JPS6329812A - Method for controlling movement of self-traveling carriage - Google Patents

Abstract

PURPOSE:To easily execute simultaneous traveling control of plural self-traveling carriages between combining and branching points by allowing a ground control device to compare and calculate the counting value of a self-traveling carriage which is counted from the time of outputting a travel command with the traveling information of plural self-traveling carriage stores in the ground control device to control the branching/combining of plural self-traveling carriages. CONSTITUTION:The ground control device 11 forms carrying control information indicating positions where articles are to be loaded and unloaded in each self-traveling carriage A. The, the ground control device 11 sends a traveling command to the self- traveling carriage A first stopped on a position most close to an article loading position out of the idle self-traveling carriage A through an air transmission equipment. After outputting the traveling command, the ground control device 11 confirms the traveling point of the self-traveling carriage A based on the traveling count sent from the self-traveling carriage A through the air transmission equipment. The ground control device 11 calculates whether the self-traveling carriage A passes a branching point 10 or not from the traveling count and decides whether an article loading/ unloading position exists between the branching point 10 and a combining point 7 or not based on the calculated result.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a method for controlling the operation of self-propelled bogies running on a taxiway within a premises, and particularly relates to a method for controlling the operation of a self-propelled bogie running on a taxiway within a premises. The present invention relates to a method for controlling the operation of a plurality of self-propelled trolleys.

2. Prior Art Conventional methods for controlling self-propelled bogies at branching and merging points include methods such as allowing at most one bogie to run within the branching and merging point at the same time, or using proximity switches, photoelectric switches, air propagation devices, etc. for each taxiway. An alternative approach has been to install a detector and, based on the detection signal, give a stop signal to the self-propelled cart approaching the branch junction point to cause it to stop.

Problems to be Solved by the Invention However, with the above method, when multiple bogies are run within a branching and merging point, a proximity switch, a photoelectric switch, and an entry detection switch are required for each taxiway connected to one branching and merging point. Airborne propagation equipment, etc. shall be installed.

Furthermore, the method of using proximity switches and photoelectric switches has the problem of malfunctioning even if a metal object or person passes near an intersection on the taxiway. The method of detecting obstacles and sending an air propagation signal to the obstacle detection devices of other bogies has the problem that it tends to interfere with the detection devices of other taxiways.

Means for Solving the Problems In order to solve the above-mentioned problems, the method of the present invention includes a self-propelled truck equipped with a microcomputer having a steering function, an air propagation signal transmitting device and a receiving device, and a travel counting function. , the ground control device is equipped with a transmitting device and a receiving device for air propagation signals, and a microcomputer having a function of recording traveling information of the self-propelled bogie, and the ground control device uses the air propagation device to give running instructions to the self-propelled bogie, The self-propelled bogie interprets the travel instruction transmitted from the aerial propagation device, drives the motor, and returns the current position counter value to the ground control device. The present invention is characterized in that it compares and calculates the count value of 1 and the running information of a plurality of self-propelled bogies stored in the ground control device, and performs branching and merging control of the self-propelled bogies.

Operation This invention has the above-described configuration, and the entry/passing of a self-propelled bogie to a branching/merging point of a taxiway is recorded in travel count information sent from the self-propelled bogie and in the ground control device of the bogie. The current position of the self-propelled bogie is calculated based on the travel information of the self-propelled bogie, and the current position of the self-propelled bogie is compared with the travel information of other bogies recorded in the ground control device to detect other vehicles that are passing through the same branch convergence point. A stop signal or a branch route change signal is sent to the bogies, and control of multiple bogies at the junction point is achieved.

EXAMPLES Hereinafter, the present invention will be explained in detail with reference to the drawings. FIG. 1 shows an example of the installation of an on-site taxiway and the arrangement of transfer stations, junctions, and branching points. In Figure 1, 1 is a taxiway;
1. The self-propelled cart moves along this guideway in the direction of the arrow, and loads and unloads goods at transfer stations 2° 3.4 and 5.6 marked with ■. 7 and 8 are confluence points, and 9 and 10 are branch points. Reference numeral 11 denotes a ground control device having an air propagation device for managing information about self-propelled carts and transfer stations.

FIG. 2 shows a self-propelled soldier, in which 12 is a phototube for detecting obstacles, 13 is a collision prevention bumper, and 14 is a fork for loading and unloading goods. The position at which the self-propelled bogie A is stopped is determined based on how many stop position ID sensors 16 are turned on, and the antenna 19 of the aerial propagation device tells the ground control device 11 to determine the location of the self-propelled bogie A.
The stop position information is transmitted. 17 is a sensor for detecting the stop position. Just before reaching the travel distance sent from the ground control device, the self-propelled military vehicle slows down, and when 17 is turned ON, the trolley Aid stops. Reference numeral 18 denotes a curve detection sensor, which is sent from the ground control device 11 when the self-propelled trolley A slows down and the curve detection sensor 18 turns ON just before reaching the number of travel distances to the curve sent from the ground control device 11. According to the direction, the truck A steers the wheels 16.

A method of controlling the operation of the conveyance equipment having the above configuration will be described below.

First, the ground control device 11 creates transport control information for each self-propelled trolley A, indicating where to load the article and where to unload the article. Then, based on the transport control information, the ground control device 1
1 sends a travel command using an air propagation device to the self-propelled trolley A that is stopped first among the idle self-propelled trolleys A and is stopped at a position closest to the transfer station where goods are loaded. After issuing a travel command, the ground control device 11 recognizes the travel point to the self-propelled vehicle A based on the travel count sent from the self-propelled vehicle A through the air propagation device.

For example, when approaching the branch point 1o in FIG. 1, the procedure shown in FIG. 3 is performed.

The ground control device 11 calculates whether the vehicle has passed through the 10 branch points shown in FIG. 1 by counting the travel.

It is determined whether there is a transfer station between the branching point 10 and the confluence point 7 for loading and unloading articles. If there is no transfer station where the goods should be unloaded, it is determined whether there is a taxiway without self-propelled trolley A between junction point 7 and branch point 10, and if there is such a taxiway, the taxiway is is the section through which the bogie passes and issues travel instructions.

If there are bogies A on all the taxiways, self-propelled bogies A are stopped. When there is a transfer station where goods are to be unloaded, the ground control device 11 determines whether there is another self-propelled trolley A on the guideway where the transfer station is located. If there is no other self-propelled trolley A, the ground control device 11 issues a traveling instruction to the self-propelled trolley A,
If there is another self-propelled vehicle A, it will issue a stop command to the self-propelled vehicle soldier at the junction.

When a self-propelled military personnel approaches confluence point 7 in Figure 1, the procedure shown in Figure 4 is carried out. The ground control device 11 is a self-propelled trolley A.
Calculate the travel count sent from , and confirm that self-propelled trolley A has approached junction 7. It is determined whether there is another bogie A passing through the confluence point 7, and if there is another bogie A, a stop command is sent from the ground control device 11 to the bogie A approaching the confluence point 7, and the confluence point 7 is stopped. If there is no other bogie A passing by, the ground control device 11 issues a traveling command to the bogie A approaching the merging point 7.

Effects of the Invention Since the present invention has the above configuration, simultaneous running control of multiple bogies between merging and branching points is facilitated, and proximity switches, aerial propagation devices, etc. are installed for each taxiway connected to the branching and merging points. It is possible to solve the problem of the conventional example in that a proximity switch or the like must be installed, and furthermore, it is possible to solve the problem of the conventional example in which a method using a proximity switch etc. malfunctions even if a metal object or the like passes through it.

[Brief explanation of drawings]

Figure 1 is a diagram showing the installation state of the on-site taxiway and the arrangement of transfer stations, junctions, branch points, and ground control equipment; Figure 2 is a partially cutaway perspective view of the self-propelled trolley; Figure 3 The figure is a flowchart of control at a branch point, and FIG. 4 is a flowchart of control at a confluence point. 1...Taxiway, 2~6...Transfer station, 7~
8... Confluence, 9-10... Branching point, 11
... Ground control device, 12 ... Obstacle detection phototube, 13 ... Collision prevention bumper, 14.
...Fork for loading and unloading goods, 16...
... Traveling wheel, 16 ... Stop position ID sensor, 17 ... Stop position detection sensor, 18 ...
...Curve detection sensor, 19...Antenna for transmitting and receiving airborne signals. Name of agent: Patent attorney Toshio Nakao and 1 other person 1st floor
--1 Epidemic 4 Chikeki 8-・-〇L used book

Claims (1)

[Claims] A plurality of self-propelled carts that travel guided by multiple taxiways, a plurality of transfer stations that transfer goods to and from the self-propelled carts, and control the destination, direction, loading and unloading of goods, and merging and branching of the self-propelled carts. In the transportation equipment consisting of a ground control device, the self-propelled cart is equipped with a microcomputer having a steering function, an air propagation signal transmitting device and a receiving device, and a travel counting function, and the ground control device is equipped with a microcomputer having a steering function, an air propagation signal transmitting device and a receiving device, and a travel counting function. A transmitting device, a receiving device, and a microcomputer with the function of recording running information of the self-propelled trolley are installed, and the ground control device gives running instructions to the self-propelled trolley using an air propagation device, and the self-propelled bogie receives the information transmitted from the air propagation device. Interprets the travel instruction that comes, drives the motor, and returns the current position count value to the ground control device. A method for controlling the operation of a self-propelled bogie, which comprises comparing and calculating the recorded running information of a plurality of self-propelled bogies, and controlling branching and merging of the self-propelled bogies.