JPH0710665B2 - Carrier traveling control device - Google Patents

Description

Description: [Industrial field of application] The present invention relates to a vehicle traveling control device for moving two or more vehicles on the same path.

[Conventional technology]

FIG. 12 is an explanatory view for explaining the relationship between a carrier and a path for explaining a conventional carrier traveling control device, in which 1 is a first carrier, 2 is a second carrier, and 7i to 7n are packages. Is a station for loading and unloading, and 8 is a loop-shaped path along which the transport vehicles 1 and 2 move.

Next, the operation will be described.

When a transport vehicle transport request is issued from any station, the conventional transport vehicle travel control device decodes the departure and arrival points of the transport vehicle from the transport request and writes the route traveled by the transport vehicle in the reservation table. Make a reservation at.

When an idle carrier vehicle is found, the reservation table is referred to and the carrier vehicle is moved according to the reservation content.

However, if there are multiple reservations, as a general rule, the first reservation is processed first, but for example, the reservation of the route for moving the carrier from station 7m to station 7j (hereinafter referred to as the first reservation) If there is a reservation for the route for moving the carrier vehicle from station 7m to station 7n (hereinafter referred to as the second reservation) after that, as shown in FIG. Car 2
If the passenger is unloading the luggage at the station 7i, the first reservation cannot be processed due to the existence of the carrier 2, so the second reservation is processed first.

[Problems to be solved by the invention]

Since the conventional traveling vehicle traveling control device is configured as described above, it is basically based on performing processing such as path reservation in the order of conveyance requests from the input / output station. As a result, the processing of transportation between adjacent input / output stations is performed quickly, and it is difficult to process a transportation request with a long path. In addition, pulsation of logistics (dango operation) occurs over time. There was a problem such as being lost.

The present invention has been made to solve the above problems, and an object of the present invention is to obtain a guided vehicle traveling control device capable of preferentially processing a transport request on a long path and capable of transporting in an optimal transport order. .

[Means for solving problems]

In response to a transportation request of a transportation vehicle, the transportation vehicle traveling control device according to the present invention searches the pattern table for a transportation procedure of the transportation vehicle corresponding to the transportation request stored in the storage unit, and follows the retrieved transportation procedure. The transport vehicle is controlled.

[Action]

The pattern table according to the present invention can be rewritten by a CRT or the like, and the transfer efficiency can be improved by adding or modifying the pattern table. Further, this pattern table is used to perform a data matching check with the request table from the input / output station, and if they match, the carrying process is carried out in the carrying procedure instructed by the pattern table.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, 11a, 11b, and 11c are input / output stations, which are provided for each station that provides services. 12
Is a digital input port (transport request accepting unit) that interrupts the arithmetic processing unit 13 when receiving the transport request transmitted from the input / output station 11. RAMs 14 and 15 connected to the arithmetic processing unit 13 via the bus 18 (storage unit 5
In 2), the RAM 14 stores the rewritable path reservation table and the like shown in FIG. 7, and the ROM 15 stores the request table as shown in FIG. Reference numerals 16 and 17 are line units (wireless output unit 53) connected to the bus 15, and these are carrier vehicles.
Data is sent and received between 1 and 2 wirelessly.

Reference numeral 51 is a CRT (pattern table setting unit) that sets or corrects the transfer procedure of the transfer vehicles 1 and 2 according to the request status of the transfer request. Further, the transfer vehicles 1 and 2 are looped as shown in FIG. Traveling on the path 8 of, for example, 6 stations 7i, 7j, 7k, 7
Move to service l, 7m, 7n.

Next, the operation will be described.

First, when a slot to be moved to the exit of the input / output stations 11a to 11c appears, the digital output of the input / output station is turned on, and the digital input port 12 interrupts that a transfer request has been issued by the arithmetic processing unit (CPU). Let me know. In response to this interrupt, the input / output station reception task operates. This operation is executed as shown in the flow chart of FIG.

First, a transport request is input from the digital input port 12 (step a). With this transport request input, the request table as shown in FIG. 4 in the ROM 15 is searched to obtain the station number 7i to 7n at the departure point and the arrival point (that is, the input / output station) (step b). Further, as shown in FIG. 9, the data corresponding to the digital input number in the station request table is set to "1" (requested) (step c), and the station number obtained in step b is registered in the request queue (step d), subsequently, the guided vehicle control task is activated (step e). This guided vehicle control task is
It is executed according to the flow chart shown in the figure.

Here, first, the usage pattern No. table stored in the RAM 14 as shown in FIG.
If it is, the process proceeds to the next step. If pattern No.noteq.0, it is determined that the pattern processing is already in progress, and the pattern processing is continued (step f). On the other hand, if the pattern processing is not in progress, the station request table shown in FIG. 9 in RAM 14 and the pattern portion of the pattern table shown in FIG. 11 also in RAM 14 are compared in order from pattern No. 1 to FIG. When the digital input points of "1" in the pattern portion are all "1" in FIG. 9 as well, it is considered that the patterns match and the pattern processing is performed (step g). When the patterns match, the pattern No.
Fig. 10 Register in the used pattern number table (step h). When the pattern processing is started, the outgoing "not yet" leading request data is fetched from the request section of the pattern table of FIG. 11 (step i). Then, an idle guided vehicle is searched from the guided vehicle statuses stored in the RAM 14 as shown in FIG. 6, and if any of the guided vehicles 1 and 2 is busy, the processing for track reservation is stopped, and next Wait for the start of (step j). However, if there is an idle carrier vehicle, the request queue data corresponding to the request data retrieved in step i is retrieved from the request queue in the RAM 14 (step k). Next, it checks whether or not the route can be reserved from the station numbers 7i to 7n at the departure and arrival points and the arrival point of the request queue and the route reservation table of FIG. 7 (step l). If the reservation is impossible, stop. Wait for startup. If the reservation is possible, the path is reserved and the path is written in the path reservation table of the RAM 14 (step m). Then, by carrying out a MOVE output to the line units 16 and 17 (an instruction output to move from a station of which number to a station of which number), the carrier vehicle operates (step n).

Next, the corresponding data is retrieved from the request queue (step o), and the corresponding data in the station request table of FIG. 9 on the RAM 14 is set to "0" (no request) (step p).
Then, the transmitted portion corresponding to the request data in the pattern table of FIG. 11 is set to "1" (transmitted) (step q). If all the data has been transmitted, the process proceeds to step f, and if the pattern processing is continued, the process proceeds to step i (step r).

When the processing of the carrier vehicle started earlier is completed, the completion interrupt is notified to the CPU through the line unit. In response to this interrupt, the guided vehicle completion acceptance task operates. This operation is executed as shown in the flow chart of FIG. here,
First, the corresponding carrier having the carrier status as shown in FIG. 6 is set to idle (step s). Then, the guided vehicle control task is activated (step t).

On the other hand, if the patterns do not match at step g,
Search for an idle carrier from the carrier statuses shown in Fig. 6 stored in RAM14 and select which carrier 1, 2
If both are busy, it stops and waits for the next activation (step u). However, if there is an idle carrier, ROM15
The inside request table is taken out and checked, and when all the request queues have been checked, stop and wait for the next activation (step v). Next, check whether the route reservation is possible from the departure and arrival station numbers 7i to 7n of the requested queue and the route reservation table of FIG. 7 (step w). If reservation is not possible, go to step v. Return and do the next queuing check. However, if the reservation is possible, the path is reserved and the path is written in the path reservation table of the RAM 14 (step x). By this writing, MOVE output is supplied to the line units 16 and 17 (step y), and then the corresponding data is fetched from the request queue (step z ₁ ) and the corresponding data in the station request table on the RAM 14 is set to “0” (request). Reset to (no) (step
z ₂ ), the step f or less will be resumed.

In the above embodiment, the traveling control of the two transport vehicles 1 and 2 has been described, but the control of three or more vehicles can be performed by the same system.

〔The invention's effect〕

As described above, according to the present invention, when the transport request receiving unit receives the transport request, the transport request is stored in the station request table of the storage unit, and the transport vehicle according to the request status specified by the station request table is stored. It is configured to search whether or not the transport procedure of No. 1 is stored in the pattern table, and if it is stored, control the transport vehicle according to the transport procedure of the transport vehicle according to the request situation. There is an effect that the transport vehicle can be controlled in an optimal transport order without collision. In addition, since the pattern table can be modified according to the transport status, it is possible to preferentially process the transport request on the long path, and as a result, it is possible to avoid the pulsation of physical distribution.

[Brief description of drawings]

FIG. 1 is a block connection diagram of a traveling vehicle traveling control device according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of the traveling vehicle traveling control device, and FIG. 3 is a flow chart of an input / output station request acceptance task. FIG. 4 is a request table diagram stored in ROM, FIG. 5 is a flow chart of a carrier control task, FIG. 6 is a carrier status diagram, FIG. 7 is a route reservation table diagram, and FIG.
Fig. 9 is a flow chart of the task of receiving the completion of the guided vehicle, Fig. 9 is a station request table diagram, Fig. 10 is a usage pattern No table diagram, Fig. 11 is a pattern table diagram, and Fig. 12 is a conventional guided vehicle traveling control device. FIG. 1, 2 are carrier vehicles, 7i to 7n are stations, 8 are paths, 11a, 1
1b and 11c are input / output stations, 12 is a digital input port, 13 is a processing unit, 14 is RAM, 15 is ROM, and X is a carrier control unit. In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A transport vehicle traveling control device having a transport vehicle control section (X) and an input / output station (11), wherein the transport vehicles (1, 2) are installed with stations (7i to 7n). I / O station (11) is a station (7i to 7n)
Is provided for each of the vehicles, and transmits a transportation request for instructing the departure station and the arrival station of the transportation vehicle (1, 2). The transportation vehicle control unit (X) and the transportation request reception unit (12) and the pattern It has a table setting unit (51), a storage unit (52), a calculation processing unit (13), and a wireless output unit (53), and the pattern table setting unit (51) is a transport vehicle (1, 2). Set or modify the pattern table of the transfer procedure of No. 2, and the storage unit (52) sets the transfer request of the transfer vehicles (1, 2) sent from the input / output station (11) and the pattern table setting unit (51). Alternatively, the corrected procedure pattern table of the transport vehicle (1, 2) is stored, and the arithmetic processing unit (13) stores it in the storage unit (52) in response to the transport request of the transport vehicle (1, 2). The pattern table is searched for the transfer procedure of the transfer vehicle (1, 2) according to the specified transfer request. Search the transport vehicle following the transfer procedure (1, 2)
The vehicle output control device outputs the control signal, and the wireless output section (53) transmits the control signal output from the arithmetic processing section (13) to the guided vehicles (1, 2).