KR20050001092A - Transport system - Google Patents

Abstract

PURPOSE: A transport system is provided, which prevent the collision of a fire door and a dolly easily. CONSTITUTION: The transport system comprises a traveling track(1), and a plurality of dollies(10) movable along the traveling track, and a fire door(20) which is arranged in the middle of the traveling track and blocks the traveling track during a fire. The first detection unit(11) is installed in the dolly and detects a proceeding dolly traveling in the front. A detection target unit is arranged in the traveling track in front of the fire door, toward the traveling direction of the dolly. And the second detection unit(12) is installed in each dolly, and detects the detection target unit.

Description

Transport system

The present invention relates to a conveying system in which a traveling trajectory is arranged between stations for unloading cargo and conveys the cargo by a trolley moving along the traveling trajectory.

In recent years, when conveying cargo to each room in a building which has many rooms, such as a hospital, the unmanned conveyance system which has a good conveyance efficiency compared with the conveyance by a person is used.

For example, as shown in FIG. 7, an unmanned conveyance system travels on a trajectory 52 connecting a room in a building and carries cargo to each room in a building, as shown in FIG. 7. It's a system that does. In this conveyance system, the some trolley | bogie 51 is used.

The trolley | bogie 51 is equipped with the traveling apparatus, the control apparatus, and the front vehicle detection sensor for traveling on the running track 52. As shown in FIG. The front vehicle detection sensor detects another vehicle 51 traveling in the traveling direction (G direction) front of the vehicle 51 and prevents collision between the vehicles 51, and the control device travels the vehicle 51. This is to control the speed.

Moreover, in this conveyance system, the fire door 53 is provided in the intermediate position of the traveling track 52 in order to prevent a fire from moving when a fire occurs in the room of a building. When the fire occurs, the fire door 53 descends from the upper side of the traveling track 52 toward the downward direction (H direction) to block the traveling track 52. However, when the trolley | bogie 51 stops just under the fire door 53, there exists a problem that the trolley | bogie 51 becomes an obstacle and the fire door 53 cannot block the traveling track 52.

That is, for example, when one truck 51 stops immediately behind the fire door 53 toward the moving direction of the truck 51, the other truck 51 running behind the front is a front vehicle detection sensor. It stops directly under the fire door 53 so that it may not collide with one trolley | bogie 51, and when the fire door 53 descend | falls in the H direction in this state, it collides with the trolley | bogie 51 and the track | track 52 Cannot be blocked.

Therefore, conventionally, the trolley | bogie sensors 54 and 55 which detect the passage of the trolley | bogie 51 are provided in the traveling track | orbit 52 of the front and rear of the fire door 53 toward the advancing direction of this trolley | bogie 51. As shown in FIG. The trolley | bogie sensor 55 is arrange | positioned with the fire door 53 in the position separated enough so that one trolley | bogie 51 may enter. In addition, the travel trajectory 52 is also provided with a transmitter for transmitting a signal for allowing entry into the section L between the balance sensors 54 and 55 to the balance 51. Moreover, the cart 51 is provided with the receiver which receives the entry permission signal which the cart sensor 54 transmits. By the above structure, the area control which only one cart 51 can enter into this area | region L is performed.

That is, when the trolley | bogie 51 passes through the trolley | bogie sensor 54 and is in the section L, the other vehicle 51 which runs behind the trolley | bogie 51 will receive the entry permission signal to the section L. It is not transmitted from the transmitter 56. For this reason, the other trolley | bogie 51 stops on the outer side of the section L. As shown in FIG.

Then, when the preceding cart 51 passes the balance sensor 55, an entry permission signal is transmitted from the transmitter 56 to the cart 51, so that the subsequent cart 51 can enter the section L. do. Thereby, since the trolley | bogie 51 cannot stop just under the fire door 53, the collision of the trolley | bogie 51 and the fire door 53 can be prevented.

However, in the conventional conveying system, two cart sensors 54 and 55 and a transmitter 56 are provided on the traveling track to perform area control, and the cart 51 also receives an entry permission signal. Since the receiver is installed, there is a problem in that the cost of constructing the transport system becomes high.

Moreover, in order for the trolley | bogie 51 to receive the signal of the transmitter 56, it is necessary to slow down the trolley | bogie 51, and the problem that it was difficult to shorten the conveyance time of cargo has arisen.

This invention is made | formed in view of the above-mentioned situation, and an object of this invention is to provide the conveyance system which can prevent the collision of a fire door and a trolley | bogie, and can easily prevent this collision.

1 is a schematic diagram of a conveying system according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a trajectory around a fire door in the conveying system of FIG. 1.

3 is a diagram illustrating a speed control flow of containers in the conveyance system of FIG.

4 is a graph showing a container speed and a setting speed in front of the fire door in the conveying system of FIG.

FIG. 5 is a graph showing the speed and setting speed of the container in front of the fire door in the conveying system of FIG.

FIG. 6 is a graph showing the speed and setting speed of the container in front of the fire door in the conveying system of FIG.

7 is a schematic diagram showing an example of a conventional conveying system.

<Description of the symbols for the main parts of the drawings>

1: track

10: container (bogie)

11: front vehicle detection sensor (first detection means)

12: barcode reader (second detection means)

20: fire door

100: conveying system

B1: first detection distance (first detection area)

B2: second detection distance (second detection area)

S _A : Barcode label (detection member)

S _B : Barcode label (detection member)

In order to solve the said subject, this invention proposes the following means.

According to a first aspect of the present invention, there is provided a conveying system comprising a traveling track and a plurality of trolleys movable along the traveling track, and a fire door disposed at a midway position of the traveling track and blocking the traveling track in the event of a fire. A system, comprising: first detecting means provided on the trolley and detecting a preceding trolley traveling forward, a member to be detected on the traveling track in front of the fire door in the traveling direction of the trolley, and the respective trolleys And second detecting means for detecting the member to be detected.

According to the conveying system according to the present invention, since the second detecting means provided in the trolley detects a member to be detected on the traveling track, the trolley itself detects that the trolley is in front of the fire door. In this state, when the first detecting means provided in the trolley detects the preceding trolley, the trolley can be stopped at the front of the fire door so that the trolley does not stop at the position at which the trajectory is blocked by the fire door.

That is, since the bogie speed can be controlled by the first and second detection means provided on the bogie and the to-be-detected member provided on the bogie, there is no need to provide a control device for controlling bogie speed on the bogie track.

In addition, since the balance speed is controlled by the first and second detection means provided in the balance, the balance is not decelerated unnecessarily. Therefore, the conveyance time of cargo can be shortened.

Further, in the conveying system, when the first detection means detects the preceding balance in the area between the plurality of detected members, the plurality of detection members are arranged at intervals in the advancing direction of the balance. You may decelerate so that the said cart may stop.

According to the conveying system according to the present invention, when the balance is detected by the first detection means in the area between the plurality of members to be detected, the balance is decelerated to stop. Therefore, the speed of the trolley is changed by the detection of the member to be detected by the second detecting means, and the trolley can be prevented from stopping at the blocking position of the trajectory of the fire door.

That is, since the vehicle speed can be controlled by the first and second detection means provided on the trolley and the plurality of detected members provided on the trajectory, it is necessary to provide a control device for controlling the vehicle speed on the trajectory. none.

Moreover, in the said conveyance system, when the trolley | bogie runs when the trolley | bogie detects the to-be-detected member near the fire door, you may run without stopping the trolley | bogie.

According to the conveying system which concerns on this invention, when a trolley reaches the to-be-detected member near the fire door, it runs without stopping. For this reason, when deceleration of a trolley | bogie becomes inadequate in the area | region between a some to-be-detected member, a trolley | bogie can pass through the interruption | blocking position of the running track by a fire door. Therefore, it is possible to prevent the truck from stopping at the blocking position by the fire door.

In the conveying system, the first detecting means includes two detecting regions for detecting the preceding trolleys under two different detecting distances, and the first detecting region outside the region between the plurality of detected members. When the preceding vehicle is detected by the first detecting means within the vehicle, the vehicle is decelerated and traveled, and the preceding vehicle is carried out by the first detecting means in the second detecting region having a shorter detection distance than the first detecting region. May be decelerated to stop the truck when is detected.

According to the conveying system according to the present invention, when the preceding trolley is detected in the first detection region having a long detection distance, the trolley is decelerated in advance. Can be stopped at For this reason, it becomes possible to stop so that a bogie may not collide with a preceding bogie.

1 to 6 show an embodiment of a conveying system according to the invention.

The conveying system 100 according to the present embodiment is for efficiently conveying cargo to each room in a building such as a hospital, which has a plurality of floors, and as shown in FIG. 1) and a plurality of containers (bogies) 10 capable of traveling along the traveling track 1, and a plurality of stations ST disposed in the middle of the traveling track 1 and for unloading cargo to and from the container 10. Doing.

In addition, the conveying system 100 includes a fire door 20 which cuts off each room at a midway position of the traveling track 1 in order to suppress the fire from moving to another room when a fire occurs in one room. It is installed.

The station ST is for discharging cargo to the container 10, and is equipped with the operation apparatus for giving the cargo conveyance instruction to the other station ST. This station ST is provided not only on the same floor of a building but also on other floors. Therefore, the cargo conveyance from one layer to another is made by the lifter 5 which raises and lowers the container 10 up and down.

As illustrated in FIG. 2, the fire door 20 includes a traveling system 1 so that the container 10 can pass through the blocking position W of the traveling track 1 in a state where a fire does not occur. Is housed above. In the event of a fire, the fire door 20 descends from the upper side of the traveling track 1 toward the lower side (B direction) to block the traveling track 1.

The section X provided in the fire door 20 before and after the direction along the travel track 1 is an empty space of the travel track 1 necessary for closing the fire door 20. That is, when the fire door 20 is closed when the container 10 is in this section X, the fire door 20 will be in contact with the container 10, and it will be in the state which cannot interrupt | block the runway 1.

Bar code labels S _A and S _B are attached to the upper surface 1a of the traveling track 1, and the bar code labels S _B enter the section X in the direction of the container 10 toward the A direction. It is attached at the position just before. In addition, the barcode label S _A is attached to the fire door 20 at a position spaced apart in front of the barcode label S _B. These bar code labels S _A and S _B are used to control the traveling speed of the container 10 before the container 10 enters the section X in the A direction.

The container 10 is for loading cargo from one station ST and returning it to another station ST. The container 10 includes a front vehicle detection sensor (first detection means 11) and a barcode reader ( A second detecting means 12 is provided, and a control device (not shown) for controlling the traveling speed of the container 10 is provided.

The front vehicle detection sensor 11 is for detecting the container 10 preceding in the advancing direction (A direction) of the container 10, and has two detection distances. The first detection distance (first detection area) B1 is gentle when the container 10 traveling at the highest speed detects another container 10 stopped at the front. Even if it decelerates, it is the distance which does not collide with the preceding container 10. In addition, the second detection distance (second detection area) B2 should immediately stop the container 10 in order to prevent a collision with the preceding container 10 when detecting the stopped container 10. Distance.

The barcode reader 12 detects barcode labels S _A and S _B attached to the traveling track 1 and faces the lower end of the container 10 facing the upper surface 1a side of the traveling track 1. Installed in When the barcode reader 12 reads the barcode labels S _A and S _B , it can be seen that the container 10 is located in front of the section X. As shown in FIG.

The control device controls the traveling speed of the container 10 based on the surrounding information of the container 10 obtained by the front vehicle detection sensor 11 and the barcode reader 12.

In the conveying system 100 that are configured as described above, the running speed of the container 10, by the inter-vehicle distance to the preceding container (10) to (B1, B2), and a bar code label (S _A, S _B) Will be changed. Hereinafter, the traveling control of the container 10 will be described.

That is, as shown in Figure 3, first, control device and drive the container 10 to a first predetermined speed (V ₁₎ (step S1). The first set speed V ₁ travels on the traveling track 1 in order for the container 10 to convey cargo, and is preceded by the front vehicle detection sensor 11 in front of the container 10. It is the speed in the state which does not detect (10).

Subsequently, the procedure proceeds to step S2, and the front vehicle detection sensor 11 determines whether the distance between the preceding container 10 and the vehicle is less than or equal to the first detection distance B1, and the vehicle distance is the first detection distance B1. If larger than), the flow returns to step S1 and the subsequent container 10 is driven at the first set speed V ₁ .

If the inter-vehicle distance with the preceding container 10 is less than or equal to the first detection distance B1, the flow advances to step S3 to determine whether or not the inter-vehicle distance is less than or equal to the second detection distance B2. 11).

As a result, when the inter-vehicle distance from the preceding container 10 is larger than the second detection distance B2, the process proceeds to step S4, where the subsequent container 10 is between the bar code labels S _A and S _B. It is determined by the barcode reader 12 whether or not it is within the interval of.

As a result, if the subsequent container 10 is not within the interval between the bar code labels S _A and S _B , the process proceeds to step S5 where the control device determines the vehicle speed of the subsequent container 10. Change to the set speed (V ₂ ). Here, the second set speed V ₂ is slower than the first set speed V ₁ .

That is, in the state where the following container 10 is traveling at the first set speed V ₁ , when the inter-vehicle distance with the preceding container 10 becomes the first detection distance B1, the second set speed ( Decelerating towards V ₂ ). And after the process of this step S5 is complete | finished, the process of step S2 is performed.

In step S3, when it is determined by the front vehicle detecting sensor 11 that the distance between the preceding container 10 and the second container 10 is equal to or less than the second detection distance B2, the control proceeds to step S6. The vehicle speed target is changed to zero to decelerate to stop the subsequent container 10. In step S7, it is determined whether or not the subsequent container 10 has stopped. If the container 10 is not stopped, the process of step S2 is performed.

In the step S4, when it is determined by the barcode reader 12 that the following container 10 is in the section of the barcode labels S _A and S _B , step S6 is performed in the same manner as described above. The process of step S7 is performed.

That is, when the inter-vehicle distance becomes less than or equal to the second detection distance B2 in a state where the inter-vehicle distance with the preceding container 10 is equal to or less than the first detection distance B1, or the subsequent container 10 is a barcode label ( When entering into the sections of S _A and S _B , the following containers 10 are decelerated to stop.

In addition, in step S7, when the following container 10 stops, the distance between the preceding container 10 is the first detection distance B1 within the section of the barcode labels S _A and S _B. ) Or in the case where the second detection distance B2 is greater than or equal to the bar code labels S _A and S _B , the following container 10 starts to travel.

4 to 6 show an example of speed control.

The horizontal axis of each graph shows the position of the traveling track, and the container 10 is supposed to move from the left side to the right side of the ground along this horizontal axis. Moreover, the vertical axis | shaft of each graph has shown the target speed of the container 10 by the control apparatus, and the actual vehicle speed of the container 10. As shown in FIG.

For example, as shown in FIG. 4, at a predetermined position S _C in front of the barcode label S _A toward the advancing direction of the container 10, the distance between the preceding container 10 and the next container 10 is determined. If the first detection distance (B1) is less than the vehicle speed of the container (10) subsequent to the process of the step (S5) to decelerate toward the second predetermined speed (V _2). In addition, this deceleration is made smoothly over a long distance in order to prevent the damage of the cargo carried in the container 10.

When passing through the bar code label S _A , the process of step S6 is performed to decelerate so that one container 10 stops, and stops immediately before the bar code label S _B.

Also, for example, also as it is shown in 5, in front of all the predetermined position (S _C) towards the direction of movement of the container 10, the inter-vehicle distance to the preceding container (10) for the first detected distance (B1 ) when the following are to decelerate the vehicle speed is the second predetermined speed (V ₂₎ of the container (10) subsequent to the process of the step (S5). When the bar code label S _A is passed at this vehicle speed, the process of step S6 is performed to stop the subsequent container 10 in the section between the bar code labels S _A and S _B.

For example, as shown in FIG. 6, between the predetermined position S _C and the barcode label S _A , the inter-vehicle distance with the preceding container 10 is equal to or less than the first detection distance B1. the case, the vehicle speed of the container (10) subsequent to the process of the step (S5) to decelerate toward the second predetermined speed (V _2). Subsequently, when the subsequent container 10 passes the bar code label S _{A at} this vehicle speed, the container 10 decelerates so as to stop by processing the step S6. However, at the time when the subsequent container 10 passes the bar code label S _B , the process of step S5 is again performed to accelerate to the second set speed V ₂ , so that the blocking position W of the fire door 20 is reached. Will pass).

That is, the predetermined position (S _C) and the bar code label between (S _B), in the case where the vehicle in front detection sensor 11 detects the first detection distance (B1), the subsequent container (10), even if the deceleration bar code You cannot stop at the front of the label S _B. Therefore, when the following container 10 is in the said predetermined position S _C , as shown in FIG. It is necessary to have enough space for one container 10 to be located.

Thus, the first detected distance (B1) is, the container 10 has a length of up to the braking distance until it stops at the first set speed (V ₁₎ (the predetermined position (S _C), a bar code label (S _B) from ), The length of the section X, the second detection distance B2, and the length of one container 10 are preferably set.

Moreover, the emergency stop mechanism 150 is provided in this conveyance system 100 so that the collision of the container 10 and the fire door 20 can be prevented more reliably. The emergency stop mechanism 150 is provided in the transmitter 31 provided on the ceiling wall surface 30 above the traveling track 1 and in the container 10 to receive a signal transmitted from the transmitter 31. It consists of a receiver (not shown) and barcode labels S _B and S _D provided on the traveling track 1.

Since the transmitter 31 transmits a signal to allow the receiver of the container 10 to enter the section X, the transmitter 31 normally transmits an entry permission signal and stops the transmission of the entry permission signal in case of fire. . Further, the barcode label S _D is attached to the fire door 20 toward the upper surface 1a of the traveling track 1 in front of the barcode label S _A.

When the receiver is receiving the entry permission signal while the container 10 is driving the section between the barcode labels S _B and S _D in the A direction, the container 10 is based on the above-described speed control. To drive. In addition, when the entry permission signal is not received, the brake 10 is stopped and the container 10 is stopped to reliably prevent a collision between the container 10 and the fire door 20. Here, sudden braking means forcibly stopping the container 10 at a slight distance even at the first set speed V ₁ .

As described above, according to the conveying system 100, the bar code reader 12 provided in the container 10 detects the bar code labels S _A and S _B arranged on the traveling track 1, so that the container 10 The container 10 detects itself in front of the fire door 20. When the front vehicle detection sensor 11 of the container 10 detects another preceding container 10 in the section between the barcode labels S _A and S _B , the container 10 is decelerated to stop. .

Accordingly, the speed of the container 10 is changed by the detection of the bar code labels S _A and S _B by the bar code reader 12, and the lock position 20 of the travel track 1 by the fire door 20 is changed. It is possible to prevent the container 10 from stopping.

In addition, when the container 10 reaches the barcode label S _B , the container 10 travels without stopping. For this reason, in a region between the bar code labels S _A and S _B , when the deceleration of the container 10 becomes insufficient, the container 10 is closed at the blocking position of the traveling track 1 by the fire door 20. W) can be passed. Therefore, it is possible to prevent the container 10 from stopping at the blocking position W by the fire door 20.

From the above, the speed control of the container 10 is controlled by the front vehicle detection sensor 11 installed in the container 10, the barcode reader 12, and the bar code labels S _A and S _B provided on the traveling track 1. can do.

As a result, it is not necessary to provide a control device for the vehicle speed control of the container 10 in the traveling track 1, so that the installation cost of the transport system 100 can be reduced.

In addition, since it is not necessary to slow the truck unnecessarily, the conveyance time of cargo can be shortened.

In addition, when the front vehicle detection sensor 11 of the container 10 detects the preceding container 10 at the first detection distance B1, the container 10 is decelerated beforehand, and thus, at the second detection distance B2. When the preceding container 10 is detected, the container 10 can be stopped at a short distance. For this reason, the container 10 can be stopped so that it may not collide with the preceding container 10.

In the above embodiment, the attachment positions of the bar code labels S _A and S _B are not limited to the upper surface 1a of the traveling track 1 but may be the lower surface of the traveling track 1.

The present invention is not limited to a bar code label (S _A, S _B), for example, it may be provided with a separate bar-coded label to the front of each station (ST). In this case, the barcode reader 12 detects the front bar code label of the station ST, and transmits to the controller 10 of the container 10 that the barcode reader 12 has reached the station ST for conveying the cargo. ) Can be decelerated to stop at the station ST.

In addition, although the running track 1 is blocked by the fire door 20 at the time of a fire, it is not limited to this, For example, when the toxic gas generate | occur | produces in some room, the fire door 20 is interrupted | blocked. You may let it.

In addition, the fire door 20 is accommodated above the traveling track 1 and moved in the B direction to block the traveling track 1, but the present invention is not limited thereto. It is accommodated on the lower side and moves upward from the lower side of the trajectory 1 to block the trajectory 1, or is accommodated on the side of the trajectory 1 to accommodate the trajectory 1 on both sides of the trajectory 1. May be blocked.

According to the conveying system according to the present invention, the collision between the fire door and the vehicle can be prevented and the collision can be easily prevented.

Claims (4)

A conveying system having a traveling trajectory, a plurality of trolleys movable along the traveling trajectory, and a fire door which is arranged at a midway position of the traveling trajectory and blocks the traveling trajectory in the event of a fire, First detecting means provided on the trolley and detecting a preceding trolley traveling forward; A member to be detected disposed on the traveling track in front of the fire door in the traveling direction of the trolley; And a second detection means provided in each of said trolley | bogies and detecting the said to-be-detected member. The method of claim 1, The detection member is arranged in plural at intervals in the traveling direction of the balance, and decelerates to stop the balance when the first detection means detects the preceding balance in the area between the plurality of detection members. Conveying system. The method of claim 2, A conveyance system for causing the vehicle to travel without stopping the vehicle when the vehicle is traveling when the vehicle detects the detected member closer to the fire door. The method according to claim 2 or 3, The first detecting means has two detecting regions for detecting the preceding bogie at two different detecting distances or less; Outside the area between the plurality of detected members, when the preceding truck is detected by the first detection means in the first detection area, the vehicle is decelerated and traveled, A conveying system for decelerating the vehicle to stop when the preceding vehicle is detected by the first detecting means in a second detection region having a detection distance shorter than the first detection region.