JPH0630523B2 - Transport control method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a transfer control method for a moving body, and particularly to a speed detection method thereof.

The present invention will be described below by taking a linear motor car transport system as an example.

The linear motor car as a transportation means has been attracting attention in recent years because it can be made compact and lightweight because it does not require a power source to be mounted on a carrier that is a moving body, and is particularly suitable for automatic transportation of documents, cash, etc. in offices. There is something.

The linear motor car is provided with a plurality of stators on the carrier path, a slider is provided on the carrier, and the carrier is caused to travel on the carrier path by the driving force induced in the slider by the action of the magnetic force generated by the excitation of the stator.

The stator is generally arranged at each station for loading and unloading conveyed items, but when the stations are long, they are also installed between them. Therefore, the carrier is driven at the departure station, further accelerated and decelerated by the intermediate stator, and stopped at the destination station to run without any external driving force.

When the carrier stops at the station, the stator in the station is reversely excited to decelerate, and when the carrier decelerates to a certain speed or less, the stopping stator is excited to stop.

Therefore, the speed detection accuracy and stop control of acceleration / deceleration are influenced by the speed detection accuracy of the carrier station. Especially, when a speed detection error occurs due to noise or the like, the speed control limit of the stator is deviated.

Therefore, there is a demand for a transport control method that detects a speed that is unlikely to be affected by noise or the like.

[Conventional technology]

A conventional speed detection method in the linear motor car transportation system will be described below.

First, referring to FIGS. 2 (a) and 2 (b), an outline of the linear motor car transportation system will be described below.

FIG. 2 (a) is a diagram showing the traveling mechanism of the carrier.
Is a support for supporting the storage box 3 for storing cash, etc., 5 is a guide for traveling on the rail 1 by rollers 6 and the like, 7
Is a slider which receives the driving force of the stator 2 and accelerates / decelerates the carrier when passing through the gap 8 of the stator 2.

As described above, the storage box 3, the support 4, the guide 5, the roller 6, and the slider 7 are integrated to form a carrier, and the upper surface and the inner side surface of the rail 1 are guided by the roller 6 and the like to run on the rail 1. ing.

Reference numeral 2 denotes a stator, which is installed between rails 1 such as a station for starting / stopping, and applies a driving force for stopping / starting / accelerating / decelerating the entering carrier to the slider 7.

As shown in FIG. 2 (b), the stator 2 is usually installed at a station for transferring and receiving conveyed goods, and together with a lift mechanism 9 for retracting from the rail 1, for example, the cash input device 1
0, built into the cash storage machine 11, etc.

Next, the speed detection mechanism will be described.

In Fig. 2 (a), to detect the carrier velocity,
Light source L and photodetector D on rail 1 in the station
A pair of speed detectors S1, S2, S3, S4 are provided, and a slit is provided on the side surface of the carrier guide 5. When the carrier passes through the speed detectors S1 to S4, the guide 5
Are arranged so as to transmit and block the light source L.

In the above speed detection mechanism, the speed detectors S1 to S4
Is connected to a station controller 11 that controls a carrier based on a command from the system controller 12 (FIG. 2 (c)), and the time for which the light source L is cut off or passed by the guide 5 is measured and converted into the speed of the carrier. To be done.

A conventional speed detection method will be described below.

FIG. 2 (c) is a block diagram showing the positional relationship between the speed detectors S1 to S4 and the guide 5 and the speed detecting portion of the station controller 11.

In the figure, the lengths of the shielding part m and the transmitting part n of the guide 5 are equal, that is, m1 = m2 = ..., n1 = n2 = ...
, And the speed detectors S1 to S4 are adjusted so that the relative relationship with respect to the slit portion of the guide 5 passing therethrough is the same. Therefore, even if each slit passes through a plurality of speed sensors at the same time, the outputs of the speed detectors S1 to S4 have the same phase.

Therefore, the ORs of the outputs of the plurality of speed detectors S1 to S4 are taken and used for speed detection. That is, the lengths of the shielding part m and the transmitting part n are known, and the time for passing through the interval is measured by a timer and converted into speed.

FIG. 2 (d) shows the outputs of the speed detectors S1 to S4, (1) is the output of S1, the high level represents the light transmission output, and the low level represents the shield output. . (2) ~
(4) is the output of S2 to S4, and (5) is the OR output of each output of S1 to S4. Further, (6) represents the speed detection time.

In the station controller 11 of FIG. 2 (c),
The output of S1 to S4 is ORed by the OR (16) 11b, and the output signal thereof is composed of a microprocessor or the like 1
The interrupt signal of 1a and the count enable (enable) signal of the counter 11d are used. That is, counter 1
1d counts the clocks generated by the clock generator 11c during the light transmission period.

The control unit 11a is activated by the fall of the interrupt signal, reads the contents of the counter 11d, and then the counter 1
Clear 1d. Subsequently, the control unit 11a converts the count value into a speed and controls the stator and the like.

That is, detecting the entrance of the shield and clearing the counter 11d,
The counter 11d is operated during the transparent period.

[Problems to be solved by the invention]

As described above, according to the conventional method of ORing the output of each speed detector, if the positional relationship of each speed detector is broken even a little, the time interval becomes wide and does not become constant, so that the speed detection There is a problem that the error occurs, and as shown in B of FIG. 2 (d), there is a problem that the chance of noise is increased and a speed error is generated.

In order to solve such a problem, it is possible to judge whether it is an interrupt from the original speed detector from the OR output and select the speed detector. However, for the judgment processing, speed calculation is performed. There is a problem that control is not in time.

[Means for solving problems]

The above-mentioned problems are caused by passing the conveyance path, a station in which a plurality of speed detectors having a signal generating means and a signal detecting means for detecting the signal are arranged at predetermined intervals along the conveyance path, and passing through the speed detector position. When the moving body is provided with the shielding plate having a plurality of slits for repeatedly blocking and passing the signal, the signal generated from the speed detector is blocked between the slits of the shielding plate. Speed detecting means for detecting the speed of the moving body by counting the shielding time or the passage time of the signal passing through each slit,
An acceleration / deceleration control means for controlling the acceleration / deceleration of the moving body based on the speed detected by the speed detecting means, and detecting the speed of the moving body at each station and performing the acceleration / deceleration control for a predetermined station. A transport control method for traveling between vehicles, and an approach detecting means for monitoring a shielding state of each speed detector and identifying a time point when the moving body shielding plate enters the speed detector and a shielded speed detector. A switching means for switching the speed detector used for the speed detecting means to the identified speed detector, and the speed detecting means for detecting the speed of the moving body by using the switched speed detector. Of the plurality of speed detectors provided along the transportation path in the station, the speed of the moving body is detected by sequentially switching to the speed detector in which the entering of the moving body is detected, and the acceleration / deceleration control is performed. Go and stay It can be solved by the transport control method according to the present invention which travels between ® down.

[Action]

As the speed detecting means, first, a speed detector closest to the moving direction of the moving body (hereinafter referred to as a carrier) is used, and the speed is detected by counting the signal blocking time between the slits of the shield plate or the signal passing time of each slit. When the entrance detecting means detects the entrance of the carrier into the adjacent speed detector along with the movement of the carrier, the switching means switches the speed detector used by the speed detecting means to the speed detector.

As described above, among the plurality of speed detectors, the speed detectors to be used are sequentially switched, so that even if the positional relationship between the speed detectors is broken, noise is mixed into the detection means other than the selected speed detector. However, there is no speed detection error, so there is an effect that the speed detection error can be greatly reduced compared to the method that employs all output OR signals.
Further, since the interrupt signal of the speed detection output is the original signal from the speed detector, there is an effect that the signal discrimination processing can be omitted and the speed control can be applied to the high speed carrier.

〔Example〕

FIG. 1 (a) is a block diagram of a speed controller of the station controller 11 showing an embodiment of the present invention, and FIG. 1 (b) is a time chart for explaining the operation.

In FIG. 1 (a), 20 is a control unit composed of a microprocessor or the like for controlling each unit by a program stored in the storage unit 21, and 24 is a control signal of the control unit 20 for controlling the speed detectors S1 to S4. A multiplexer for selecting any one of the outputs, 25 is an interface unit for monitoring the output signals of the shield / transmission of the speed detectors S1 to S4, 27 is a stator control unit for controlling the stator according to the detected speed, 28 Is a communication control unit for communicating with a control unit (not shown) of the station controller 11, 101 is a speed detector S1 to S selected by the multiplexer 24
The output signal 4 is the interrupt signal of the control unit 20 and the count enable signal of the counter 23. The first
The velocity detectors S1 to S4 in FIG. 1A are each composed of a light source and a photodetector, and here, the transmission times of the slits n1, n2, ... Provided in the guide 5 (corresponding to the shielding plate) and the corresponding ones. The speed is sequentially detected by the slit width. The speed detecting means corresponds to the counter 23 and the control section 20, the approach detecting means corresponds to the interface section 25 and the control section 20, the switching means corresponds to the multiplexer 24 and the control section 20, and the acceleration / deceleration control means corresponds to the stator control section 27. To do. The operation will be described below with reference to the time chart of FIG.

In FIG. 1 (b), (1) to (4) are speed detectors S, respectively.
In the output signals 1 to S4, a high level represents a light transmission output, and a low level represents a shield output. (5) and (6) are time charts showing that the speed detection operation is performed by the signals of the speed detectors S1 and S2, respectively.

The operation will be described below.

First, the control unit 20 selects the speed detector S1 closest to the entrance of the carrier. Carrier enters [Fig. 1 (b)]
T1] and the interrupt signal 101 of the speed detector S1 is input to the control unit 20, and the following operation is performed.

(1) 'The counter 23 is cleared.

The counter 23 counts the clocks generated by the clock generation unit 26 according to the count enable signal (period T).

With respect to the second and subsequent (t2, t3 ...) Interrupt signals, (1) the control unit 20 reads the content of the counter 23, stores it in the storage unit 21, and then clears the counter 23.

The counter 23 counts the clocks generated by the clock generator 26 by the count enable signal (for example, period T ').

(2) The control unit 20 completes the interrupt process, converts the speed from the read counter value, and gives a command to the stator control unit 27, for example, speed control of the carrier CR based on the speed.

(3) Subsequently, the contents of the interface unit 25 are read (after a fixed time for each interrupt signal), and the speed detector S is continued.
The state 2 is searched to determine whether the carrier has entered the speed detector.

(4) When the shield portion n of the guide 5 is not detected by the speed detector S2, it is determined that the carrier has not entered the speed detector S2, and the speed detection by the speed detector S1 is continued.

(5) When it is detected that the speed detector S2 is shielded by the guide 5 (to), the multiplexer 24 is controlled to switch the speed detector from S1 to S2. After that, the speed is detected by the speed detector S2.

(6) Subsequently, the control unit 20 monitors the shielding state of the speed detector S3 via the interface unit 25 while repeating the speed detection operation by the interrupt from the speed detector S2,
When the guide 5 detects that the speed detector S3 is shielded, the speed detector is switched from S2 to S3.

As described above, each time the speed detector detects a carrier, the speed detector can be switched to the speed detector to detect the speed.

The outline of the speed control by the speed detection will be described below.

For speed control, the system controller 12 issues an acceleration / deceleration command or a stop command designating a certain speed to the station controller 11, and the control unit 20 is instructed to perform speed control based on the command.

When performing the acceleration / deceleration operation, the velocity at the time of entry of the carrier is calculated, and if this is slower than the specified velocity, stator control is performed to accelerate until it reaches that velocity. The stator is reversely excited so that the force is applied in the opposite direction.

When performing the stop operation, find the speed at which the carrier is approaching,
Reverse excitation of the stator is performed to decelerate, and then reverse excitation is turned on and off based on the preset relationship between position and speed in the station, and the stopping stator is excited near the stop position. Stop.

〔The invention's effect〕

As described above, each time the speed detector confirms the entry of a carrier, the speed detector is selected and the speed is detected. Therefore, there is little speed error and a transport control method with a fast response from speed detection to speed control. Can be provided.

[Brief description of drawings]

FIG. 1 (a) is a block diagram of a speed controller of a station controller, FIG. 1 (b) is a time chart showing a speed detecting operation, and FIG. 2 (a) is a view showing a structure of a carrier and a stator. Figure (b) is a diagram showing the configuration of the linear motor car transport system, Figure 2 (c) is a block diagram of the conventional speed detection unit, and Figure 2 (d) is a time chart showing the conventional speed detection operation. is there. In the figure, 20 is a control unit, 23 is a counter, 24 is a multiplexer, 25 is an interface unit, 26 is a clock generation unit, and S1 to S4 are speed detectors.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazumasa Moriya 1015 Kamiodanaka, Nakahara-ku, Kawasaki City, Kanagawa Prefecture, Fujitsu Limited (72) Inventor Motohiko Ito 1015, Kamedotachu, Nakahara-ku, Kawasaki City, Kanagawa Prefecture, Fujitsu Limited

Claims (1)

[Claims] 1. A transport path, a station in which a plurality of speed detectors each having a signal generating means and a signal detecting means for detecting the signal are arranged at predetermined intervals along the transport path, and a position passing through the speed detector position. When the moving body is provided with the shielding plate having a plurality of slits for repeatedly blocking and passing the signal, the signal generated from the speed detector is blocked between the slits of the shielding plate. And a speed detecting means for detecting the speed of the moving body by counting the shielding time or the passing time of the signal passing through each slit, and the acceleration / deceleration control of the moving body based on the speed detected by the speed detecting means. A transport control system that includes an acceleration / deceleration control means for performing speed detection of each moving body at each station, and performs acceleration / deceleration control to travel between predetermined stations. An approach detection means for monitoring the shielding state of the vessel to identify the time when the moving body shielding plate enters the speed detector and the shielded speed detector; and a speed detector used for the speed detecting means. A switching means for switching to the identified speed detector, and a speed detecting means for detecting the speed of the moving body by using the switched speed detector, are provided along the conveyance path in the station. A transfer characterized by sequentially switching to a speed detector in which a moving body is detected from among a plurality of speed detectors to detect the speed of the moving body, and performing acceleration / deceleration control to run between stations control method.