JPH06237512A - Speed control method for truck running on rail - Google Patents

Abstract

PURPOSE:To obtain a speed control method for a truck running on rails which makes it possible for the truck to run under a proper control according to an anticipated speed pattern, to run also safely while checking up the presence or absence of abnormality and to stop correctly at a target position and, besides, which saves the cost of materials and equipment. CONSTITUTION:The distance from a start point of a truck 1 running on rails 9 is detected momentarily by an electro-optical distance meter 3 installed on the ground, and based on a detected value Lon thereof, a speed command set beforehand and corresponding to the position is given. Then, the position of a dog 4 provided along the rails 9 is detected by a photosensor 6 provided on the truck 1, so as to detect that the truck 1 approaches a target position, and a stop command is given at a proper timing after the detection.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control method for a rail traveling carriage.

[0002]

2. Description of the Related Art FIG. 7 is a perspective view showing a conventional speed control method for a truck which travels on a rail and conveys a cargo to a predetermined position. A truck 01 having a cargo 02 such as a strip coil is mounted on a rail 09. It is set up so that it can run freely, but this rail 0
A large number of dogs 04n, 04a, 04 on the road surface along 9
b, 04c ... are installed, and the carriage 01 has a position sensor 0 such as an optical sensor for detecting the dog positions of these.
6a and 06b are installed. Of these dogs, 04n is an address dog for detecting the traveling position of the carriage 01, 04a is a dog for detecting a steady speed range of the carriage 01, 04b is a dog for detecting a deceleration command position,
Reference numeral 04c is a dog for detecting the stop command position, and the position sensor 06 provided on the carriage 01 for each of these dog positions.
a, 06b, and the drive motor is controlled based on the detection signal to accelerate / decelerate the carriage 01 or stop the carriage 01.

As described above, according to the conventional method, a large number of dog positions installed along the rails are detected by the position sensor installed on the dolly, and the dolly position and the speed command position are confirmed based on the detected signals. Is to control the speed by controlling the drive motor by issuing a speed command as appropriate.
Since a large number of dogs and a plurality of position sensors are required, the equipment cost is high, and it takes a lot of time to install the dogs on the road surface. Furthermore, since there is no means for detecting the actual vehicle speed in each traveling section (for example, steady traveling section, deceleration traveling section, etc.), it is not possible to grasp how much difference there is between the commanded speed and the actual speed. Or, even if an abnormality occurs in the speed control system, this cannot be detected, and there is a problem in terms of safe traveling of the truck.

[0004]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances, in which the carriage travels while being properly controlled in accordance with the desired speed pattern, and while confirming whether or not there is an abnormality. An object of the present invention is to provide a speed control method for a rail traveling carriage that can travel safely and stop correctly at a target position and also saves material costs and equipment costs.

[0005]

To this end, the first aspect of the present invention is to detect the distance from the start point of a truck traveling on a rail momentarily by a distance sensor installed on the ground and based on the detected value L _n . Then, the speed command corresponding to the predetermined position is issued, and then the position sensor installed on the truck detects the position of the dog installed along the rail and detects that the truck approaches the target position, and the detection It is characterized in that a stop command is issued later at an appropriate timing.

A second aspect of the invention is to detect a distance from a starting point of a truck traveling on a rail by a distance sensor installed on the ground, and set the position at a predetermined position based on the detected value L _n. In addition to issuing a corresponding speed command, the position sensor installed on the truck detects the dog positions installed at a plurality of predetermined positions along the rail, compares the dog position L ₀ with the detection value L _n , and finds the difference. It is characterized in that traveling is continued when it is zero or less than the specified value ΔL, and a stop command is issued when it is more than the specified value ΔL.

A third aspect of the invention is to detect the distance from the start point of the truck traveling on the rail momentarily by a distance sensor installed on the ground and set the position to a predetermined position based on the detected value L _n. In addition to issuing a corresponding speed command, the position sensor installed on the truck measures the time Δt ₀ required to pass between a pair of dogs installed at a plurality of predetermined positions at predetermined intervals ΔL ₀ along the rail. The trolley speed v ₀ is calculated, and the actual trolley speed v ₀ is compared with the command speed v. If the difference is zero or less than the specified value Δv, the vehicle continues traveling, and if it is more than the specified value Δv, a stop command is issued. It is characterized by issuing.

[0008]

In the speed control method for the rail traveling carriage according to the present invention, the distance from the starting point of the carriage is detected momentarily by the distance sensor, and the speed command prescribed corresponding to the position is issued based on the detected value. The truck travels at the command speed, and the position sensor installed on the truck detects the dog position and detects that the truck approaches the target position.After that detection, a stop command is issued at an appropriate timing. The dolly will stop correctly at the target position.

Further, in the method of the present invention, the position confirmation dog provided on the road surface is detected by the position sensor installed on the truck, and the dog position L ₀ and the detected value L _n are compared with each other so that the difference is zero or prescribed. When the value is less than or equal to ΔL, traveling continues, and when it is more than the value ΔL, a stop command is issued and the dolly stops,
Alternatively, the time Δt ₀ required to pass through the pair of speed confirmation dog intervals ΔL ₀ provided on the road surface is measured and the truck speed v
₀ is obtained, the actual speed v ₀ is compared with the commanded speed v, and if the difference is zero or less than the specified value Δv, the traveling is continued, and in the above case, a stop command is issued and the truck stops. To do.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, an embodiment of a speed control method for a rail traveling carriage according to the present invention will be described. FIG. 1 is a schematic view of an embodiment of the first invention, and FIG. 2 is a line showing a speed pattern of the carriage in the same as above. FIG. 3 is a flow chart showing a speed control procedure, FIG. 4 is a schematic diagram of one embodiment of the second and third inventions,
FIG. 5 is a flow chart showing a speed control procedure in the second invention, and FIG. 6 is a flow chart showing a speed control procedure in the third invention.

First, in FIG. 1 of the first aspect of the invention, a trolley 1 having a coil 2 mounted thereon is movably installed on a rail 9 via wheels 1a. An optical distance meter 3 is installed at the starting point a of the carriage 1, and by projecting and reflecting light on a reflection mirror 3a provided on the carriage 1,
The traveling distance L from the carriage position a _{1, that} is, the starting point a is detected moment by moment. Further, a dog 4 is installed on the road surface along the rail 9 slightly before the transport target position c of the coil 2, and by detecting the dog 4 position with an optical sensor 6 mounted on the truck 1, the truck 1 is moved. It can be detected that the stop command position (distance L ₀ from the start point a) before the target position, that is, the stop position c, is reached by a predetermined distance. The detection signals from the light-wave distance meter 3 and the optical sensor 6 are sent to the arithmetic unit 7 one by one and fed back to the truck drive motor 5 via the control unit 8 to appropriately control the speed of the truck 1.

FIG. 2 shows a speed pattern until the carriage 1 that has departed from the starting point stops at the target position in this way.
The vertical axis represents the vehicle speed and the horizontal axis represents the elapsed time. That is, the trolley 1 started at time t ₀ gradually increases in speed, reaches the steady speed v ₁ at time t ₁ , and then reaches the same speed v ₁
At t ₂ when the target position comes close, the vehicle decelerates in response to a deceleration command, and after traveling at low speed (creep speed) v ₂ from the time t ₃ , the stop command is received at t ₄ immediately before the target position. Stop at the target position at the _5th point. In this case, the steady speed v ₁ and the creep speed v ₂ are preset in consideration of the product load amount and the like, and the rising time (t ₀ −
t ₁ ), deceleration time (t ₂ −t ₃ ) and stop time (t ₄ −
t ₅ ) can be predicted from the amount of product load, traveling speed, etc.

Thus, in FIG. 1, the lightwave distance meter 3 detects the position of the vehicle, that is, the traveling distance L from the start point a, and the vehicle speed at that position, for example, between the time points t ₁ and t ₂ is detected based on the detection signal. Outputs a speed command so as to attain a steady speed v ₁ , a deceleration command when the deceleration start position b, that is, time t ₃ is reached, and a speed so that the creep speed is v ₂ between time t _{3 and} time t _4. Issue a command,
Further, by detecting the dog 4 by the optical sensor 6, that is, by issuing a stop command when the time point t ₄ is reached, the trolley 1 travels in the desired speed pattern and can be accurately stopped at the target position.

The speed control procedure of the trolley 1 will be further described with reference to the flowchart shown in FIG. 3. First, when the trolley 1 departs from the start point a, the distance L between the start point a and the trolley position a ₁ is incremented by the lightwave distance meter 3. The detected signal is sent to the arithmetic unit 7, and a speed command corresponding to the detected value L _n is issued via the control unit 8. By this command, the drive motor 5
Are controlled so that the carriage 1 travels at a command speed, for example, v ₁ .
When detecting that the trolley 1 has reached the deceleration position b from the detection value L _n , a deceleration command is issued, the trolley 1 is decelerated by the same procedure as above, and travels a little at the creep speed v ₂ , and then the optical sensor 6 is used. When the dog 4 is detected and it is detected that the dolly 1 has approached the target position, that is, the stop position c, a stop command is issued at an appropriate timing after the detection, whereby the dolly 1 can be correctly stopped at the target position c. . In the above description, even if there is some deviation in the steady speed range, creep speed range, deceleration start position b, etc. of the bogie 1, there is no problem in traveling, so the actual bogie position L and the detected value L by the lightwave rangefinder 3 This can be tolerated even if there is some error between _n . On the other hand, the stop command position, which requires high accuracy, is detected as the dog 4 position by the optical sensor 6, so there is no detection error, and since the creep speed is low, the carriage 1 can be stopped with high stop accuracy.

Next, in FIG. 4 of the second and third inventions, a carriage 1 having a coil 2 mounted thereon is movably installed on a rail 9 via wheels 1a. A lightwave rangefinder 3 is installed at the starting point a of the trolley 1.
By projecting / reflecting light on the reflection mirror 3a provided above, the traveling distance L from the carriage position a _{1, that} is, the start point a is detected moment by moment. Also rail 9
A plurality of dogs 4a, 4b and 4A, 4 on the road surface along
B and the like are installed, and the traveling position of the truck 1 is detected by detecting the dog positions of these dogs with an optical sensor 6 mounted on the truck 1. Among them, the dog 4a is a dog for checking the traveling distance of the carriage 1, the dog 4b is a dog for stopping instruction, and the pair of dogs 4A and 4B installed at a predetermined interval ΔL ₀ is a dog for measuring traveling speed. . The detection signals from the lightwave distance meter 3 and the optical sensor 6 are sent to the arithmetic unit 7 to calculate the actual traveling distance or traveling speed, which is fed back to the truck drive motor 5 via the control unit 8 as appropriate. It is designed to control the speed.

Therefore, the speed control of the carriage 1 is performed according to the speed pattern shown in FIG.
The traveling position L from the starting point a is detected by the moment, and based on the detection signal, the vehicle speed at that position, for example, the steady speed v ₁ from time t _{1 to} time t _2.
When the optical sensor 6 detects the dog 4a, the dog position L ₀ is compared with the detection value L _n to confirm the position, or a pair of dogs 4A and 4B is detected and installed. Time Δt required to pass the interval ΔL _0
The traveling speed v ₀ is obtained from ₀ , the measured speed v ₀ is compared with the command speed v to check the speed, and when the deceleration start position b, that is, the time point t ₃ , is reached, the deceleration command is issued, and from the time point t _{3 to the} time point t _{3. The} truck 1 confirms the position and speed by issuing a speed command so that the creep speed is v ₂ during the _4th point of time, and further detecting the dog 4b by the optical sensor 6, that is, issuing a stop command when the time point of t ₄ is reached. While driving, the vehicle can safely drive at the desired speed pattern and accurately stop at the target position.

Furthermore, the position confirmation traveling control procedure of the truck 1 will be described with reference to the flow chart shown in FIG. 5. First, when the truck 1 departs from the start point a, the distance L between the start point a and the truck position a ₁ is the optical distance meter 3. Is detected momentarily by the detection device, the detection signal is sent to the arithmetic unit 7, and the detection value L _n is transmitted via the control unit 8.
In response to this command, the drive motor 5 is controlled and the carriage 1 travels at the commanded speed, for example, v ₁ . And when it is detected that the carriage 1 has reached the dog-4a position by light sensor 6, and the detected value L _n and the dog 4a position L ₀ are compared, where the difference L _n -L
_{When 0} is zero or smaller than the specified value ΔL, the traveling is continued. When the trolley 1 reaches the deceleration position b, the detected value L
_When it is detected from _n , a deceleration command is issued, the trolley 1 is decelerated by the same procedure as above and travels a little at the creep speed v ₂ , then the dog 4b is detected by the optical sensor 6 and the trolley 1 is stopped at the target position or stop position c. When it is detected that
After the detection, a stop command is issued at an appropriate timing, whereby the truck 1 stops correctly at the target position c.

However, the detected value L _n and the dog 4a position L
_When the difference L _n −L _{0 from 0} is larger than the specified value ΔL, it is determined that some abnormal situation, for example, a failure of the lightwave distance meter 3 or a failure of the control system equipment occurs, and immediately issues a stop command. By stopping the truck 1, a major accident can be prevented in advance. The dog 4 for checking the running position
a is installed not only in one place in the steady speed range as described above, but also in multiple places, and also in the creep speed range, and the position confirmation (abnormality detection) is performed according to the above procedure, so that safer traveling of the cart is possible. Can be secured.

The speed confirmation traveling control procedure of the truck 1 will be described with reference to the flow chart shown in FIG. 6. As described above, the distance L between the starting point a at which the truck ₁ starts and the truck position a ₁ is detected by the lightwave rangefinder 3 every moment. Then, the trolley 1 travels at the command speed v corresponding to the detected value L _n . And dogs 4A, 4
At the B position, the trolley 1 moves to the pair of dogs 4A-4.
The photosensor 6 detects that the light beam has passed ΔL ₀ between B, and a timer (not shown) measures the time Δt ₀ required for the passage.
And the data is sent to the arithmetic unit 7 to obtain the actual vehicle speed v ₀ . This measured speed v ₀ is compared with the commanded speed v, and when the difference v−v ₀ is zero or smaller than the specified value Δv, traveling is continued. When the vehicle is decelerated at the deceleration position b and the dog 4b position is detected in the same manner as described above, a stop command is issued at an appropriate timing after the detection, and the carriage 1 stops correctly at the target position.

However, when the difference v−v ₀ between the measured speed v ₀ and the commanded speed v is larger than the specified value Δv, it is determined that some abnormal situation, for example, a failure of the lightwave distance meter 3 or control system equipment has occurred. Then, immediately issue a stop command and trolley 1
It is possible to prevent major accidents by stopping. The speed check dogs 4A and 4B are installed not only in one place in the steady speed range as described above but also in multiple places, and also in the creep speed range, and the speed check (abnormality detection) is performed by the above procedure. It is possible to secure a safer trolley travel.

[0021]

According to the present invention, in summary,
With the configuration described in 2 and 3, the truck can be properly controlled and traveled according to the desired speed pattern, and can be safely driven while confirming whether there is an abnormality and can be properly stopped at the target position. The present invention is extremely useful industrially because a speed control method for a rail traveling carriage that saves material costs and equipment costs is obtained.

[Brief description of drawings]

FIG. 1 is a schematic view of an embodiment of the first invention.

FIG. 2 is a diagram showing a speed pattern of a truck in the above.

FIG. 3 is a flowchart showing a speed control procedure.

FIG. 4 is a schematic view of an embodiment of the second and third inventions.

FIG. 5 is a flowchart showing a speed control procedure in the second invention.

FIG. 6 is a flowchart showing a speed control procedure in the third invention.

FIG. 7 is a perspective view of a conventional speed control method.

[Explanation of symbols]

 1 dolly 2 coil 3 lightwave distance meter 4 dog 4a running distance confirmation dog 4b stop command dog 4A, 4B running speed measurement dog 5 drive motor 6 optical sensor 7 arithmetic unit 8 control unit 9 rail

Claims (3)

[Claims] 1. A distance sensor installed on the ground detects the distance from a starting point of a carriage traveling on a rail moment by moment and issues a speed command corresponding to a predetermined position based on the detected value L _n. Then, the position sensor installed on the truck detects the position of the dog installed along the rail to detect that the truck approaches the target position,
A speed control method for a rail traveling carriage, comprising issuing a stop command at an appropriate timing after the detection. 2. A distance sensor installed on the ground detects the distance from a starting point of a carriage traveling on a rail moment by moment, and issues a speed command corresponding to the predetermined position based on the detected value L _n. At the same time, the position sensor installed on the truck detects the dog positions installed at a plurality of predetermined positions along the rail, compares the dog position L ₀ with the detection value L _n, and the difference is zero or less than a specified value ΔL. The method for controlling the speed of the rail traveling vehicle is characterized in that the traveling is continued in the case of, and a stop command is issued when the value is equal to or more than the specified value ΔL. 3. A distance sensor installed on the ground detects the distance from a starting point of a truck traveling on a rail moment by moment and issues a speed command corresponding to a predetermined position based on the detected value L _n. At the same time, the position sensor installed on the carriage measures the time Δt ₀ required to pass between a pair of dogs installed at a plurality of predetermined positions along the rail at a predetermined interval ΔL ₀ to obtain the carriage speed v ₀ . ,
The actual vehicle speed v ₀ is compared with the commanded speed v, and when the difference is zero or less than the specified value Δv, the traveling is continued,
A speed control method for a rail traveling vehicle, wherein a stop command is issued when the value is equal to or greater than a specified value Δv.