JPH05270637A - Tracking control monitor equipment - Google Patents

Abstract

PURPOSE:To promptly judge that the tracking control of a conveyor, etc., is justified and to lessen inconvenience for correction by judging that the tracking is justified through tracking information and a detection signal from a tracking test pallet. CONSTITUTION:A tracking justification monitoring means 3 compares a detection signal (c) from a tracking test pallet detection section 5 with cracking information (a) from a tracking information monitoring means 2 and judges it normal if the tracking information (a) is for a tracking test pallet when the detection signal (c) is sent. Judgement is made abnormal if the tracking information (a) is not for the tracking test pallet, when the detection signal (c) is sent and if the detection signal (c) is not sent when the tracking information (a) is for the tracking test pallet, and an abnormality notice signal (d) is sent to a display section 7. In this way. the justification is detected every time when the tracking test pallet arrives at an exit point in a control zone, resulting in less inconvenience for correction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking control monitoring device for utilizing a load on a conveyor or an automated guided vehicle for tracking control.

[0002]

2. Description of the Related Art In the field of conventional process automation (hereinafter referred to as PA), it is called sensor-based control in that control is performed based on the state of a controlled object. Also,
The reference model is multivariable due to the continuity of the process. In order to sample the state data of each process and perform feedback control and feedforward control,
It is characterized by high-speed processing of multivariate vector operations and command control for subsystems in each process.

In a typical PA system, an industrial computer is arranged as a host system and a PC as a subsystem.
Alternatively, an instrumentation controller is arranged to form a hierarchical system. In the former case, it is common to handle the collation calculation process of the control model of the whole process in a cycle time of the order of 100 ms, and in the latter subsystem, DDC of each process is generally performed with a response of several tens of ms or less.

Regarding the examples of the subsystems configured in the above-mentioned positioning, the feature of the DDC performed in these subsystems is that the PLG plays an important role in accurately tracking the controlled object that changes at high speed. ing. Further, it is desirable that the field operation side can easily improve the control as a controller, and an instrumentation control PC is adopted, and a program or parameter can be changed by the subsystem.

Further, in a control example of a hot-rolled steel cropping shear applying the shape recognition of a red hot steel plate, in a hot strip mill, the leading end and the trailing end of the steel plate leaving the final pass of the rough rolling mill have a crop shape. The shearing is performed before the finishing rolling, and the desired shape is obtained in consideration of the yield. As for the red hot steel plate that has entered, the progress of the steel plate is captured by PLG1. That is, the progress of the steel sheet is tracked by giving the sampling timing of the shape recognition device, and the grop shape is captured as an absolute position where the shape is advancing. The shape recognition device recognizes the crop shape, determines the cutting position under preset cutting conditions, and outputs the cutting position to the crop shear control device.

The structure of the position and speed control of the crop shear is as follows.
The control pattern of the crop shear motor is formed by tracing back the time and movement distance from the given cutting point to the leading or trailing end detection point, and the PL for speed / position detection is formed.
G is provided for each, and optimal cutting control is performed by the DDC method.

Further, in the rapid progress of flexible factory automation, the number of systems equipped with advanced functions has been increased, which is a combination of automatic warehouse, transport machinery and higher-level production control and manufacturing control for factory physical distribution. .. There are various forms of automated warehouses depending on the size of the warehouse, the packaging of the target objects, and the weight, but the factory automation (Factory Automation)
on) systems are often incorporated into the system, and are broadly divided into parts supply type to the production line and storage type as a distribution center. All are total systems combined with an information management system. There are two types of transfer machinery, one with fixed transfer routes such as conveyors, cranes, and tracked unmanned transfer trolleys, and the trackless unmanned transfer trolleys that can be installed in factories with relatively free transfer routes. Conveyors are the best means to sort and sort large quantities of goods at high speed, and the monorail system and the intelligent type using a linear motor are being developed. Cranes are used to transport heavy loads between stations. The carrier truck is effective as a means of transporting parts and materials to the necessary places when they are needed for logistics in the factory. Furthermore, a robot arm, a special work mechanism, a transfer mechanism, and a self-propelled robot with an eye for judgment are being put to practical use. Labor-saving is the first priority for the in-plant distribution, but at the semiconductor manufacturing and bio (biotechnology) manufacturing sites, a minimal dust generation system is also put into practical use.
A wide variety of transport components targeting fluids (gases, liquids), powders, and solids are also available.

When introducing FA, careful consideration is required at each step of conception, planning, designing, manufacturing, and operation. What is important is a data analysis method, and a simulation method for evaluating the basic design and layout.

In the conventional tracking control monitoring of this kind of conveyor or the like, when the load passes through the tracking control zone entry point, tracking information is created in the tracking control zone and written in the storage section by the post insertion method. Upon arrival at the exit point, tracking control is performed by reading the tracking information from the storage unit in a first-out method, time information is added to the tracking information, and the validity of the tracking information is determined by the time information.

[0010]

Therefore, as described above, in the conventional tracking control monitoring of the tracking control zone in which the load continuously flows for a long time, the load is artificially removed due to the malfunction of the device or the collapse of the load. When the last load arrives at the exit point after the end of the flow of a series of loads, such as when the load and tracking information of the load is not corrected, the abnormality is detected and the correction of the load that has flowed during that time is corrected. It is very inconvenient with regard to.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a tracking control monitoring apparatus that promptly judges the validity of tracking control of a conveyor or the like and reduces the inconvenience of correction. And

[0012]

SUMMARY OF THE INVENTION The present invention is directed to a tracking control device for tracking control of a load on a conveyor or an automated guided vehicle, and a pallet storage for tracking inspection pallets provided in a tracking control zone targeted by the tracking control device. And a tracking inspection pallet loading / unloading unit for loading or unloading the tracking inspection pallet from the hangar, tracking information monitoring means for determining a time required for unloading, and a unloading request, and an exit point of the tracking control zone. A pallet arrival detection unit for tracking inspection, which detects the arrival of the pallet for tracking inspection, a tracking information storage unit which stores tracking information tracked by tracking control, and detection of tracking information and the pallet for tracking inspection. Tracking validity judging means for judging the validity of the tracking by the items, a tracking control and monitoring apparatus comprising; and a tracking validity display unit to display the contents of the tracking validity judging means.

[0013]

In the tracking control monitoring apparatus according to the present invention, the cargo of the conveyor or the automatic guided vehicle is subjected to tracking control, and the pallet for the tracking inspection is provided in the tracking control zone which is the target of the tracking control apparatus. The pallet is loaded or unloaded, the time required for unloading is determined, the unloading request is made, the arrival of the pallet for tracking inspection is provided at the exit point of the tracking control zone, and the arrival of the pallet for tracking inspection is detected. Tracked tracking information is stored, the validity of tracking is determined by the tracking information and the detection signal of the tracking inspection pallet, and the content of the tracking validity determining means is displayed.

[0014]

EXAMPLE An example of the present invention will be described below. In FIG. 1, reference numeral 1 is a tracking control means for tracking control of a load on a conveyor or an automated guided vehicle, and 4 is a tracking control pallet for carrying in a tracking inspection pallet from a storage for a tracking inspection pallet provided in a tracking control zone targeted by the tracking control device. Alternatively, a tracking inspection pallet carry-in / carry-out unit 2 to carry out, 2 is a tracking information number monitoring means for making a carry-out request by judging the time required for carry-out.
Is a tracking inspection pallet detector provided at the exit point of the tracking control zone for detecting the arrival of the tracking inspection pallet, 6 is a tracking information storage unit for storing the tracking information tracked by the tracking control, and 3 is tracking information. Tracking validity monitoring means for determining the validity of tracking based on the detection signal of the tracking inspection pallet, and 7 is a tracking validity display section for displaying the contents of the tracking validity monitoring means 3. That is, a tracking inspection pallet hangar is provided in a tracking control zone where tracking control is performed on a load of a conveyor or an automated guided vehicle, and a tracking inspection pallet loading / unloading unit 4 for loading / unloading the tracking inspection pallet and unloading. Tracking information number monitoring means 2 for determining time and requesting delivery,
A pallet detector for tracking inspection 5 for detecting arrival of a pallet for tracking inspection at the exit point of the tracking control zone, a tracking information storage unit 6 for storing information tracked by the tracking control, for tracking information and for tracking inspection. The tracking control monitoring device is provided with a tracking validity monitoring unit 3 that determines the validity of tracking based on a pallet detection signal, and a display unit 7 that displays the contents of the tracking validity monitoring unit. As a result of the action taken, a state where the cargo arriving at the exit point can be judged by the tracking information provided by the tracking control and the tracking monitoring information and the legitimacy of the tracking is created, and the tracking information of the cargo provided by the tracking control is created. And tracking By matching the detected signal of 査用 pallet detection unit can determine the validity of the tracking control.

The tracking control means 1 is a conventional tracking control means, and sends the tracking information a of the cargo that has arrived at the exit point of the tracking control zone to the tracking information number monitoring means 2.

The tracking information number monitoring means 2 writes the tracking information a in the tracking information storage section 6 and at the same time sends it to the tracking validity monitoring means 3.

Further, the tracking information number monitoring means 2 counts the number of the tracking information a and carries it out to the tracking inspection pallet loading / unloading section 4 so as to carry it to the tracking inspection pallet storage in another tracking control zone at a constant amount interval. Send signal b.

Pallet loading / unloading section 4 for tracking inspection
In response to the carry-out signal b, the pallet for tracking inspection is carried out to the pallet housing for tracking inspection in another tracking control zone.

The tracking inspection pallet loading / unloading section 4 stores the tracking inspection pallet transported from another tracking control zone.

The tracking inspection pallet detector 5 detects the arrival of the tracking inspection pallet and sends a detection signal c to the tracking validity monitoring means 3.

The tracking validity monitoring means 3 compares the detection signal c of the tracking inspection pallet detector 5 with the tracking information a of the tracking information number monitoring means 2,
When the detection signal c is sent, the case where the tracking information a is the tracking inspection pallet is judged to be normal, and when the detection signal c is sent, the tracking information a is not the tracking inspection pallet and the tracking information a is the tracking inspection a. If the detection signal c is not sent when the pallet is for use, it is determined to be abnormal, and when it is determined to be abnormal, the abnormality notification signal d is sent to the display unit 7.

The display unit 7 is adapted to display the history of the tracking information a tracked up to that time by the abnormality notification signal d together with the abnormality display.

Therefore, according to the configuration of the above embodiment, the abnormality of the tracking control is detected only when the flow of a series of loads ends and the final load reaches the end point. Instead, the legitimacy of the tracking control is detected every time the pallet for tracking inspection arrives at the exit point of the tracking control zone. Therefore, the legitimacy of the tracking control can be promptly judged and the inconvenience of correction can be reduced. ..

[0024]

According to the present invention, it is possible to provide a tracking control monitoring device capable of promptly determining the justification of tracking control and reducing the inconvenience of correction.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a tracking control monitoring device according to an embodiment of the present invention.

[Explanation of symbols]

 1 ... Tracking control means 2 ... Tracking information number monitoring means 3 ... Tracking correctness monitoring means 4 ... Tracking inspection pallet loading / unloading section 5 ... Tracking inspection pallet detection section 6 ... Tracking information storage section

Claims (1)

[Claims] 1. A tracking control device for tracking control of a load on a conveyor or an automated guided vehicle, a pallet for a tracking inspection pallet provided in a tracking control zone which is a target of the tracking control device, and the tracking inspection from the hangar. Inspection pallet loading / unloading section for loading or unloading a pallet for tracking, tracking information monitoring means for determining a time required for unloading and requesting unloading, and a tracking inspection zone provided at an exit point of the tracking control zone. A pallet arrival detection unit for tracking inspection that detects arrival of pallets, a tracking information storage unit that stores tracking information tracked by the tracking control, the tracking information, and a detection signal of the tracking inspection pallet. Thus a tracking validity judging means for judging the validity of the tracking, the tracking control and monitoring apparatus comprising; and a tracking validity display unit to display the contents of the tracking validity judging means.