JPS5911511B2 - How to control mobile machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for controlling mobile machines, in which a plurality of mobile machines, such as cranes, working in mutually overlapping work ranges are controlled while interlocking each other's work using a plurality of computers. Regarding.

1 and 2 are block diagrams of control devices applied to conventional control methods, respectively. In the case of FIG. 1, 1 is a work request input device, 2 is a host computer, and It is connected to the request input device 1.

Further, 3a to 3n are calculators, and these calculators 3a to 3
n are each connected to the host computer 2.

These computers 3a to 3n and a mobile machine 4a such as a crane
It is connected in correspondence with ~4n.

Now, in the control method using the control device shown in FIG. 1, when a work request signal a to one mobile machine (for example, 4a of 4a to 4n) is input from the work request input device 1 to the host computer 2, The host computer 2 uses the work status signals of the mobile machines 4a to 4n that are taken in from all the computers 3a to 3n to check whether the mobile machine 4a that requested the work is currently available for work, and whether the requested work is carried out by other mobile machines. It is checked whether there is any interference with the work being accepted by the machine, and since there is no interference, the host computer 2 outputs a work command signal C to the computer 3a corresponding to the mobile machine 4a for which the work was requested, and this computer 3a responds. A drive signal d is output to the mobile machine 4a to control it.

As a result of checking the above conditions, the host computer 2 does not output the work command signal C if the work request cannot be accepted.

In this way, a host computer is used to grasp the working status of all mobile machines, thereby interlocking the work of multiple mobile machines.

However, this method requires a host computer 2 in addition to the mobile machine control computer, and has the disadvantage of being expensive.

Furthermore, if the host computer 2 breaks down, there is a drawback that all mobile machines become unable to work.

On the other hand, in the case of FIG. 2, the work request input device 1, the computers 3a to 3n, and the mobile machines 4a to 4n are the same as or equivalent to the case of FIG. Connected to 3n.

Further, 5a to 5n are communication control devices for performing data communication with each of the computers 3a to 3n.

In FIG. 2, when a work request signal a to one mobile machine 4a is input from the work request input device 1 to each of the computers 3a to 3n, the computer 3a corresponding to the mobile machine 4a for which the work was requested will respond. The mobile machine 4a also checks whether it is ready to accept work based on the work status signal taken in.
All other mobile machines 4a to 4n if work can be accepted.
The communication control devices 5a to 5n are used to confirm interlocks with all other computers 3a to 3n in a question and answer format to confirm whether or not there will be any interference with the work being accepted. If so, the mobile machine 4a for which the work was requested
The computer 3a corresponding to the mobile machine 4a outputs a drive command signal d to control the mobile machine 4a.

If the result of checking the conditions is that the work request cannot be accepted, the drive signal d is not output.

In this way, each of the computers 3a to 3n grasps only the working status of the corresponding mobile machine 4a, and uses the communication control devices 5a to 5n to
By communicating data between each of the computers 3a to 3n, work interlocking of a plurality of mobile machines was achieved.

However, also in the case of this method, the communication control devices 5a to
5n is required, and each of the computers 3a to 3n requires a dedicated program for the above-mentioned data communication, resulting in a complicated and expensive control system.

The present invention has been made in view of the above-mentioned conventional drawbacks, and is a method for controlling a mobile machine that can realize work interlock between machines at a low cost when controlling a plurality of mobile machines using a plurality of computers. It provides:

Next, an embodiment of the mobile machine control method of the present invention will be described. FIG. 3 is a block diagram showing a control device applied to the embodiment. In this FIG. 3, a work request input device 1 , computers 3b-3n, mobile machines 4a-4
n is the same as or equivalent to that in FIGS. 1 and 2.

Further, 6 is an AND circuit, and this AND circuit 6 takes the AND of the work request recognition signals f of each of the computers 3a to 3n.
A work request cognitive AND signal g is created.

Therefore, the work request recognition signal f of each computer 3a to 3n
is input to the AND circuit 6, and the work recognition AND AND signal g of this AND circuit 60 is input to each of the computers 3a to 3n.

Next, a method of controlling a mobile machine according to the present invention will be explained using the flowcharts of FIGS. 4 and 5.

FIG. 4 is a flowchart of the processing of the computer 3a corresponding to the mobile machine 4a that has received a work request among the mobile machines 4a to 4n, and FIG.
2 is a flowchart of processing.

Now, in FIG. 3, a work request signal a to one mobile machine 4a is sent from the work request input device 1 to each of the computers 3a to 3n.
, the computer 3a corresponding to the mobile machine 4a for which the work was requested checks whether the work can be accepted based on the work status signal taken in from this mobile machine 4a. A request recognition signal f is output, and if the work request recognition signal f cannot be accepted, this work request recognition signal f is not output.

Then, the computers 3b to 3n other than the computer 3a use the work request signal a to check whether the currently requested work will interfere with the work currently being accepted by the mobile machines 4b to 4n corresponding to each of the computers 3b to 3n. , if there is no interference, the work request recognition signal f is output; if there is interference, the work request recognition signal f is not output.

Then, if the work request recognition logical product signal g is significant, the computer 3a corresponding to the mobile machine 4a for which the work was requested does not interfere with the work received by all the mobile machines 4a, so the computer 3a outputs a drive signal d to the mobile machine 4a.

Further, if the work request recognition AND signal g is not significant, the drive signal d is not output to the mobile machine 4a.

Next, a specific embodiment of the control method of the present invention will be further described with reference to FIGS. 6 and 7.

First, in FIG. 6, the work request input device 1 and the AND circuit 6 are the same as in FIG.
are computers, and these computers 7 to 9 are the same as computers 3a to 3n in FIG. 3.

The computers 7-9 are connected to mobile machines 10-12, respectively.

The mobile machines 10 to 12 are stackers and reclaimers in a raw material yard.

Among these mobile machines 10 to 12, mobile machine 10 moves on a track 13a, and mobile machine 11
and 12 are adapted to move on a different trajectory 13b from that of the mobile machine 10.

Moreover, the mobile machines 10 to 12 are each mobile machine 10.
It has a work range of a predetermined radius when the center is at the position of lL12, and the mobile machine 11 receives work from the position from point B to point B', and the mobile machine 12 receives work from the position of 6 points. When receiving work at positions from 07 to 07, the working range of each mobile machine 11°120 is as shown by diagonal lines X and Y in FIG.

The mobile machine 10 is brought into a state in which it can accept work at point A.

At this time, a work request signal a to the mobile machine 10 up to point A' is
That is, when a work request in the work range indicated by the diagonal line 2 in FIG. Therefore, the work request recognition signal f is output.

In addition, the computers 8 and 9 each output a work request recognition signal f because the work range accepted by the mobile machines 11 and 120 and the work range requested to the mobile machine 10 do not overlap as shown in No. 6-. .

In this case, since all inputs of the work request recognition signals f to the AND circuit 6 are significant, the work request recognition AND signal g becomes significant.

The computer 7 outputs the drive signal d to the mobile machine 10 since the work request recognition AND signal g is significant.

In this case, the work request is accepted and executed as described above.

On the other hand, the embodiment shown in FIG. 7 includes a work request input device 1, an AND circuit 6, computers 7 to 9, mobile machines 10 to 12,
at13b is the same as in FIG.
The conditions from 1 to 12 are also the same as in FIG.

Now, in this FIG. 7, a work request signal a to the mobile machine 10 up to point A', that is, a work request in the work range indicated by the diagonal line Za in FIG. 8 and 9, the computers 7 and 8 output the work request recognition signal f in the same way as in the case of FIG.

Further, the computer 9 does not output the work request recognition signal f because the work range of the mobile machine 12 and the work range requested of the mobile machine 10 overlap as shown in FIG.

Therefore, the work request recognition logical product signal g of the logical product circuit 6 does not become significant, and the computer 7 outputs the drive signal d to the mobile machine 10.
is not output.

In this case, as mentioned above, the work request will not be accepted.
Work interlocks are taken for each mobile machine.

As detailed above, according to the present invention, by providing a simple AND circuit, work interlock can be realized at low cost in controlling multiple mobile machines using multiple computers. have

In addition, if the computer compatible with the mobile machine breaks down,
By constantly inputting dummy human power to the work request recognition signal of the failed computer and banking it up, the input to the AND circuit is supplemented and other computers and mobile machines can be operated normally.

[Brief explanation of the drawing]

1 and 2 are block diagrams of a control device applied to a conventional mobile machine control method, respectively, and FIG. 3 is a block diagram of a control device applied to an embodiment of the mobile machine control method of the present invention. 4 and 5 are flowcharts for explaining the method of controlling a mobile machine according to the present invention, and FIGS. 6 and 7 are respectively applied to a specific embodiment of the method for controlling a mobile machine according to the present invention. FIG. 2 is a block diagram of a control device. 1... Work request input device, 3a-3n, 7-9
...Calculator, 4a-4n, 10-12...
・・Mobile machine, 6・・・・AND circuit, 13at1
3b... Orbit. Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] 1. It has multiple computers that separately control multiple mobile machines whose work ranges overlap with each other, and each computer is directly supplied with work request commands from a work request input device and responds to the work request commands. A corresponding computer determines whether or not the working status of the mobile machine is capable of accepting a work request, and when the work request is accepted, a work request recognition signal is sent, and other mobile machines other than the mobile machine responding to the above work request command are processed. The computer checks to see if there is any interference between the work already being accepted and the newly requested work, and if there is no interference, sends out a work request recognition signal, and also processes the work request recognition signals of all the computers with logic. The computer determines whether or not the work request command is significant by inputting it into the product circuit, and when it is determined to be significant, the computer outputs a drive command to the mobile machine receiving the new work request. Characteristic control method for mobile machinery.