JPH06261425A - Carrier controller - Google Patents

Abstract

PURPOSE:To allow easy regulation of the running speed of carrier even if the scale of carrying system is enlarged and the number of carriers is increased. CONSTITUTION:A lower control section, i.e., a linear motor controller 37, comprises means for setting the distance between stators in its own control zone, means for setting a target average speed, and a section 370 for operating the control speed of a carrier 1 within its own control zone based on information of the speed of the carrier 1 entering into its own control zone, information of control zone on the downstream side, information from means for setting the distance between stators, and information from means for setting the target average speed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer control device for transferring an article by a plurality of automatic guided vehicles.

[0002]

2. Description of the Related Art As is well known, in office-automated and factory-automated buildings and factories, there are multiple stations within a building or between stations.
Vouchers, documents, cash, samples, workpieces and parts (below,
An unmanned conveying device (hereinafter referred to as a conveying device) conveys a conveyed object.

In order to convey a conveyed object quickly and quietly, this conveying device adopts a method of supporting and traveling a conveying vehicle in a non-contact manner with a guide rail, and for this reason, air pressure and magnetic force are used. Among them, the method of supporting by magnetic force is excellent in trackability to the guide rail and noise reduction, and is widely used.

In such a transfer device, a plurality of transfer vehicles, a plurality of stations for loading and unloading an object, a transfer path on which the transfer vehicles installed between the stations travel, and a travel control of each transfer vehicle. And a transport control device for assigning a transport vehicle to a transport request from each station. This transfer control device receives signals sent from each station, sequentially assigns waiting transfer vehicles, and automatically performs transfer processing of a transfer object between a plurality of stations (Japanese Patent Laid-Open No. 63-63). -148803, JP 63
-157602 reference).

FIG. 5 is a perspective view showing the arrangement of a conventional carrier device. In FIG. 5, the transport device includes a transport path 10, a plurality of stations 20, and a charging station 2 which will be described later in detail.
1, a loading / unloading station 22, a maintenance station 23, a local control device 24, a control device 25, and the like.

Of these, the conveying path 10 has two parallel sides and an oval-shaped main line portion whose both ends are connected by a curved branching unit 13, and a plurality of rotary branching units 15 from the main line portion. It consists of branch lines that will be described later, of which
Two parallel sides of the main line portion are formed by connecting a plurality of linear track units 11.

Linear track units 11 are connected to one side of the main line portion (on the left rear side in FIG. 5) via two sets of rotary branch units 15, and one of them is directly connected to the linear track unit 11 on one side. The linear track unit 11 is connected, and the straight track unit 11 on the other side has a T-shaped right-angle branch unit 14
Long and short linear track units 11 are connected to each other through a branch line portion.

On the other side of the main line section (on the right front side in FIG. 5), a linear track unit 11 and a branch line section which is U-shaped with two curved tracks are connected via two sets of rotary branch units 15. Further, a branch line portion of two linear track units 11 connected in series is connected via a set of rotary branch units 15.

At the left end of the main line portion in FIG. 5, two sets of cross branch units 16 are connected in series via a curved branch unit 13, and two sets of charging stations 21 are connected to each cross branch unit 16. A loading / unloading station 22 is connected to the ends of the two sets of cross branching units 16. The straight track unit 11 and the curved branch units 12 and 13 are shown in FIG. 6 for detecting passage of the carrier vehicle 1 traveling on the carrier path 10.
A plurality of passage detectors, which will be described later, a detector for detecting a passage speed (hereinafter collectively referred to as a passage / passage speed detector), and a carrier identification code detector are arranged.

A maintenance station 23 is installed at the right end of the main line portion via a curved branching unit 13, and a control device 25 is adjacent to the maintenance station 23. On the branch line on the left side of the main line, the local control unit 24 and station
Twenty are installed next to each other, and stations are installed at the ends of these branch lines.
A station 20 is also arranged at the tip of the short linear track unit 11 connected to the right-angle branching unit 14.

The U-shaped branch line on the right side of the main line has a local control unit 24 and a station 20 adjacent to each other,
A single station 20 is provided at four locations, and a branch line on the side of the maintenance station 23 is provided with a local control device 24 and a station 20, which are adjacent to each other, and a single station 20. It should be noted that power supply equipment and members supporting the transport path 10 are omitted.

[0012] In the conveying apparatus thus constructed, the linear track unit 11, the curved branching units 12, 13 and the right-angled branching unit 14, the cross branching unit 16, and the rotary branching unit 15 are installed by changing the combination. It is unitized so that it can easily respond to changes in the layout of factories and offices.

On the other hand, the control unit 25 is provided with the main vehicle carrier 1.
The main line controller for controlling the operation of the vehicle, and the transfer controller for controlling the operation of the entire transfer device and the flow of the transfer object and the charge of the transfer vehicle 1 described later are stored. Also,
The charging station 21 charges the storage battery of the transport vehicle 1, and the loading / unloading station 22 loads and unloads a transport object between a warehouse (not shown) and the transport vehicle 1, and the local control device 24
Controls the operation of the transport vehicle 1 on each branch line and manages the transported items. Further, each station 20 and the charging station 21 are provided with an interface described later with reference to FIG. 6, and each station 20 is instructed by each local control device 24 to unload and unload a transport object and a transport vehicle. Also charge.

FIG. 6 is a block diagram showing the configuration of the control system of the carrying device shown in FIG. In FIG. 6, the transport control controller 31 that is housed in the control device 25 shown in FIG. 5 and manages the entire transport device receives a transport request from a higher-level physical distribution management system 30, such as a production management system in a manufacturing factory. In response to the transfer request, a load instruction, a start instruction, and a load / unload instruction are issued to the local controller 32 housed in the local control device 24 shown in FIG.

Then, the local controller 32 controls the transfer machine 34 via the station controller 33 housed in the corresponding station 20 to transfer the transferred article to the transfer vehicle 1 or transfer from the transfer vehicle 1. Further, the linear motor 39 is driven via the linear motor controller 37 and the inverter 38 to drive the transport vehicle 1 to start and run.
The transport vehicle 1 on which the transport object is mounted and the empty transport vehicle 1 are accelerated and decelerated by a linear motor 39 via a linear motor controller 37 and an inverter 38 in accordance with a predetermined traveling pattern in response to a signal from a passage / passage speed detector 36. .

The traveling position and speed of the transport vehicle 1 are monitored by the passage / passage speed detector 36 and the transport vehicle identification code detector 40 arranged on the transport path, and the local controller 32 directs the corresponding linear motor controller 37. It issues acceleration / deceleration commands and stop commands for the carrier 1. Information of the carrier identification code detector 40 and the vehicle detector 41 is transmitted to the carrier general controller 31 as the location information of the carrier 1.

On the other hand, a terminal 42 or a bar code reader 45 is installed in each station 20, and an operator may operate it to issue a transportation request.

Each charging station 21 and each station 20
Charging device 43 and carrier interface 8
Receives a signal such as the vehicle number information from the transport vehicle 1 or a request for charging the installed storage battery, the local controller 32 and the station controller 33 control the charging device 43 according to the instruction of the transport overall controller 31, Charge the storage battery.

In such an unmanned conveying apparatus, a linear motor 39 is provided along the guide rails on which the conveying vehicle 1 travels.
When the carriage 1 is mounted below the linear motor 39 and the carriage 1 is mounted on the side of the carriage 1, the linear motor 39 is excited to control acceleration, deceleration, stop, etc. It is carried out.

In order to efficiently drive a plurality of carrier vehicles 1, a command relating to the travel of the carrier vehicles 1 is provided for each control zone divided so as to include one stator distributed along the guide rails. Transfer controller that generates
Reference numeral 31 is a so-called upper control unit, a sensor for detecting the position and speed of the carrier vehicle 1 for each control zone, and a homogeneous control unit for a plurality of control zones provided in each control zone and in the traveling direction of the carrier vehicle. And based on the command from the host controller,
By providing the linear motor controller 37 for controlling the traveling of the guided vehicle 1 in the own control zone as a lower control unit, the guided vehicle 1 is continuously accelerated and decelerated in a plurality of control zones (Japanese Patent Laid-Open No. 63-148803). (See Japanese Patent Laid-Open No. 63-186506).

FIGS. 7 and 8 are explanatory views showing an example of traveling speed setting and traveling speed control of the guided vehicle by the linear motors 39 employed in the carrying control device thus configured. In the conventional transfer control device, the traveling speed of the transfer vehicle 1 is set by each linear motor 39 by giving a common target speed to the subordinate control unit group.

[0022]

However, in this case, when the distance between the linear motors 39 is different, the broken line A in FIG.
As shown in 1, the traveling speed at the time of approaching the lower side of the linear motor 39 is likely to vary, and if the linear motor 39 attempts to control the traveling speed corresponding to the target speed, the vehicle accelerates rapidly as shown by the broken line B1. In some cases, sudden deceleration is required, and the acceleration of the carrier 1 is large.

FIG. 8 is an example in which, taking such a problem into consideration, individual target speeds are given to the subordinate control unit groups to control the traveling speed of the carrier vehicle 1 by each linear motor 39. . In this case, in order to determine each target speed, a tentative target speed is set in advance as indicated by a broken line A2, and a test run is performed based on this tentative target speed to measure the running speed of the carrier vehicle 1. The target speed of each subordinate control unit group was determined by trial and error by finely adjusting the temporary target speed. However, according to this method, as shown by the broken line B2 in FIG. 8, the variation in acceleration can be reduced, but (1) the traveling speed is measured by performing a test traveling of the guided vehicle based on the provisional target speed. Since the final target speed is determined, it takes time and effort to measure the traveling speed of the carrier vehicle. Therefore, as the scale of the unmanned conveying device increases and the number of linear motors increases, the time for adjusting the traveling speed increases.

(2) Further, when trying to measure the traveling speed of the guided vehicle over a plurality of control zones, the corresponding distance becomes long, and it becomes difficult to measure the traveling speed of the guided vehicle accurately and record or display it. .

The present invention has been made in view of the above problems, and an object thereof is to run a carrier vehicle over a plurality of control zones even when the size of an unmanned carrier device increases and the number of linear motors increases. It is an object of the present invention to provide a transfer control device capable of accurately measuring a speed and easily adjusting a traveling speed of a transfer vehicle.

[0026]

According to a first aspect of the present invention, there is provided a host controller for integrally controlling a plurality of transport vehicles traveling on a transport path controlled by a plurality of control zones, and a transport path for the control zone. It is equipped with a subordinate control unit that controls the traveling transport vehicle,
The lower control unit is based on the information input from the means for setting the target average speed of the transport vehicle traveling on the transport path of the own control zone and the means for setting the distance of the own control zone. And a means for controlling the speed of the transport vehicle traveling on the transport path.

According to a second aspect of the present invention, an upper control section for supervising a plurality of transport vehicles which travels along a transport path divided into a plurality of control zones and provided with stators of linear motors, and the inside of the control zone are provided. A lower control unit for controlling the traveling vehicle is provided, and this lower control unit has means for setting the distance of its own control zone, means for setting the target speed of the vehicle in its own control zone, and Means for calculating the control speed of the carrier vehicle within its own control zone based on the speed information of the carrier vehicle entering the carrier path, the information input from the means for setting the distance between the stators and the means for setting the target It is characterized by having.

According to a third aspect of the present invention, a host controller for controlling a plurality of transport vehicles traveling on a transport path divided into a plurality of control zones and provided with a stator of a linear motor, and the inside of the control zone are provided. A lower control unit for controlling the traveling vehicle is provided, and this lower control unit has means for setting the distance of its own control zone, means for setting the target speed of the vehicle in its own control zone, and Means for calculating the control speed of the vehicle within its own control zone, based on the speed information of the vehicle entering the transportation path, the means for setting the distance between the stators, and the information input from the means for setting the target; , A means for displaying the traveling information of the plurality of transport vehicles by inputting information of the entry speeds of the plurality of transport vehicles into the transport path and the traveling speeds in the transport paths input from the plurality of lower control units. Characterize.

[0029]

According to the first aspect of the invention, the transport vehicle is controlled by the means for controlling the transport vehicle traveling on the transport path of the self control zone based on the distance of the self control zone and the target speed.

Further, in the invention described in claim 2,
The transport vehicle is controlled by means for calculating the control speed of the transport vehicle traveling on the transport path of the self control zone based on the distance of the self control zone, the target speed and the approach speed.

Further, in the invention according to claim 3, the means for calculating the control speed of the transport vehicle traveling on the transport path of the self control zone based on the distance of the self control zone, the target speed and the approach speed, The transport vehicle is controlled by the lower control unit, and the traveling states of the plurality of transport vehicles are displayed by the higher control unit.

[0032]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the transport control device of the present invention will be described below with reference to the drawings. In the following description, the same reference numerals as those in FIGS. 5 and 6 denote the same elements.

FIG. 1 shows the main part of the transfer control device of the present invention. The linear motor controller 37 shown in FIG.
FIG. 3 is a block diagram showing a detailed configuration of a mutual relationship among a passing speed detector 36, an inverter 38, a linear motor 39, and a carrier vehicle 1. In FIG. 1, the linear motor controller 37 is
Linear motor controller of the same type in front of the self-control zone 37
From A to the condition 374 of the front control zone, that is, presence / absence of the carrier vehicle in the front control zone,
Information 373 on the approach speed to the linear motor 39 of the transport vehicle 1 is received when the information such as abnormality is received, and the passing / passing speed detector 36
Based on the information of the distance 371 between the linear motor stators set and the set target average speed 372 in the self-control zone, the control speed 375 of the carrier vehicle 1 in the self-control zone is input. The speed control calculation unit 370 calculates and controls the inverter 38 to excite the linear motor 39 to accelerate and decelerate the carrier 1.

The following is the control speed calculation by the control speed calculation unit 370.
This is an arithmetic expression for calculating 5. Thrust F (v, x) of the transport vehicle 1 receives from the linear motor 39, F (v, x) = g (x) x 2 K 1 s / (K 2 s 2 + K 3) ... (1) Here, _{K 1 = 3F 1 F 2,} K 2 = 2F 1 -F 2, K 3 = 4F 2
_{-2F 1, x = V 1 /} V r V 1: inverter output voltage V _r: a linear motor Rated voltage F _1: Rated voltage V when the linear motor slip s is 1
Linear motor generated thrust force at _r F ₂ : Rated voltage V when slip s of linear motor is 2
Linear motor generated thrust at _r g (x): The ratio of the thrust received by the carrier 1 to the thrust generated by the stator whose entire length is covered by the mover.

On the other hand, the running resistance F _d (ν) of the carrier vehicle 1 is: F _d (ν) = aν ² + bν + c (2) where a, b, c: air resistance received by the carrier vehicle 16 to be sent or Constants such as magnetic resistance of linear motor ν: speed of carrier vehicle Therefore, the equation of motion of carrier vehicle 1 can be calculated from Eqs. (1) and (2) as follows: Mdv / dt = F (v, x) −F _d (ν) (3) Here, M: gross weight of the carrier 1 (reference document: Japan Society of Electrical Engineers, Magnetics Research Group material MAG-87-49) From the above, solve equation (3), which is the equation of motion of the carrier 1. As a result, the traveling speed of the guided vehicle 1 accelerated and decelerated by the linear motor 39 can be obtained.

Next, the operation of the present invention will be described with reference to FIGS. FIG. 2 is an explanatory diagram for explaining calculation of the control speed 375 of the carrier vehicle 1.

Here, V _in : the carrier 1 to the linear motor 39 _{in the} self-control zone
Approach speed V _out of: escape velocity of the transport vehicle 1 from the linear motor 39 of its own control zones V _OUTMAX: escape velocity of transport vehicle 1 at maximum acceleration in the linear motor 39 of its own control zones V _OUTMIN: Linear own control zone Escape speed of the vehicle 1 at the minimum acceleration by the motor 39 V _1in : Vehicle 1 to the linear motor 39 in the next control zone
_Approach speed V _1inMAX : Car 1 to the linear motor 39 in the next control zone
_Approach speed (at maximum acceleration) V _1inmin : Vehicle 1 to linear motor 39 in the next control zone
_Approach speed (at the minimum acceleration) V _a : Target average speed of the carrier 1 V _aMAX : Average speed of the carrier 1 (at the maximum acceleration) V _amin : Average speed of the carrier 1 (at the minimum acceleration)

In FIG. 2, when the approach speed V _in of the guided vehicle 1 to the linear motor 39 in the self-controlled zone is given, the linear motor 39 in the self-controlled zone escapes at the time of maximum acceleration and minimum acceleration of the guided vehicle. speed V respectively _OUTMAX, can be determined as V _OUTMIN, further from the distance information 371 between the linear motor stators, which are set, the linear motor of the next control zone
Approaching speed V to the 39 at maximum acceleration and minimum acceleration of the vehicle 1
_1inMAX and V _1inmin are calculated by solving the equation of motion of equation (3).

Further, the average speed V of the carrier 1 at this time
_aMAX, V _amin is, escape velocity _V outMAX, and _V outmin, approach speed _V 1inMAX of the next control zone, is calculated from the _V 1inmin. Therefore, based on the information of the set target average speed V _a in the own control zone, the approach speed V to the linear motor 39 in the next control zone when the carrier 1 travels at the target average speed
_{1 in} is proportionally calculated, and as a result, the escape speed V _out of the carrier 1 from the linear motor 39 in the own control zone is (3)
It can be calculated back by solving the equation of motion. Finally, the carrier 1 having the approach speed V _in is moved to the target average speed V _a.
Calculate the escape speed V _out to drive at
You can decide 375.

FIG. 3 is a flow chart showing the processing performed by the linear motor controller 37 after the transport vehicle 1 has entered its own control zone. In FIG. 3, in step 101, the condition 374 of the front control zone, that is, the presence / absence of a carrier vehicle in the front control zone, the normality / abnormality of the controller, etc. are received from the same type linear motor controller 37 in front of the self control zone. .

In step 102, the progress of the guided vehicle 1 is determined based on the information input in step 101. Progress judgment includes passage (acceleration), passage (deceleration), and stop (self-control zone). Depending on the judgment, the process proceeds to step 103, step 104 and step 105, respectively.

In step 103, when there is no other carrier vehicle 1 in the front control zone and the linear motor controller 37 in the front control zone is normal, the control speed for passing (accelerating) the carrier vehicle 1 is calculated. I do.

Information 373 on the approach speed of the carrier 1 to the self-controlled zone, the distance 371 between the linear motor stators of the self-controlled zone and the traveling direction control zone, and the target average speed 372 in the self-controlled zone from the carrier 1 The control speed of 375 is calculated.

In step 104, the vehicle 1 is passed (decelerated) to stop the vehicle 1 in the front control zone.
The control speed is calculated for this purpose. Similar to step 103, the control speed 375 of the carrier 1 is calculated.

In step 105, when there is another transport vehicle 1 in the front control zone or the linear motor controller 37 in the front control zone is abnormal, the control speed for stopping the transport vehicle 1 in its own control zone. Is calculated.

In step 106, the output to the inverter 38 is performed according to the control speed 375 calculated in steps 103 to 105.

In this way, the condition 37 of the forward control zone is
4 and information about the approach speed to the linear motor 39 of the carrier vehicle 37
3 and the distance 371 between the linear motor stators and the information of the target average speed 372 in the self-control zone, the control speed 375 of the carrier vehicle 1 in the self-control zone can be determined by calculation.

In the above embodiment, the approach speed V _in of the carriage 1 to the linear motor 39 in the next control zone is calculated by solving the equation of motion of the carriage 1, but it is calculated in advance from the equation of motion. It may be configured to have the data, or may be configured to carry out a test run of the transport vehicle 1 in advance to obtain travel data and to have this data.

Further, in the present embodiment, the control speed of the carrier 1 is calculated based on the target average speed in the self-control zone, but it may be determined based on the target average acceleration. It may be determined based on both the target average acceleration.

Although the present invention has been described with respect to the case where the traveling control of the floating type automatic guided vehicle is performed, the present invention can be applied to other similar conveying devices such as a wheel-driven linear motor car.

Next, FIG. 4 is a block diagram showing an example of the transport control device of the present invention as set forth in claim 3 for measuring, recording and displaying the traveling speed of the transport vehicle 1 over a plurality of control zones.

Transfer control controller 31 which is a higher-level control unit
Is a linear motor controller group 37a which is a lower order control unit.
From 37d, the traveling information of the guided vehicle 1, that is, the entry speed of the guided vehicle 1 to the linear motor 39 in the self-control zone, the exit speed from the linear motor 39 in the self-controlled zone, and the acceleration received from the linear motor 39 in the self-controlled zone Etc. data is received. The results are arranged and edited by the transfer control controller 31, and displayed on the operation / display unit 51 of the transfer control controller 31 as a graph as shown in FIGS. 7 and 8.

As a result, based on the traveling information of the guided vehicle including the entry, passing speed, and acceleration of the guided vehicle from the plurality of lower control units, the upper control unit records the traveling information of the guided vehicle across the plurality of control zones, The information can be displayed, the information can be easily and reliably provided, and the traveling speed of the carrier can be easily adjusted.

[0054]

As described above, according to the invention of claim 1,
A lower control unit is provided with a higher-level control unit that integrally controls a plurality of transport vehicles that travel on a transport path controlled by multiple control zones, and a lower control unit that controls a transport vehicle that travels on the transport routes of the control zone. Travels in the transport route of its own control zone based on the information input from the means for setting the target average speed of the transport vehicle traveling in the transport route of its own control zone and the means for setting the distance of its own control zone. By providing a means for controlling the speed of the carrier vehicle, the speed of the carrier vehicle traveling on the carrier path is controlled from the distance of the own control zone and the target speed. Even if the number of transport vehicles increases, it is possible to obtain a transport control device that can easily adjust the traveling speed of the transport vehicles.

According to the second aspect of the present invention, there is provided a host control unit for supervising a plurality of transport vehicles traveling on a transport path divided into a plurality of control zones and provided with stators of linear motors. A lower control unit is provided for controlling the guided vehicle traveling in the control zone, and the lower control unit has means for setting the distance of its own control zone and means for setting the target speed of the guided vehicle in its own control zone. And the speed information of the carrier vehicle entering the carrier path, and the information entered from the means for setting the distance between the stators and the means for setting the target, the control speed of the carrier vehicle within the own control zone. By providing a means for calculating, the traveling speed of the guided vehicle entering the own conveying path is calculated by calculating the distance of the control zone and the traveling speed of the conveying vehicle traveling on the own conveying path from the target speed. Controlled, so even if the transport Even if the number of guided vehicles on the size of the increase in the location, it is possible to obtain a conveyance control device capable of easily adjusting the running speed of the transport vehicle.

Further, according to the invention of claim 3,
It is equipped with an upper control unit that controls a plurality of transport vehicles that travel on a transport path that is divided into a plurality of control zones and that has a stator of a linear motor, and a lower control unit that controls the transport vehicles that travel in the control zone. The lower control unit has means for setting the distance of its own control zone, means for setting the target speed of the carrier vehicle of its own control zone, speed information of the carrier vehicle entering the own carrier path, fixed Means for calculating the control speed of the carrier vehicle within its own control zone based on the information input from the means for setting the distance between the child and the means for setting the target;
Information on the entry speed of a plurality of transport vehicles into the transport path and the traveling speed in the transport path, which are input from a plurality of subordinate control units, is input.
By providing a means for displaying the traveling information of a plurality of transport vehicles, the transport speed of the transport vehicle entering the transport path of the transport vehicle can be determined based on the distance of the control zone of the transport vehicle and the target speed. While calculating and controlling the traveling speed of
Since the traveling state of each transport vehicle input from each subordinate control unit is displayed on the superordinate control unit, even if the number of transport vehicles increases due to an increase in the size of the transport device, the traveling speed of the transport vehicles can be easily adjusted. It is possible to obtain a transport control device that can be used.

[Brief description of drawings]

FIG. 1 is a block diagram showing a main part of a transfer control device according to the present invention.

FIG. 2 is a graph showing the operation of the transport control device of the present invention.

FIG. 3 is a flowchart showing the operation of the transfer control device of the present invention.

FIG. 4 is a block diagram showing the operation of the transport control device according to the third aspect of the invention.

FIG. 5 is a perspective view showing an unmanned conveyance device controlled by a conveyance control device according to the related art and the present invention.

FIG. 6 is a block diagram showing an example of a conventional transfer control device.

FIG. 7 is an explanatory diagram showing an operation of a conventional transfer control device.

FIG. 8 is an explanatory view showing an operation different from that of FIG. 7 of the conventional transfer control device.

[Explanation of symbols]

1 ... Transport vehicle, 31 ... Transport control controller, 32 ... Local controller, 33 ... Station controller, 37 ... Linear motor controller, 38 ... Inverter, 39 ... Linear motor, 370 ... Control speed calculation unit.

Claims (3)

[Claims] 1. A high-order control unit for integrally controlling a plurality of transport vehicles traveling on a transport path controlled by a plurality of control zones, and a low-order control unit for controlling the transport vehicles traveling on the transport path in the control zone. The lower control unit is based on the information input from the means for setting the target average speed of the transport vehicle traveling on the transport path of the self control zone and the means for setting the distance of the self control zone. A transport control device comprising means for controlling the speed of the transport vehicle traveling on the transport path in its own control zone. 2. A host controller that controls a plurality of transport vehicles that travel on a transport path on which a stator of a linear motor is arranged and is divided into a plurality of control zones, and a transport vehicle that travels in the control zone is controlled. And a means for setting the distance of its own control zone, a means for setting the target speed of the carrier vehicle of its own control zone,
Control of the guided vehicle in its own control zone based on the speed information of the guided vehicle entering its own transport path, the information input from the means for setting the distance between the stators and the means for setting the target A conveyance control device comprising means for calculating a speed. 3. A host control unit that controls a plurality of transport vehicles traveling on a transport path divided into a plurality of control zones and provided with a stator of a linear motor, and a transport vehicle traveling in the control zone. And a means for setting the distance of its own control zone, a means for setting the target speed of the carrier vehicle of its own control zone,
Control of the guided vehicle in its own control zone based on the speed information of the guided vehicle entering its own transport path, the information input from the means for setting the distance between the stators and the means for setting the target Means for calculating the speed, information on the entry speed of the plurality of transport vehicles into the transport path and the traveling speed in the transport path input from the plurality of lower control units are input, and A conveyance control device comprising means for displaying traveling information.