the set speed, the frequency of the detected pulse signal of the sensor will deviate from the reference frequency by more than the permissible limit, so this can be used to determine that the speed is abnormal. I can do it.

In other words, by making the pitch of the detected part different according to the set speed, it is then determined whether the frequency of the detection pulse signal of the sensor deviates from a certain reference frequency by more than an allowable limit. With this method, speed abnormalities can be accurately detected regardless of the set speed (command speed) determined by the transport train itself.

[0009]

[Embodiment] An embodiment of the present invention will be described below based on the attached illustrative drawings. In FIG. It is a transport train that is suspended so that it can run. This monorail type transport train 2 has a train main body 5 suspended by a driving trolley 3 and a driven trolley 4, and the train main body 5 is provided with hangers 7 and the like for suspending objects 6 to be transported. The drive trolley 3 includes drive wheels 8, a motor 10 that drives the drive wheels 8 via a speed reducer 9, and a current collection unit 12 that slides on a power supply line 11 laid on the side surface of the guide rail 1. The driven trolley 4 includes idle wheels 14 supported by a bearing unit 13 . 15 is a control device attached to the train body 5.

A mark tape 16 is attached to the guide rail 1, for example, on the bottom surface of the rail along the length direction of the rail. As shown in FIG. 2, this mark tape 16 has detected portions 17a made of a light reflecting surface divided by non-detected portions 17b filled in black and displayed at equal intervals in the tape length direction. 16B is a low-speed upper limit compatible mark tape in which the detected portion 17a is displayed at a small pitch, and is pasted on the guide rail 1 in the low-speed running zone; 16C is a mark tape compatible with the upper limit, which is attached to the guide rail 1 in the medium speed driving zone, and 16C is a mark tape compatible with the high speed upper limit, in which the detected portion 17a is displayed at a large pitch. It is attached to the guide rail 1. A sensor 18 using a reflective photoelectric switch is attached to the transport train 2, which detects the non-detecting portion 17a on the mark tape 16 without contact while the train is running.

The motor 10 of the drive trolley 3 is operated by the electric power taken into the transport train 2 from the power supply line 11 via the current collection unit 12, and the drive wheels 8 are driven to rotate, thereby guiding the transport train 2. The transport train 2 can run in a predetermined direction along the rail 1, and as the transport train 2 runs, the sensor 18 detects the mark tape 16.
The detected portion 17a is intermittently detected, and a pulse signal is output.

As shown in FIG. 2, the control device 15 has a frequency measurement function 19 that calculates the frequency f of the pulse signal from the sensor 18, and a frequency f calculated by the frequency measurement function 19, which is set in advance. Reference frequency f0
a comparison calculation function 21 that outputs an emergency stop command (abnormal speed detection signal) 20 when f>f0.
It includes a motor controller 22 that starts, stops, and controls the speed of the traveling drive motor 10.

The mark tape 16 corresponding to the low speed upper limit
A, the mark tape 16B corresponding to the medium speed upper limit, and the mark tape 16C corresponding to the high speed upper limit are the mark tape 1 corresponding to the low speed upper limit.
Transport train 2 in the low speed zone where 6A is affixed.
When driving at the set low speed upper limit, sensor 1
8 (the frequency f calculated by the frequency measurement function 19, the same applies hereinafter) and the frequency of the pulse signal output from the transport train 2 in the medium speed running zone where the medium speed upper limit compatible mark tape 16B is affixed. The transport train 2 is set at the frequency of the pulse signal output from the sensor 18 when traveling at the medium speed upper limit set, and in the high speed running zone where the high speed upper limit compatible mark tape 16C is affixed. The frequency of the pulse signal output from the sensor 18 when traveling at the upper limit of high speed is the reference frequency f0.
is created to be the same as.

The transport train 2 entering the low-speed travel zone, medium-speed travel zone, and high-speed travel zone is given a low-speed switching command, a medium-speed switching command, and a high-speed switching command as in the past, and in FIG. Although omitted, the control device 15
The motor controller 22 controls the speed of the running drive motor 10 according to the speed switching command given as described above, and controls the transport train 2 at a low speed as set.
The vehicle will be driven at medium and high speeds.

Therefore, when the transport train 2 is running at the set low speed, medium speed, and high speed in the low speed travel zone, medium speed travel zone, and high speed travel zone, that is, when the low speed upper limit , when traveling at a speed that does not exceed the medium speed upper limit and high speed upper limit, the frequency of the pulse signal output from the sensor 18, that is, the frequency measurement function 19.
The calculated frequency f is smaller than or the same as the reference frequency f0, and the comparison calculation function 21 does not output the emergency stop command (abnormal speed detection signal) 20, but if for some reason the transportation When the train 2 travels above the set upper limit speed, f>f0, so the comparison calculation function 21 outputs an emergency stop command (abnormal speed detection signal) 20. In response to this emergency stop command (abnormal speed detection signal) 20, the motor controller 22 controls the traveling drive motor 10 to stop, and the transport train 2 comes to an emergency stop on the spot. In addition, if necessary, the emergency stop of the transport train 2 due to abnormal speed may be notified by a buzzer, lamp, etc. installed on the transport train 2, or a notification may be made between the central control panel on the ground side and each transport train 2. It is also possible to display the information on the central control panel on the ground side by using the communication means between the

Note that a lower limit and an upper limit are set for the reference frequency f0, and an emergency stop command (abnormal speed detection signal) 20 is output both when the detected frequency f does not reach the reference frequency f0 and when it exceeds the reference frequency f0. It can also be configured.

[0017]

As described above, according to the present invention, in a traveling zone where a detected part is provided with a mark tape or the like, the transport train is traveling at an abnormal speed different from the speed set in the zone. This can be detected regardless of the set speed (command speed) determined by the transport train itself at that time. Therefore, it is possible to reliably detect a traveling speed abnormality caused by an error in reading the speed command marker or an error in speed switching command to the speed control controller, and take necessary measures.

Moreover, it is not necessary to calculate the current speed of the transport train from the detection pulses of the detected parts with a constant pitch provided on the running route side, but simply by calculating the frequency of the detection pulses and the preset reference frequency. Since it is sufficient to compare and detect the error, control for speed abnormality detection is also simple and can be implemented easily and inexpensively.

[Brief explanation of the drawing]

FIG. 1 is a side view showing an example of a transportation train.

FIG. 2 is a block diagram illustrating a mark tape attached to a guide rail and a control system of the method of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1... Guide rail, 2... Monorail type conveyance train, 3... Drive trolley, 4... Driven trolley, 5... Train body, 15... Control device, 16... Mark tape, 16A... Mark tape compatible with low speed upper limit, 16B... Medium speed Upper limit compatible mark tape, 16C... High speed upper limit compatible mark tape, 17a... Detected part consisting of a light reflecting surface, 17b... Non-detected part by black filling, 18... Sensor using reflective photoelectric switch, 19... Frequency measurement function, 20 ...Emergency stop command (abnormal speed detection signal), 21...Comparison calculation function, 22...Motor controller.

Claims (2)

[Claims] 1. Detected parts are provided at regular intervals along the travel route of a transport train, a sensor is attached to the transport train to detect the detected parts, and the transport train is driven at a set speed. The pitch of the detected parts is set to a pitch corresponding to the set speed of the transport train so that the frequency of the detection pulse signal of the sensor when traveling substantially coincides with a preset reference frequency, and the detection of the sensor is performed. A method for detecting speed abnormality in a transport train, characterized in that speed abnormality is determined based on the difference between the frequency of a pulse signal and the reference frequency. 2. The detected portion is composed of a light reflecting surface divided by black non-detectable portions and displayed at equal intervals in the tape length direction on the tape, and the tape is attached to a guide rail of the transport train. 2. The method for detecting a speed abnormality in a transport train according to claim 1, wherein the sensor comprises a reflective photoelectric switch that is attached to a surface and detects the light reflecting surface.