JPS60201411A - Unattended car control device for auto door - Google Patents

Abstract

PURPOSE:To prevent an auto door from being left in the open state, by making an attended car complete its passing, when the unattended car is passing through a place where the auto door has been installed, in case when a trouble has been generated in a main power source. CONSTITUTION:A tow pass wire 3 supplies a magnetic force being an induction energy to a drag link control sensor 4. Also, a first - a third control panels P1-P3 for conducting an AC current of a frequency different from that of an AC current to be conducted to the wire 3, to each of a first - a third electric conductors B1-B3 are controlled from an unattended car controller AC and an auto door controller DC. In this state, when a trouble is generated in a main power source and the sensor 4 detects it, an unattended car A is stopped automatically. Also, when unattended car controller AC and auto door controller DC decide that the unattended car A is passing through auto doors D1, D2, the unattended car A is started automatically by an emergency use power source.

Description

[Detailed Description of the Invention] For details regarding an unmanned vehicle control device for automatic doors that allows an unmanned vehicle to run through the installation locations of various automatic doors such as an automatic door for a clean room with an automatic door for fire prevention. The unmanned vehicle t? In addition to providing a means for automatically opening and closing the automatic door as the unmanned vehicle runs, an emergency stop means for automatically stopping the unmanned blood when the amount of energy detected by the steering control sensor becomes less than a set value is provided. The present invention relates to an unmanned vehicle control device for an automatic door, which is provided with a manual stop release means for canceling the emergency stop, and an emergency power source is automatically switched to use upon detection of a trouble in the main power source.

In such a IJ blood system, an emergency stop means is provided to prevent the unmanned vehicle from running out of control if it unexpectedly deviates from the taxiway. Even if the power supply to the taxiway is cut off due to the occurrence of a disaster, the unmanned vehicle is simply stopped by the emergency stop means.

More specifically, if a problem occurs in which power cannot be supplied to the main power source (generally a commercial power source) for the taxiway and the automatic door opening/closing means due to a fire outbreak, etc., the energy for guidance of the taxiway Rikishima etc. As a result, the unmanned vehicle is automatically stopped by the emergency stop means.Incidentally, when the above trouble occurs, the automatic door opening/closing means is automatically stopped by the emergency power supply that is automatically switched to use. In addition to supplying piezoelectric power, electric power is also supplied to the taxiway, and in order to restart the unmanned vehicle that has been stopped by the emergency stop means, a manual stop release means is provided. This is something that you have to operate.

According to the above-mentioned conventional means, if a trouble occurs in the main power supply while the unmanned vehicle is passing through the auto door installation location, the unmanned vehicle will be brought to an emergency stop at the auto door installation location, and as a result, the auto door will remain open. There is a disadvantage that it is maintained in In other words, for example, if an auto door for fire protection is kept open, the fire prevention function cannot be utilized, and if an auto door to a clean room is kept open, the interior of the clean room may be contaminated. Leaving the auto door open may cause secondary trouble.

The characteristic configuration of the automatic door unmanned vehicle control device according to the present invention is such that when the detection amount of the steering control detection sensor becomes equal to or less than a set value while the unmanned vehicle is passing through an automatic door installation location, the emergency The stop means is suddenly maintained in a non-operating state to stop the vehicle from traveling, and when the detection amount of the steering control detection sensor becomes larger than a set value, the unmanned vehicle is automatically started. The functions and effects are as follows.

In other words, if a problem occurs with the main power source, the power source is switched to the emergency power source to restore the taxiway and open and close the automatic door.If a problem occurs with the main power source, the unmanned vehicle will switch to the automatic door installation tube. When the unmanned vehicle is passing through the area, the unmanned vehicle is temporarily stopped, but when the taxiway is restored, the unmanned vehicle is restarted to complete the unmanned vehicle passing through the automatic door installation location. Incidentally, VC, it goes without saying that the automatic door is closed upon completion of the passage.

Therefore, even if a problem occurs with the main power supply while an unmanned vehicle is passing through the automatic door installation location,
A clean room (R,) equipped to obtain an unmanned vehicle control device for an automatic door that can accurately close the automatic door, suppress secondary troubles associated with the disaster occurrence button, and be more convenient to use; A cleaning room (R,) equipped with an air shower, & a non-clean room (R1) without purification equipment will be installed side by side, and a passage will be opened and closed to connect the non-clean room (R3) and the cleaning room (R1). Fire prevention first automatic door (D,), and
@2 automatic doors (D,) are provided to open and close passages communicating between the washing room (R1) and the clean room (R4), and a pair of left and right propulsion wheels (1) driven by an electric motor (Ml), Additionally, an unmanned vehicle (Roller) for transporting goods is installed, which is equipped with steering wheels (2) that are operated to change direction around the vertical axis by an electric motor (M), thereby suppressing contamination of the clean room (R1). Clean room (R)
).

The TOKUBUS wire 131 for electromagnetic induction as an electric unmanned vehicle guideway is provided in the above @1. 2nd automatic door (D,), (
D.) Pass through each installation location and bury it on the road surface side, and install the Tokubus wire (3) to which AC current is applied.
) A pair of left and right pickup coils (4a) and (4b) detect the amount of lateral deviation of the unmanned vehicle (4) with respect to ) as an induced voltage.
) is provided on the unmanned vehicle side, and the left and right pickup coils (4a), (4
The steering wheel (l) is automatically operated to change the direction so that the difference in the detected voltage in (b) becomes zero, and the unmanned vehicle (to) automatically travels along the tokupath wire 13).

To be more specific, aa Tokubus wire f31#'i
, the magnetic force as guidance energy is supplied to the steering control sensor (4). Then, as shown in Fig. 8, the left and right pickup coils (4a) and (4b)
AC amplifiers (5m), (5b) connected to each separately
, a rectifier circuit (6a
), (6b), and a circuit (7) for detecting the deviation of the output from them, and the deviation detection circuit 1pr+
The output of 71 is input to the control circuit of the steering electric motor (Ml). In addition, the unmanned vehicle (to) is
The vehicle runs with the steering wheels C1) on the front side of the vehicle body, and the front and back direction of the unmanned* (A) is reversed in each of the clean room (R,) and non-clean room (R8). In addition, it is equipped with a driving panteri.

To explain the means for automatically opening and closing the first and second auto doors (DI) and (D*) as the unmanned vehicle runs, the @1 auto door (Dl) in the non-clean room (R,)
The first conductor (
n,), @22 conductor (B,) that forms a magnetic field for stop command in the cleaning room (R1), and the clean room (
Each of the eighth conductors (B,) forming a stop command magnetic field at a position immediately before the @2 auto door (D,) in R1) is provided on the running road side in a state in which they are located on the lateral side of the Tokubus wire +31. , an alternating current of a frequency different from that of the alternating current passed through the power wire (3) @1. ! 2.
@ 8 conductors (B, ), (current), (US) are energized separately. 1st ° @ 2% 8th shaving panel (p+), (P
, ) , (pm ), and when the unmanned vehicle (to) travels from the non-clean room (R3) to the clean room side (hereinafter referred to as forward travel), the @I conductor (B1) is energized at h. a first reed switch (S, ) that gives a command to the @1 control panel (Pl);

Command to energize the second conductor (B,) @
@2 reed switch (B
8), and a single unmanned clean room (
R3) to the non-clean room side (hereinafter referred to as return trip).

The eighth reed switch (S,) gives a command to the eighth control panel (P,) to energize the eighth conductor (B,).
, ) and @22 conductors (B, ) are respectively provided with a fourth reed switch (S, ) which gives a command to energize the @2 control panel CP, )[.

The unmanned vehicle (3) is stopped by detecting the magnetic fields formed by the conductors (Bl), (B, ), and (Bs) as voltages. An outbound sensor (8a) and a return sensor (8b) are provided on the unmanned vehicle side, as well as an outbound magnet (9a) and a return magnet (9b) for operating the reed switch.
Each is installed on the unmanned vehicle side, and the unmanned vehicle (3) is installed in front of each of the 11th @ 2nd auto doors (D, ), (I), ).
It is configured so that it can be stopped once.

Then, each of the hemostatic panels (P, ), (P, ), (P
, ), i.e., each reed switch (S, )
, (S,).

Based on the information from (S,), (S,), the function of determining whether there is a h difference between the outbound trip and the return trip, and unmanned operation for the first and second auto doors (DI) and (D,), respectively. An unmanned vehicle controller (AC) is installed on the ground side, and has the functions of determining the arrival of a vehicle and determining that the unmanned vehicle has passed through the automatic door installation location. AC) and the auto door controller (DC) are connected so that they can exchange and transmit information on the driving status of the unmanned vehicle and information on the door opening/closing status.
P, ), (P,), (pa) are instructed to stop energizing based on the auto door fully open information, and the outbound trip is stopped.
[A is completed] so that the reed switch selection command to be used can be transmitted based on the determination of return trip.

With the arrival of the unmanned 1LIA), the first. @2 Open the automatic doors (D,), (D,), and open the first and second automatic doors (Di), (D,) f- upon completion of the unmanned vehicle (A) passing the automatic door installation location. It is configured so that it automatically does what it does.

(See Figure 6) However, the 1st % second automatic door (D, ), (n, )
is driven by an actuator that operates based on finger -f8 of the auto door controller (DC'), and a sensor (LS, ) that detects when the door is fully opened.
, (LS, ) are connected to the automatic door controller (DC).

Koji As shown in Figure 4, there is a switch mechanism in the electrical control panel for various equipment on the ground that automatically switches to the emergency power source (V, ) when trouble is detected with the main power source (commercial power source) (V,). , so that even if the main power supply (■,) is cut off due to a disaster such as a fire, power can be supplied to various equipment on the ground side.

To explain the switch mechanism described in 6tJ, a main relay (RY) and a first relay (y,) which are energized by the main power source (V,) are provided, and an emergency power source (V,) is provided.
, ) is provided, and a normally open relay switch (rl) of the main relay (RY) is provided.
) is provided to intermittently energize the first relay (Y,), and the normally closed relay switch (r,) of the main relay (RY) is provided to intermittently energize the second relay (right). and more.

The normally open relay switch (y,) of @1 relay (Yl) is connected to the main power supply side, and the normally open relay switch (y,) of the 2nd relay (Y,) is connected to the non-abuse power supply side. It is a provision.

As shown in Figures 1 and 8, an unmanned vehicle (to) is placed on the driving road side of the non-clean room side part of @l auto door (D) and the washing room side part, respectively, and (hereinafter referred to as fire door zone) Marks (T, ), (T
, ) and a sensor (TS) for reading marks.
is provided on the unmanned vehicle side, and a circuit αj is provided to determine the fire door zone h based on the information from the sensor (TS). A circuit 1121 for outputting an emergency stop signal and a circuit 1121 for temporarily outputting a stop signal are provided for the control circuit of the traveling drive electric motor (M).

Item 11: Both rectifier circuits 1N! An input level drop detection circuit for detecting whether the sum of outputs from r (6m) and (6b) is less than or equal to a set value is provided, and an input level drop detection circuit and a fire door zone determination circuit are provided. The screams,
Once connected to the stop circuit +121 via the AND circuit I,
Input level drop detection times Fj/! In addition, the inverting circuit Qη connected to raCt and the fire door zone discrimination circuit is connected to the emergency stop circuit (11).

A manually operated fleet is provided for releasing the emergency stop circuit (for the emergency stop circuit), and an inverting circuit 0- for once outputting a release command to the stop circuit cap is connected to the input level drop detection circuit 01,
Accordingly, means for automatically stopping the unmanned vehicle (to) when the induced voltage accompanying magnetic field detection in the steering control sensor (4) falls below a set value, means for canceling the emergency stop by an operation relative to the operating direction, and Unmanned]l! When the induced voltage in the steering control sensor (4) becomes less than the set value while L (a) passes through the automatic door installation location, the emergency stop circuit (10) is kept in a non-operating state for Km. means for automatically starting the unmanned vehicle when the induced voltage of the steering control spider detection sensor (4) becomes larger than a set value. 0 In short, it is designed to suppress the runaway of the unmanned B11 (to), and also to prevent the main power supply (V, ) [
) If a problem occurs, open the first automatic fire door (
D,) is configured so that it can be run unmanned once so that it can be closed reliably.

Next, another embodiment will be described. In the above-mentioned embodiment, the present invention was applied to passing through the fire protection No. 2 auto door (o,). The present invention can be applied to passing through various automatic doors, such as applying the present invention to passing through various automatic doors.

i11! As a dynamic unmanned vehicle taxiway, Tokupass Wire (
In addition to 3), the steering sensor 14) may be configured using a light beam, etc., and the steering sensor 14) may be configured using a photodiode, for example, in the case of a light beam, etc.
Various types may be used depending on the specific configuration.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic door unmanned vehicle control device according to the present invention, FIG. 1 is a schematic plan view showing the overall configuration, FIG. 2 is a schematic rear view of the unmanned vehicle running state, and Figure @8 is the side of the unmanned vehicle. Wandering control circuit diagram %II! FIG. 4 is a circuit diagram showing the power supply switching means, FIG. 5 is a flowchart showing unmanned vehicle control, and FIG. 6 is a flowchart showing automatic door opening/closing control. 13)・・・Electric unmanned vehicle taxiway, 141...
...Sensor for steering control, (To)...Unmanned vehicle, (D,)...Auto door, (vl)...
...Main power supply, (vI) ...Emergency power supply. Agent Patent Attorney Osamu Kitamura

Claims (1)

[Claims] ■ An electric unmanned vehicle guideway (3) that supplies guidance energy to the unmanned vehicle side steering control sensor (4) is installed at the auto door 11i! The automatic door (D,) is provided so as to guide the unmanned vehicle (to) through the location W.
A means for automatically opening and closing the unmanned vehicle as the unmanned vehicle retreats is provided, and an emergency stop means is provided for stopping the 611 unmanned vehicle when the amount of energy detected by the lateral control sensor (4) becomes less than a set value. A manual stop release means is provided to release the emergency stop, and the emergency power supply (■,) is
An unmanned vehicle control device for an automatic door provided in a state where it is automatically switched and used when trouble is detected in the main power supply (V), and when the unmanned vehicle (V) is passing through an automatic door installation location. The above-mentioned steering control detection sensor (
When the detected amount in 4) becomes less than the set value, the emergency stop means is maintained in a non-operating state to stop the vehicle from traveling, and
After that, when the detection amount of the steering I'lJa detection sensor (4) becomes smaller than the set value, the unmanned vehicle (9) is automatically tilted.
An unmanned vehicle control device for an automatic door, which is provided with a temporary stopping means to start the vehicle automatically. (2) The automatic door unmanned vehicle control device according to claim 0, wherein the automatic door (Dl) is for fire prevention.