WO2014162655A1 - Conveyor system and method for calculating load for power supply device - Google Patents

Conveyor system and method for calculating load for power supply device Download PDF

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Publication number
WO2014162655A1
WO2014162655A1 PCT/JP2014/001060 JP2014001060W WO2014162655A1 WO 2014162655 A1 WO2014162655 A1 WO 2014162655A1 JP 2014001060 W JP2014001060 W JP 2014001060W WO 2014162655 A1 WO2014162655 A1 WO 2014162655A1
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WO
WIPO (PCT)
Prior art keywords
power supply
load
operation information
transport vehicle
torque
Prior art date
Application number
PCT/JP2014/001060
Other languages
French (fr)
Japanese (ja)
Inventor
洋靖 冨田
真人 海野
基彦 葛谷
義則 恩田
Original Assignee
村田機械株式会社
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Publication of WO2014162655A1 publication Critical patent/WO2014162655A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/441—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/443—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/70—Interactions with external data bases, e.g. traffic centres
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present invention relates to a transport vehicle system including a transport vehicle that travels by electric power supplied from a power supply line.
  • a transport vehicle system that transports articles by running a plurality of transport vehicles on a track is employed.
  • a power supply device is provided in which a power supply line is wired in the vicinity of the track and power is supplied from the power supply line to each transport vehicle.
  • the transport vehicle travels using the power supplied from the power supply line, moves the article up and down, and operates a computer included in the transport vehicle.
  • the power consumption of each transport vehicle handles a predetermined value for each transport mode as a fixed value, and the power supplied by the power feeding device is in a predetermined mode.
  • the calculation is performed by multiplying the number of transporting vehicles by the power consumption, which is a fixed value corresponding to the mode, and integrating the plurality of modes. Therefore, the power consumed by the transport vehicle cannot be accurately grasped, and the power feeding capacity of the power feeding device is lowered in consideration of an error between the power actually consumed and the power as a fixed value. It must be set, and it is difficult to ensure high conveyance efficiency by making full use of the capability of the power feeding device.
  • the power consumption of a plurality of transport vehicles can be grasped only roughly, a large error occurs even when changing to a mode for energy saving, and it is difficult to efficiently reduce the energy consumption.
  • the present invention has been made in view of the above-described problems, and a transport vehicle system and a power feeding device that can accurately grasp power consumption of a plurality of transport vehicles in real time with a simple configuration without separately providing a power meter or the like.
  • the purpose is to provide a load calculation method.
  • a transport vehicle system is a transport vehicle system comprising a plurality of transport vehicles for transporting articles and a power feeding device having power supply lines for supplying power to the plurality of transport vehicles.
  • the operation information acquisition unit that acquires the operation information of the motor included in the conveyance vehicle
  • the torque acquisition unit that acquires the torque information indicating the torque of the motor from which the operation information is acquired
  • each of the conveyance vehicles And a load calculating unit that calculates a load of the power feeding device based on the operation information and the torque information.
  • the transport vehicle it is possible to grasp the power consumed by the motor included in the transport vehicle with a simple configuration without providing a power meter for each motor included in the transport vehicle. Therefore, while avoiding the increase in weight and power consumption due to the installation of a power meter or the like, the power consumed by the transport vehicle can be obtained in detail, and the transport vehicle spends the power to the limit of the capacity of the power supply device. The transport efficiency can be increased, and the transport vehicle can be operated efficiently to reduce power consumption.
  • the operation information and the torque information corresponding to each of the transport vehicles are accumulated for a predetermined period or every predetermined number, and the accumulated operation information and the torque information are statistically processed.
  • a statistical processing unit that calculates a statistical load amount that is an average load amount in the predetermined period or the predetermined number, and the load calculation unit may calculate the load of the power supply device based on the statistical load amount Good.
  • the power supply device includes a first power supply device having a first power supply line and a second power supply device having a second power supply line, and the transport vehicle system further acquires position information indicating a position of each transport vehicle. And a load calculating unit that calculates a first load that is a load of the first power feeding device and a second load that is a load of the second power feeding device based on the position information. But you can.
  • the load can be grasped for each power supply device, and the load of each power supply device can be averaged by adjusting the position of the conveyance vehicle. It becomes possible.
  • a method for calculating a load of a power feeding device includes a plurality of transport vehicles that transport articles and a power supply device that includes power feed lines that supply power to the plurality of transport vehicles.
  • a load calculation method for a power supply apparatus that calculates a load on the power supply apparatus in a transporter vehicle system, wherein operation information of a motor included in the transporter is acquired by an operation information acquisition unit, and the operation information is acquired. Torque information indicating torque is acquired by a torque acquisition unit, and a load of the power feeding device is calculated by a load calculation unit based on the operation information and the torque information corresponding to each of the transport vehicles.
  • the power consumed by the transport vehicle can be obtained in detail, and the transport vehicle spends the power to the limit of the capacity of the power supply device.
  • the transport efficiency can be increased, and the transport vehicle can be operated efficiently to reduce power consumption.
  • execution of a program for causing a computer to execute each process included in the load calculation method of the power supply apparatus also corresponds to the implementation of the present invention.
  • implementing the recording medium in which the program is recorded also corresponds to the implementation of the present invention.
  • FIG. 1 is a diagram schematically illustrating a transport vehicle system.
  • FIG. 2 is a block diagram showing a mechanism configuration of the transport vehicle.
  • FIG. 3 is a block diagram illustrating a functional configuration of a control device included in the transport vehicle together with a mechanism configuration.
  • FIG. 4 is a block diagram showing the functional configuration of the host controller together with the mechanism configuration.
  • FIG. 1 is a diagram schematically showing a transport vehicle system.
  • the transport vehicle system 100 is a system including a transport vehicle 101 and a power supply apparatus 103 having a power supply line 102.
  • the transport vehicle system 100 further includes a host controller 104 and an access point 105.
  • FIG. 2 is a block diagram showing a mechanism configuration of the transport vehicle.
  • the transport vehicle 101 is a traveling vehicle capable of transporting articles.
  • the transport vehicle 101 has a travel motor 111 for traveling along a travel route formed by rails laid on the floor surface, and the travel route.
  • a transfer device (not shown) for transferring an article to and from a plurality of stations (not shown) provided, and an elevating motor 112 for raising and lowering the article are provided.
  • the transport vehicle 101 includes a control device 110, a travel amplifier 113 that supplies power to the travel motor 111 according to the travel conditions transmitted from the control device 110, and a travel encoder 115 that detects the rotational speed of the travel motor 111.
  • the transport vehicle 101 also includes a communication device 117 for performing wireless communication with the access point 105.
  • the transfer device also includes a motor, since the power consumption of the transfer device is fixed, the power consumption of the transfer device may be determined from the number of times of transfer.
  • FIG. 3 is a block diagram showing a functional configuration of a control device included in the transport vehicle together with a mechanism configuration.
  • the control device 110 included in the transport vehicle 101 is a computer.
  • the transport vehicle 101 includes an operation information acquisition unit 118, a torque An acquisition unit 119 is provided.
  • the transport vehicle 101 includes an accumulation unit 161 and a statistical processing unit 162.
  • the operation information acquisition unit 118 is a processing unit that acquires, as operation information, rotation speed information indicating the rotation speed and rotation speed of motors (such as the traveling motor 111 and the lifting motor 112) included in the transport vehicle 101.
  • the operation information acquisition unit 118 acquires a signal from the traveling encoder 115 provided on the traveling wheel to which the traveling motor 111 is connected, and analyzes the signal to thereby rotate the rotational speed of the traveling motor 111. Is obtained.
  • the operation information acquisition unit 118 acquires the rotation speed information of the elevating motor 112 as operation information by analyzing the signal from the elevating encoder 116.
  • the rotation speed information may be acquired based on a control command of the traveling motor 111 and the lifting motor 112 that the control device 110 gives to the traveling amplifier 113 and the lifting amplifier 114. Further, the rotational speed information may be acquired based on pulses output from the traveling amplifier 113 and the lifting amplifier 114.
  • the torque acquisition unit 119 is a processing unit that acquires torque information indicating the torque of a motor (running motor 111, lifting motor 112, etc.) from which operation information such as rotation speed information is acquired.
  • the torque of the traveling motor 111 is obtained by the torque acquisition unit 119 acquiring a signal indicating the power supplied to the traveling motor 111 by the traveling amplifier 113 and analyzing the signal. Is obtained as torque information.
  • the torque information of the lifting motor 112 is acquired by the torque acquisition unit 119 acquiring and analyzing the signal from the lifting amplifier 114.
  • the accumulation unit 161 is a memory that accumulates operation information such as rotation speed information and torque information for a predetermined period or every predetermined number.
  • the amount of information stored in the storage unit 161 is not particularly limited.
  • the communication device 117 included in the transport vehicle 101 communicates with the host control device 104 at intervals of the order of 100 msec, and the control device 110.
  • information such as rotation speed information and torque information acquired during the communication interval of the communication device 117 as a predetermined period may be accumulated.
  • the quotient obtained by dividing the communication interval of the communication device 117 by the information acquisition interval for acquiring the rotation speed information and torque information of the control device 110 is set as a predetermined number, and the predetermined number of information such as the rotation speed information and torque information is accumulated. May be.
  • the accumulation unit 161 is a preferable application example, and the transport vehicle system 100 does not necessarily include the accumulation unit 161.
  • the statistical processing unit 162 performs statistical processing on the rotational speed information and torque information accumulated in the accumulation unit 161 to calculate a statistical load amount that is an average load amount in a predetermined period or a predetermined number. It is. Specifically, the statistical processing unit 162 calculates an average value of operation information in a predetermined period or a predetermined number acquired by the operation information acquisition unit 118 as statistical processing for calculating a statistical load. The statistical processing unit 162 calculates an average value of torque information in a predetermined period or a predetermined number as statistical processing for calculating the statistical load. Then, the statistical processing unit 162 calculates the statistical load amount by multiplying the calculated average value of the operation information, the calculated average value of the torque information, and the coefficient.
  • the statistical processing unit 162 excludes error information indicating an unexpected value from the accumulated information, and then calculates an average value of the rotational speed and an average value of the torque,
  • the result obtained by multiplying the product obtained by multiplying the average value by a coefficient or the like is defined as a statistical load.
  • a plurality of results obtained by multiplying a product obtained by multiplying the rotational speed and torque accumulated at the same time by a coefficient may be subjected to the same statistical processing to obtain a statistical load amount.
  • the load amount is used as a concept indicating the power consumption amount.
  • the statistical processing unit 162 is a preferable application example, and the transport vehicle system 100 does not necessarily include the statistical processing unit 162.
  • the communication device 117 is a device for communicating with the host control device 104.
  • the communication device 117 communicates wirelessly, and communicates with any one of the plurality of access points 105 connected to the host control device 104 so that the host control device 104 and the transport vehicle 101 communicate with each other. It is possible to exchange information between them.
  • a power feeding system including a power feeding line 102 and a power feeding device 103 is a system that supplies power to each of a plurality of transport vehicles 101.
  • the transport vehicle system 100 includes a first power supply line 121, a second power supply line 122, and a third power supply line 123 as the power supply line 102 and supplies power to each power supply line 102.
  • the device 103 includes a first power supply device 131, a second power supply device 132, and a third power supply device 133.
  • the power supply lines 102 are not connected to each other, and are connected to a corresponding power supply apparatus.
  • the power supply system is a contactless power supply system that supplies power to the transport vehicle 101 when the power supply line 102 and the transport vehicle 101 are not in contact with each other.
  • a power supply system may be used.
  • FIG. 4 is a block diagram showing the functional configuration of the host controller together with the mechanism configuration.
  • the host control device 104 is a computer that acquires information on a plurality of transport vehicles 101 and transmits a control command to the plurality of transport vehicles 101.
  • the host control device 104 includes a load calculation unit 141 as a processing unit realized by causing the host control device 104 to execute a program.
  • the host control device 104 includes a position information acquisition unit 142, and a display device 144 is connected thereto.
  • the load calculation unit 141 is a processing unit that calculates the load of the power supply apparatus 103 based on rotation speed information and torque information corresponding to each transport vehicle 101. In the case of the present embodiment, the load calculation unit 141 calculates the load of the power supply apparatus 103 based on the statistical load amount calculated by the statistical processing unit 162.
  • the load calculation unit 141 is a first load that is a load of the first power supply device 131 and a load of the second power supply device 132 based on the position information corresponding to each transport vehicle 101 acquired by the position information acquisition unit 142. The second load and the third load that is the load of the third power feeding device 133 are calculated.
  • the load calculation unit 141 acquires the identification information indicating each transport vehicle 101 and the statistical load associated with the position information, and based on the position information, A group (first group) of transport vehicles 101 to which power is supplied by one power supply device 131, a group (second group) of transport vehicles 101 to which power is supplied by a second power supply device 132, and a third power supply
  • the device 133 is divided into groups (third group) of the transport vehicles 101 to which power is supplied.
  • the sum which added the statistical load amount of the conveyance vehicle 101 which belongs to a 1st group is calculated as a 1st load which is a load of the 1st electric power feeder 131.
  • FIG. Similarly, the load of the 2nd electric power feeder 132 and the 3rd electric power feeder 133 is calculated as a 2nd load and a 3rd load.
  • the conveyance vehicle 101 has a part (for example, the control apparatus 110 etc.) which consumes electric power regularly other than the traveling motor 111 and the lifting / lowering motor 112. Since this power consumption is a fixed value and can be acquired in advance, the load calculation unit 141 may add up the statistical load amount plus the fixed value for each group. This makes it possible to calculate a more accurate load.
  • the control apparatus 110 etc. which consumes electric power regularly other than the traveling motor 111 and the lifting / lowering motor 112. Since this power consumption is a fixed value and can be acquired in advance, the load calculation unit 141 may add up the statistical load amount plus the fixed value for each group. This makes it possible to calculate a more accurate load.
  • the information acquired by the load calculating unit 141 is not limited to the statistical load amount.
  • the load calculation unit 141 may acquire identification information indicating each transport vehicle 101 and rotation speed information and torque information associated with the position information.
  • the load calculation unit 141 may include a statistical processing unit and perform statistical processing.
  • the position information acquisition unit 142 is a processing unit that acquires position information indicating the position of each transport vehicle 101.
  • the position information acquisition unit 142 acquires the position information by calculating the travel distance of the transport vehicle 101 from the reference position based on the signal from the travel encoder 115.
  • the position information may be information that can identify which power supply line 102 is supplied with power, and need not be information that clearly shows the XY coordinates.
  • the display device 144 is a device that can visualize and display the load (power consumption) calculated by the load calculation unit 141 in real time.
  • the display device 144 may display the first load, the second load, and the third load at the same time, and display the load variation of each power supply device 103 in real time.
  • the transport vehicle system 100 described above it is possible to precisely grasp the power actually consumed by one transport vehicle 101 without attaching a power meter that leads to an increase in weight for each motor included in the transport vehicle 101. Can do.
  • the present invention is not limited to the above embodiment.
  • another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention.
  • the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.
  • the description has been made with a plurality of power supply systems, but a single power supply system may be used.
  • the transport vehicle 101 includes an operation information acquisition unit 118, a torque acquisition unit 119, an accumulation unit 161, and a statistical processing unit 162, and the host control device 104 includes a load calculation unit 141 and a position information acquisition unit 142.
  • these processing units may be provided in any one of the transport vehicle systems 100 as a whole.
  • traveling motor 111 and the lifting motor 112 are illustrated as motors included in the transport vehicle 101, rotational speed information and torque information may be acquired for other motors.
  • the present invention can be used in a system including a plurality of transport vehicles to which power is supplied by a power supply line, and can be used in, for example, a transport vehicle system that transports articles in a semiconductor manufacturing factory or the like.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Conveyors (AREA)
  • Remote Monitoring And Control Of Power-Distribution Networks (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A conveyor system (100) including a plurality of conveyors (101) for conveying an article, and a power supply device (103) having a power supply line (102) for supplying the plurality of conveyors (101) with power, said conveyor system (100) comprising: an operation information acquisition unit (118) for acquiring operation information such as the rotation speed, number of rotations and so forth of a motor (111) provided in a conveyor (101); a torque acquisition unit (119) for acquiring torque information representing torque of the motor (111) from which the operation information is acquired; and a load calculation unit (141) for calculating the load of the power supply device (103) on the basis of the operation information and the torque information corresponding to the conveyors (101).

Description

搬送車システム、給電装置の負荷算出方法Carrier vehicle system, power supply device load calculation method
　本願発明は、給電線から供給される電力により走行する搬送車を備えた搬送車システムに関する。 The present invention relates to a transport vehicle system including a transport vehicle that travels by electric power supplied from a power supply line.
　例えば半導体製造工場等においては、複数の搬送車を軌道上で走行させ物品を搬送する搬送車システムが採用されている。このような搬送車システムにおいては、軌道の近傍に給電線を配線し、当該給電線から各搬送車に電力を供給する給電装置が備えられている。搬送車は、給電線から供給される電力を用いて、走行し、物品を昇降させ、また、搬送車が備えるコンピュータを稼働させている。 For example, in a semiconductor manufacturing factory or the like, a transport vehicle system that transports articles by running a plurality of transport vehicles on a track is employed. In such a transport vehicle system, a power supply device is provided in which a power supply line is wired in the vicinity of the track and power is supplied from the power supply line to each transport vehicle. The transport vehicle travels using the power supplied from the power supply line, moves the article up and down, and operates a computer included in the transport vehicle.
　以上のような搬送車システムでは、給電装置の能力に上限が定められており、搬送車が使用する電力の合計が給電装置の給電容量を越えないように制御する必要が生じる。このため、特許文献１には、搬送車が消費する電力を把握し、給電装置が電力を供給している各搬送車の消費電力を抑制することで、搬送車が軌道上で停止することなく、全搬送車をスムーズに運行させることができる搬送車システムが開示されている。 In the transport vehicle system as described above, an upper limit is set on the capacity of the power supply device, and it is necessary to control the total power used by the transport vehicle so as not to exceed the power supply capacity of the power supply device. For this reason, in patent document 1, grasping | ascertaining the electric power which a conveyance vehicle consumes, and suppressing the power consumption of each conveyance vehicle which the electric power feeder is supplying electric power, without a conveyance vehicle stopping on a track | orbit A transport vehicle system that can smoothly operate all transport vehicles has been disclosed.
特開２００２－３５１５４６号公報JP 2002-351546 A
　ところが、特許文献１に記載の搬送車システムでは、各搬送車の消費電力は、搬送モードごとに予め定められた値を固定値として扱っており、給電装置が給電する電力は、所定のモードで走行する搬送車の台数と当該モードに対応する固定値である消費電力とを掛け合わせ、複数のモードについて積算することにより算出していた。従って、搬送車が消費している電力を正確に把握することができず、実際に消費されている電力と固定値としての電力との間の誤差を考慮して給電装置の給電容量を低めに設定しなければならず、給電装置の能力を十分に利用して高い搬送効率を確保することが困難となっている。また、複数の搬送車の消費電力を大雑把にしか把握できないため、省エネルギーを図るためのモードに変更する場合にも大きな誤差が生じ、消費エネルギーを効率よく低下させることは困難となっている。 However, in the transport vehicle system described in Patent Document 1, the power consumption of each transport vehicle handles a predetermined value for each transport mode as a fixed value, and the power supplied by the power feeding device is in a predetermined mode. The calculation is performed by multiplying the number of transporting vehicles by the power consumption, which is a fixed value corresponding to the mode, and integrating the plurality of modes. Therefore, the power consumed by the transport vehicle cannot be accurately grasped, and the power feeding capacity of the power feeding device is lowered in consideration of an error between the power actually consumed and the power as a fixed value. It must be set, and it is difficult to ensure high conveyance efficiency by making full use of the capability of the power feeding device. In addition, since the power consumption of a plurality of transport vehicles can be grasped only roughly, a large error occurs even when changing to a mode for energy saving, and it is difficult to efficiently reduce the energy consumption.
　本願発明は上記課題に鑑みなされたものであり、電力計などを別途設けることなく簡単な構成で複数の搬送車の消費電力をきめ細かにリアルタイムで把握することができる搬送車システム、および、給電装置の負荷算出方法の提供を目的とする。 SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and a transport vehicle system and a power feeding device that can accurately grasp power consumption of a plurality of transport vehicles in real time with a simple configuration without separately providing a power meter or the like. The purpose is to provide a load calculation method.
　上記目的を達成するために、本願発明にかかる搬送車システムは、物品を搬送する複数の搬送車と、複数の前記搬送車に電力を供給する給電線を有する給電装置とを備える搬送車システムであって、前記搬送車が備えるモーターの稼働情報を取得する稼働情報取得部と、稼働情報が取得される前記モーターのトルクを示すトルク情報を取得するトルク取得部と、それぞれの前記搬送車に対応する前記稼働情報と前記トルク情報とに基づき前記給電装置の負荷を算出する負荷算出部とを備えることを特徴とする。 In order to achieve the above object, a transport vehicle system according to the present invention is a transport vehicle system comprising a plurality of transport vehicles for transporting articles and a power feeding device having power supply lines for supplying power to the plurality of transport vehicles. The operation information acquisition unit that acquires the operation information of the motor included in the conveyance vehicle, the torque acquisition unit that acquires the torque information indicating the torque of the motor from which the operation information is acquired, and each of the conveyance vehicles And a load calculating unit that calculates a load of the power feeding device based on the operation information and the torque information.
　これによれば、搬送車が備えるモーターごとに電力計を設けることなく、簡単な構成で搬送車が備えるモーターが消費する電力を把握することが可能となる。従って、電力計などを別途設けることによる重量増加や消費電力の増加を回避しつつ、搬送車が消費する電力をきめ細かに取得することができ、給電装置の能力のぎりぎりまで電力を費やして搬送車を稼働させ、搬送効率を高めることができ、また、効率よく搬送車を稼働させて消費電力を低く抑えることが可能となる。 According to this, it is possible to grasp the power consumed by the motor included in the transport vehicle with a simple configuration without providing a power meter for each motor included in the transport vehicle. Therefore, while avoiding the increase in weight and power consumption due to the installation of a power meter or the like, the power consumed by the transport vehicle can be obtained in detail, and the transport vehicle spends the power to the limit of the capacity of the power supply device. The transport efficiency can be increased, and the transport vehicle can be operated efficiently to reduce power consumption.
　さらに、それぞれの前記搬送車に対応する前記稼働情報と前記トルク情報とを所定期間、または、所定数ごとに蓄積し、蓄積された前記稼働情報、および、前記トルク情報を統計処理することにより前記所定期間、または、前記所定数における平均的な負荷量である統計負荷量を算出する統計処理部を備え、前記負荷算出部は、前記統計負荷量に基づき前記給電装置の負荷を算出してもよい。 Further, the operation information and the torque information corresponding to each of the transport vehicles are accumulated for a predetermined period or every predetermined number, and the accumulated operation information and the torque information are statistically processed. A statistical processing unit that calculates a statistical load amount that is an average load amount in the predetermined period or the predetermined number, and the load calculation unit may calculate the load of the power supply device based on the statistical load amount Good.
　これによれば、測定エラーなどを丸めることができ、信頼性の高い消費電力を把握することが可能となる。 According to this, it is possible to round measurement errors and the like, and it is possible to grasp the power consumption with high reliability.
　また、前記給電装置は、第一給電線を有する第一給電装置と第二給電線を有する第二給電装置とを備え、当該搬送車システムはさらに、各搬送車の位置を示す位置情報を取得する位置情報取得部を備え、前記負荷算出部は、前記位置情報に基づき前記第一給電装置の負荷である第一負荷と、前記第二給電装置の負荷である第二負荷とを算出するものでもよい。 The power supply device includes a first power supply device having a first power supply line and a second power supply device having a second power supply line, and the transport vehicle system further acquires position information indicating a position of each transport vehicle. And a load calculating unit that calculates a first load that is a load of the first power feeding device and a second load that is a load of the second power feeding device based on the position information. But you can.
　これによれば、搬送車システムが複数の給電装置を備える場合に、給電装置ごとに負荷を把握することができ、搬送車の位置を調整して各給電装置の負荷を平均化したりすることが可能となる。 According to this, when the conveyance vehicle system includes a plurality of power supply devices, the load can be grasped for each power supply device, and the load of each power supply device can be averaged by adjusting the position of the conveyance vehicle. It becomes possible.
　また、上記目的を達成するために、本願発明に係る給電装置の負荷算出方法は、物品を搬送する複数の搬送車と、複数の前記搬送車に電力を供給する給電線を有する給電装置とを備える搬送車システムにおける前記給電装置の負荷を算出する給電装置の負荷算出方法であって、前記搬送車が備えるモーターの稼働情報を稼働情報取得部により取得し、稼働情報が取得される前記モーターのトルクを示すトルク情報をトルク取得部により取得し、それぞれの前記搬送車に対応する前記稼働情報と前記トルク情報とに基づき前記給電装置の負荷を負荷算出部により算出することを特徴としている。 In order to achieve the above object, a method for calculating a load of a power feeding device according to the present invention includes a plurality of transport vehicles that transport articles and a power supply device that includes power feed lines that supply power to the plurality of transport vehicles. A load calculation method for a power supply apparatus that calculates a load on the power supply apparatus in a transporter vehicle system, wherein operation information of a motor included in the transporter is acquired by an operation information acquisition unit, and the operation information is acquired. Torque information indicating torque is acquired by a torque acquisition unit, and a load of the power feeding device is calculated by a load calculation unit based on the operation information and the torque information corresponding to each of the transport vehicles.
　これによれば、搬送車が備えるモーターごとに電力計を設けることなく、簡単に搬送車が備えるモーターが消費する電力を算出することが可能となる。従って、電力計などを別途設けることによる重量増加や消費電力の増加を回避しつつ、搬送車が消費する電力をきめ細かに取得することができ、給電装置の能力のぎりぎりまで電力を費やして搬送車を稼働させ、搬送効率を高めることができ、また、効率よく搬送車を稼働させて消費電力を低く抑えることが可能となる。 According to this, it is possible to easily calculate the power consumed by the motor included in the transport vehicle without providing a power meter for each motor included in the transport vehicle. Therefore, while avoiding the increase in weight and power consumption due to the installation of a power meter or the like, the power consumed by the transport vehicle can be obtained in detail, and the transport vehicle spends the power to the limit of the capacity of the power supply device. The transport efficiency can be increased, and the transport vehicle can be operated efficiently to reduce power consumption.
　なお、前記給電装置の負荷算出方法が含む各処理をコンピュータに実行させるためのプログラムを実施することも本願発明の実施に該当する。無論、そのプログラムが記録された記録媒体を実施することも本願発明の実施に該当する。 It should be noted that execution of a program for causing a computer to execute each process included in the load calculation method of the power supply apparatus also corresponds to the implementation of the present invention. Of course, implementing the recording medium in which the program is recorded also corresponds to the implementation of the present invention.
　本願発明によれば、給電装置が給電する複数の搬送車の各消費電力をきめ細かに把握することが可能となる。 According to the present invention, it is possible to finely grasp the power consumption of each of the plurality of transport vehicles fed by the power feeding device.
図１は、搬送車システムを模式的に示す図である。FIG. 1 is a diagram schematically illustrating a transport vehicle system. 図２は、搬送車の機構構成を示すブロック図である。FIG. 2 is a block diagram showing a mechanism configuration of the transport vehicle. 図３は、搬送車が備える制御装置の機能構成を機構構成と共に示すブロック図である。FIG. 3 is a block diagram illustrating a functional configuration of a control device included in the transport vehicle together with a mechanism configuration. 図４は、上位制御装置の機能構成を機構構成と共に示すブロック図である。FIG. 4 is a block diagram showing the functional configuration of the host controller together with the mechanism configuration.
　次に、本願発明に係る搬送車システム、および、給電装置の負荷算出方法の実施の形態について、図面を参照しつつ説明する。なお、以下の実施の形態は、本願発明に係る搬送車システム、および、給電装置の負荷算出方法の一例を示したものに過ぎない。従って本願発明は、以下の実施の形態を参考に請求の範囲の文言によって範囲が画定されるものであり、以下の実施の形態のみに限定されるものではない。よって、以下の実施の形態における構成要素のうち、本発明の最上位概念を示す独立請求項に記載されていない構成要素については、本発明の課題を達成するのに必ずしも必要ではないが、より好ましい形態を構成するものとして説明される。 Next, an embodiment of a carrier system and a load calculation method for a power feeding device according to the present invention will be described with reference to the drawings. In addition, the following embodiment is only what showed an example of the conveyance vehicle system which concerns on this invention, and the load calculation method of an electric power feeder. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.
　図１は、搬送車システムを模式的に示す図である。 FIG. 1 is a diagram schematically showing a transport vehicle system.
　これらの図に示すように、搬送車システム１００は、搬送車１０１と、給電線１０２を有する給電装置１０３とを備えるシステムである。本実施の形態の場合、搬送車システム１００はさらに、上位制御装置１０４と、アクセスポイント１０５を備えている。 As shown in these drawings, the transport vehicle system 100 is a system including a transport vehicle 101 and a power supply apparatus 103 having a power supply line 102. In the case of the present embodiment, the transport vehicle system 100 further includes a host controller 104 and an access point 105.
　図２は、搬送車の機構構成を示すブロック図である。 FIG. 2 is a block diagram showing a mechanism configuration of the transport vehicle.
　搬送車１０１は、物品を搬送することができる走行車である。本実施の形態の場合、搬送車１０１は、同図に示すように、床面などに敷設された軌条によって形成される走行経路に沿って走行するための走行モーター１１１と、走行経路に沿って設けられた複数のステーション（図示せず）との間で物品を移載するための移載装置（図示せず）と、物品を昇降させるための昇降モーター１１２とを備えている。また、搬送車１０１は、制御装置１１０と、制御装置１１０から送信される走行条件に従った電力を走行モーター１１１に供給する走行用アンプ１１３と走行モーター１１１の回転数を検出する走行エンコーダ１１５とを備え、制御装置１１０から送信される昇降条件に従った電力を昇降モーター１１２に供給する昇降用アンプ１１４と昇降モーター１１２の回転数を検出する昇降エンコーダ１１６とを備えている。また、搬送車１０１は、アクセスポイント１０５と無線通信を行うための通信装置１１７を備えている。 The transport vehicle 101 is a traveling vehicle capable of transporting articles. In the case of the present embodiment, as shown in the figure, the transport vehicle 101 has a travel motor 111 for traveling along a travel route formed by rails laid on the floor surface, and the travel route. A transfer device (not shown) for transferring an article to and from a plurality of stations (not shown) provided, and an elevating motor 112 for raising and lowering the article are provided. Further, the transport vehicle 101 includes a control device 110, a travel amplifier 113 that supplies power to the travel motor 111 according to the travel conditions transmitted from the control device 110, and a travel encoder 115 that detects the rotational speed of the travel motor 111. And an elevating amplifier 114 that supplies power to the elevating motor 112 according to the elevating conditions transmitted from the control device 110, and an elevating encoder 116 that detects the number of rotations of the elevating motor 112. The transport vehicle 101 also includes a communication device 117 for performing wireless communication with the access point 105.
　なお、移載装置もモーターを備えているが、移載装置の消費電力は固定的であるため、移載の回数で移載装置の消費電力を把握すればよい。 Although the transfer device also includes a motor, since the power consumption of the transfer device is fixed, the power consumption of the transfer device may be determined from the number of times of transfer.
　図３は、搬送車が備える制御装置の機能構成を機構構成と共に示すブロック図である。 FIG. 3 is a block diagram showing a functional configuration of a control device included in the transport vehicle together with a mechanism configuration.
　本実施の形態の場合、搬送車１０１が備える制御装置１１０はコンピュータであり、制御装置１１０にプログラムを実行させることにより実現される処理部として、搬送車１０１は、稼働情報取得部１１８と、トルク取得部１１９を備えている。さらに、搬送車１０１は、蓄積部１６１と、統計処理部１６２とを備えている。 In the case of the present embodiment, the control device 110 included in the transport vehicle 101 is a computer. As a processing unit realized by causing the control device 110 to execute a program, the transport vehicle 101 includes an operation information acquisition unit 118, a torque An acquisition unit 119 is provided. Furthermore, the transport vehicle 101 includes an accumulation unit 161 and a statistical processing unit 162.
　稼働情報取得部１１８は、搬送車１０１が備えるモーター（走行モーター１１１、昇降モーター１１２など）の回転数や回転速度を示す回転速度情報などを稼働情報として取得する処理部である。本実施の形態の場合、稼働情報取得部１１８は、走行モーター１１１が接続された走行車輪に設けられた走行エンコーダ１１５からの信号を取得し、当該信号を解析することにより走行モーター１１１の回転速度を示す回転速度情報を取得している。稼働情報取得部１１８は、昇降モーター１１２の回転速度情報も同様に、昇降エンコーダ１１６からの信号を解析することにより稼働情報として取得している。 The operation information acquisition unit 118 is a processing unit that acquires, as operation information, rotation speed information indicating the rotation speed and rotation speed of motors (such as the traveling motor 111 and the lifting motor 112) included in the transport vehicle 101. In the case of the present embodiment, the operation information acquisition unit 118 acquires a signal from the traveling encoder 115 provided on the traveling wheel to which the traveling motor 111 is connected, and analyzes the signal to thereby rotate the rotational speed of the traveling motor 111. Is obtained. Similarly, the operation information acquisition unit 118 acquires the rotation speed information of the elevating motor 112 as operation information by analyzing the signal from the elevating encoder 116.
　これらにより、実際の走行状況や昇降状況に応じた回転速度情報をほぼリアルタイムで取得することができる。 As a result, it is possible to obtain rotational speed information according to the actual traveling situation and the raising / lowering situation almost in real time.
　なお、回転速度情報は、制御装置１１０が走行用アンプ１１３や昇降用アンプ１１４に与える走行モーター１１１や昇降モーター１１２の制御命令に基づいて取得してもかまわない。また、走行用アンプ１１３や昇降用アンプ１１４が出力しているパルスなどに基づいて回転速度情報を取得してもかまわない。 Note that the rotation speed information may be acquired based on a control command of the traveling motor 111 and the lifting motor 112 that the control device 110 gives to the traveling amplifier 113 and the lifting amplifier 114. Further, the rotational speed information may be acquired based on pulses output from the traveling amplifier 113 and the lifting amplifier 114.
　トルク取得部１１９は、回転速度情報などの稼働情報が取得されるモーター（走行モーター１１１、昇降モーター１１２など）のトルクを示すトルク情報を取得する処理部である。本実施の形態の場合、走行モーター１１１のトルクは、走行用アンプ１１３が走行モーター１１１に供給する電力を示す信号をトルク取得部１１９が取得し、当該信号を解析することにより走行モーター１１１のトルクを示すトルク情報として取得している。昇降モーター１１２のトルク情報も同様に、昇降用アンプ１１４からの信号をトルク取得部１１９が取得して解析することにより取得する。 The torque acquisition unit 119 is a processing unit that acquires torque information indicating the torque of a motor (running motor 111, lifting motor 112, etc.) from which operation information such as rotation speed information is acquired. In the case of the present embodiment, the torque of the traveling motor 111 is obtained by the torque acquisition unit 119 acquiring a signal indicating the power supplied to the traveling motor 111 by the traveling amplifier 113 and analyzing the signal. Is obtained as torque information. Similarly, the torque information of the lifting motor 112 is acquired by the torque acquisition unit 119 acquiring and analyzing the signal from the lifting amplifier 114.
　これらにより、実際の走行状況や昇降状況に応じたトルク情報をほぼリアルタイムで取得することができる。 Thus, it is possible to obtain torque information according to the actual running situation and the raising / lowering situation almost in real time.
　蓄積部１６１は、回転速度情報などの稼働情報とトルク情報とを所定期間、または、所定数ごとに蓄積するメモリである。蓄積部１６１の情報の蓄積量は、特に限定されるものではないが、具体的に例えば、搬送車１０１が備える通信装置１１７が１００ｍｓｅｃオーダーの間隔で、上位制御装置１０４と通信し、制御装置１１０は、１ｍｓｅｃオーダーの間隔で回転数情報やトルク情報を取得する場合、通信装置１１７の通信間隔を所定期間としてその間に取得される回転速度情報やトルク情報などの情報を蓄積してもよい。また、通信装置１１７の通信間隔を制御装置１１０の回転速度情報やトルク情報などを取得する情報取得間隔で除算した商を所定数とし、当該所定数の回転速度情報やトルク情報などの情報を蓄積してもよい。なお、蓄積部１６１は、好ましい適用例であり、搬送車システム１００は、蓄積部１６１を必ずしも備えていなくともよい。 The accumulation unit 161 is a memory that accumulates operation information such as rotation speed information and torque information for a predetermined period or every predetermined number. The amount of information stored in the storage unit 161 is not particularly limited. Specifically, for example, the communication device 117 included in the transport vehicle 101 communicates with the host control device 104 at intervals of the order of 100 msec, and the control device 110. When acquiring rotation speed information and torque information at intervals of the order of 1 msec, information such as rotation speed information and torque information acquired during the communication interval of the communication device 117 as a predetermined period may be accumulated. Further, the quotient obtained by dividing the communication interval of the communication device 117 by the information acquisition interval for acquiring the rotation speed information and torque information of the control device 110 is set as a predetermined number, and the predetermined number of information such as the rotation speed information and torque information is accumulated. May be. The accumulation unit 161 is a preferable application example, and the transport vehicle system 100 does not necessarily include the accumulation unit 161.
　統計処理部１６２は、蓄積部１６１において蓄積された回転速度情報、および、トルク情報を統計処理することにより所定期間、または、所定数における平均的な負荷量である統計負荷量を算出する処理部である。具体的には、統計処理部１６２は、統計負荷量を算出するための統計処理として、稼働情報取得部１１８が取得する所定期間または所定数における稼動情報の平均値を算出する。統計処理部１６２は、統計負荷量を算出するための統計処理として、所定期間または所定数におけるトルク情報の平均値を算出する。そして、統計処理部１６２は、算出した稼動情報の平均値、算出したトルク情報の平均値及び係数を乗算して統計負荷量を算出する。さらに、具体的に例えば統計処理部１６２は、蓄積された情報の中から突飛な値を示すようなエラー情報を除外した後、回転速度の平均値と、トルクの平均値を算出し、これらの平均値を乗算した積に係数などを乗算した結果を統計負荷量とする。また、同時期に蓄積された回転速度とトルクとを乗算した積に係数などを乗算した複数の結果を同様の統計処理を行い、統計負荷量としてもよい。ここで本実施の形態の場合、負荷量とは消費電力量を示す概念として用いている。なお、統計処理部１６２は、好ましい適用例であり、搬送車システム１００は、統計処理部１６２を必ずしも備えていなくともよい。 The statistical processing unit 162 performs statistical processing on the rotational speed information and torque information accumulated in the accumulation unit 161 to calculate a statistical load amount that is an average load amount in a predetermined period or a predetermined number. It is. Specifically, the statistical processing unit 162 calculates an average value of operation information in a predetermined period or a predetermined number acquired by the operation information acquisition unit 118 as statistical processing for calculating a statistical load. The statistical processing unit 162 calculates an average value of torque information in a predetermined period or a predetermined number as statistical processing for calculating the statistical load. Then, the statistical processing unit 162 calculates the statistical load amount by multiplying the calculated average value of the operation information, the calculated average value of the torque information, and the coefficient. Furthermore, specifically, for example, the statistical processing unit 162 excludes error information indicating an unexpected value from the accumulated information, and then calculates an average value of the rotational speed and an average value of the torque, The result obtained by multiplying the product obtained by multiplying the average value by a coefficient or the like is defined as a statistical load. A plurality of results obtained by multiplying a product obtained by multiplying the rotational speed and torque accumulated at the same time by a coefficient may be subjected to the same statistical processing to obtain a statistical load amount. In this embodiment, the load amount is used as a concept indicating the power consumption amount. Note that the statistical processing unit 162 is a preferable application example, and the transport vehicle system 100 does not necessarily include the statistical processing unit 162.
　通信装置１１７は、上位制御装置１０４と通信するための装置である。本実施の形態の場合通信装置１１７は、無線によって通信を行うものであり、上位制御装置１０４に接続される複数のアクセスポイント１０５のいずれかと通信することにより上位制御装置１０４と搬送車１０１との間で情報の授受を行うことができるものとなっている。 The communication device 117 is a device for communicating with the host control device 104. In the case of the present embodiment, the communication device 117 communicates wirelessly, and communicates with any one of the plurality of access points 105 connected to the host control device 104 so that the host control device 104 and the transport vehicle 101 communicate with each other. It is possible to exchange information between them.
　給電線１０２と給電装置１０３からなる給電システムは、複数の搬送車１０１のそれぞれに電力を供給するシステムである。本実施の形態の場合、搬送車システム１００は、給電線１０２として、第一給電線１２１と第二給電線１２２と第三給電線１２３とを備え、それぞれの給電線１０２に電力を供給する給電装置１０３として、第一給電装置１３１と第二給電装置１３２と第三給電装置１３３とを備えている。各給電線１０２は、相互に接続されておらず、対応する給電装置に接続されている。 A power feeding system including a power feeding line 102 and a power feeding device 103 is a system that supplies power to each of a plurality of transport vehicles 101. In the case of the present embodiment, the transport vehicle system 100 includes a first power supply line 121, a second power supply line 122, and a third power supply line 123 as the power supply line 102 and supplies power to each power supply line 102. The device 103 includes a first power supply device 131, a second power supply device 132, and a third power supply device 133. The power supply lines 102 are not connected to each other, and are connected to a corresponding power supply apparatus.
　なお、給電システムは、給電線１０２と搬送車１０１とが非接触状態で搬送車１０１に電力を供給する非接触給電システムでも、給電線１０２と搬送車１０１とが接触状態で電極を供給する接触給電システムでもかまわない。 The power supply system is a contactless power supply system that supplies power to the transport vehicle 101 when the power supply line 102 and the transport vehicle 101 are not in contact with each other. A power supply system may be used.
　図４は、上位制御装置の機能構成を機構構成と共に示すブロック図である。 FIG. 4 is a block diagram showing the functional configuration of the host controller together with the mechanism configuration.
　同図に示すように、上位制御装置１０４は、複数の搬送車１０１の情報を取得し、複数の搬送車１０１に制御命令を送信するコンピュータである。上位制御装置１０４は、上位制御装置１０４にプログラムを実行させることにより実現される処理部として、負荷算出部１４１を備えている。さらに、上位制御装置１０４は、位置情報取得部１４２を備え、また、表示装置１４４が接続されている。 As shown in the figure, the host control device 104 is a computer that acquires information on a plurality of transport vehicles 101 and transmits a control command to the plurality of transport vehicles 101. The host control device 104 includes a load calculation unit 141 as a processing unit realized by causing the host control device 104 to execute a program. Furthermore, the host control device 104 includes a position information acquisition unit 142, and a display device 144 is connected thereto.
　負荷算出部１４１は、それぞれの搬送車１０１に対応する回転速度情報とトルク情報とに基づき給電装置１０３の負荷を算出する処理部である。本実施の形態の場合、負荷算出部１４１は、統計処理部１６２により算出された統計負荷量に基づき給電装置１０３の負荷を算出している。また、負荷算出部１４１は、位置情報取得部１４２が取得する各搬送車１０１に対応する位置情報に基づき第一給電装置１３１の負荷である第一負荷と、第二給電装置１３２の負荷である第二負荷と、第三給電装置１３３の負荷である第三負荷とを算出する。 The load calculation unit 141 is a processing unit that calculates the load of the power supply apparatus 103 based on rotation speed information and torque information corresponding to each transport vehicle 101. In the case of the present embodiment, the load calculation unit 141 calculates the load of the power supply apparatus 103 based on the statistical load amount calculated by the statistical processing unit 162. The load calculation unit 141 is a first load that is a load of the first power supply device 131 and a load of the second power supply device 132 based on the position information corresponding to each transport vehicle 101 acquired by the position information acquisition unit 142. The second load and the third load that is the load of the third power feeding device 133 are calculated.
　本実施の形態の場合、具体的に例えば、負荷算出部１４１は、それぞれの搬送車１０１を示す識別情報、および、位置情報に紐付けられた統計負荷量を取得し、位置情報に基づき、第一給電装置１３１が電力を供給している搬送車１０１のグループ（第一グループ）と、第二給電装置１３２が電力を供給している搬送車１０１のグループ（第二グループ）と、第三給電装置１３３が電力を供給している搬送車１０１のグループ（第三グループ）とにグループ分けをする。そして、第一グループに属する搬送車１０１の統計負荷量を加算した和を第一給電装置１３１の負荷である第一負荷として算出する。同様にして第二給電装置１３２、および、第三給電装置１３３の負荷を第二負荷、第三負荷として算出する。 In the case of the present embodiment, specifically, for example, the load calculation unit 141 acquires the identification information indicating each transport vehicle 101 and the statistical load associated with the position information, and based on the position information, A group (first group) of transport vehicles 101 to which power is supplied by one power supply device 131, a group (second group) of transport vehicles 101 to which power is supplied by a second power supply device 132, and a third power supply The device 133 is divided into groups (third group) of the transport vehicles 101 to which power is supplied. And the sum which added the statistical load amount of the conveyance vehicle 101 which belongs to a 1st group is calculated as a 1st load which is a load of the 1st electric power feeder 131. FIG. Similarly, the load of the 2nd electric power feeder 132 and the 3rd electric power feeder 133 is calculated as a 2nd load and a 3rd load.
　なお、搬送車１０１は、走行モーター１１１や昇降モーター１１２以外にも定常的に電力を消費する部分（例えば制御装置１１０など）がある。この消費電力は固定値であり事前に取得可能であるため、負荷算出部１４１は、統計負荷量に前記固定値を加えたものをグループごとに積算してもよい。これにより、より正確な負荷を算出することが可能となる。 In addition, the conveyance vehicle 101 has a part (for example, the control apparatus 110 etc.) which consumes electric power regularly other than the traveling motor 111 and the lifting / lowering motor 112. Since this power consumption is a fixed value and can be acquired in advance, the load calculation unit 141 may add up the statistical load amount plus the fixed value for each group. This makes it possible to calculate a more accurate load.
　また、負荷算出部１４１が取得する情報は、統計負荷量に限定されるものではない。例えば、負荷算出部１４１は、それぞれの搬送車１０１を示す識別情報、および、位置情報に紐付けられた回転速度情報とトルク情報を取得してもよい。この場合、負荷算出部１４１が、統計処理部を備え、統計処理を行ってもかまわない。 Further, the information acquired by the load calculating unit 141 is not limited to the statistical load amount. For example, the load calculation unit 141 may acquire identification information indicating each transport vehicle 101 and rotation speed information and torque information associated with the position information. In this case, the load calculation unit 141 may include a statistical processing unit and perform statistical processing.
　位置情報取得部１４２は、各搬送車１０１の位置を示す位置情報を取得する処理部である。本実施の形態の場合、位置情報取得部１４２は、走行エンコーダ１１５からの信号に基づき基準位置からの搬送車１０１の走行距離を算出して位置情報を取得している。なお、位置情報とは、いずれの給電線１０２から電力の供給を受けているかを識別できる情報であればよく、ＸＹ座標が明確にわかるような情報である必要はない。 The position information acquisition unit 142 is a processing unit that acquires position information indicating the position of each transport vehicle 101. In the case of the present embodiment, the position information acquisition unit 142 acquires the position information by calculating the travel distance of the transport vehicle 101 from the reference position based on the signal from the travel encoder 115. Note that the position information may be information that can identify which power supply line 102 is supplied with power, and need not be information that clearly shows the XY coordinates.
　表示装置１４４は、負荷算出部１４１が算出した負荷（消費電力）を可視化してリアルタイムに表示することができる装置である。また、表示装置１４４は、第一負荷と第二負荷と第三負荷とを同時に表示し、各給電装置１０３の負荷のばらつきをリアルタイムに表示してもよい。 The display device 144 is a device that can visualize and display the load (power consumption) calculated by the load calculation unit 141 in real time. In addition, the display device 144 may display the first load, the second load, and the third load at the same time, and display the load variation of each power supply device 103 in real time.
　以上の搬送車システム１００によれば、搬送車１０１が備えるモーターごとに重量増加につながるような電力計を取り付けることなく１台の搬送車１０１が実際に消費している電力をきめ細かに把握することができる。また、新たなシステムを別途構築することなく、既存の設備（例えば、エンコーダやアンプ）からの情報に基づき搬送車１０１の消費電力をきめ細かに取得することが可能となる。従って、例えば不必要に高速で走行している搬送車１０１を適正な速度にまで減速させることで、搬送車システム１００全体の消費電力を低下させることができるようになる。また、各給電装置１０３の間で供給する電力のバランスを取ることで、電力を安定して供給することができるようになる。一方、給電装置１０３の給電容量のぎりぎりまで搬送車１０１を稼働させることもできるため、搬送車システム１００の搬送効率を向上させることも可能となる。 According to the transport vehicle system 100 described above, it is possible to precisely grasp the power actually consumed by one transport vehicle 101 without attaching a power meter that leads to an increase in weight for each motor included in the transport vehicle 101. Can do. In addition, it is possible to finely acquire the power consumption of the transport vehicle 101 based on information from existing equipment (for example, an encoder or an amplifier) without separately constructing a new system. Therefore, for example, by decelerating the transport vehicle 101 traveling at an unnecessarily high speed to an appropriate speed, the power consumption of the entire transport vehicle system 100 can be reduced. Further, by balancing the power supplied between the power supply apparatuses 103, the power can be supplied stably. On the other hand, since the transport vehicle 101 can be operated to the limit of the power supply capacity of the power supply apparatus 103, the transport efficiency of the transport vehicle system 100 can be improved.
　なお、本願発明は、上記実施の形態に限定されるものではない。例えば、本明細書において記載した構成要素を任意に組み合わせて、また、構成要素のいくつかを除外して実現される別の実施の形態を本願発明の実施の形態としてもよい。また、上記実施の形態に対して本願発明の主旨、すなわち、請求の範囲に記載される文言が示す意味を逸脱しない範囲で当業者が思いつく各種変形を施して得られる変形例も本願発明に含まれる。 Note that the present invention is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.
　例えば、上記実施の形態では、複数の給電システムで説明を行ったが、給電システムは単数であってもよい。また、搬送車１０１が、稼働情報取得部１１８、トルク取得部１１９、蓄積部１６１、統計処理部１６２を備え、上位制御装置１０４が、負荷算出部１４１、位置情報取得部１４２を備えるものとして説明したが、これら処理部は、搬送車システム１００が全体としていずれかに備えていればよい。 For example, in the above embodiment, the description has been made with a plurality of power supply systems, but a single power supply system may be used. Further, it is assumed that the transport vehicle 101 includes an operation information acquisition unit 118, a torque acquisition unit 119, an accumulation unit 161, and a statistical processing unit 162, and the host control device 104 includes a load calculation unit 141 and a position information acquisition unit 142. However, these processing units may be provided in any one of the transport vehicle systems 100 as a whole.
　また、搬送車１０１が備えるモーターとして走行モーター１１１と昇降モーター１１２とを例示したが、それ以外のモーターについても回転速度情報とトルク情報とを取得してもかまわない。 In addition, although the traveling motor 111 and the lifting motor 112 are illustrated as motors included in the transport vehicle 101, rotational speed information and torque information may be acquired for other motors.
　本願発明は、給電線により電力が供給される搬送車を複数備えたシステムに利用可能であり、例えば、半導体製造工場などにおいて物品を搬送する搬送車システムに利用可能である。 The present invention can be used in a system including a plurality of transport vehicles to which power is supplied by a power supply line, and can be used in, for example, a transport vehicle system that transports articles in a semiconductor manufacturing factory or the like.
１００　搬送車システム
１０１　搬送車
１０２　給電線
１０３　給電装置
１０４　上位制御装置
１０５　アクセスポイント
１１０　制御装置
１１１　走行モーター
１１２　昇降モーター
１１３　走行用アンプ
１１４　昇降用アンプ
１１５　走行エンコーダ
１１６　昇降エンコーダ
１１７　通信装置
１１８　稼働情報取得部
１１９　トルク取得部
１２１　第一給電線
１２２　第二給電線
１２３　第三給電線
１３１　第一給電装置
１３２　第二給電装置
１３３　第三給電装置
１４１　負荷算出部
１４２　位置情報取得部
１４４　表示装置
１６１　蓄積部
１６２　統計処理部 DESCRIPTION OF SYMBOLS 100 Conveyor vehicle system 101 Conveyor vehicle 102 Feed line 103 Feeder 104 Upper-level control device 105 Access point 110 Control device 111 Travel motor 112 Lift motor 113 Travel amplifier 114 Lift amplifier 115 Travel encoder 116 Lift encoder 117 Communication device 118 Acquisition of operation information Unit 119 torque acquisition unit 121 first power supply line 122 second power supply line 123 third power supply line 131 first power supply device 132 second power supply device 133 third power supply device 141 load calculation unit 142 position information acquisition unit 144 display device 161 storage unit 162 Statistical processing section

Claims (10)

  1. 　物品を搬送する複数の搬送車と、複数の前記搬送車に電力を供給する給電線を有する給電装置とを備える搬送車システムであって、
    　前記搬送車が備えるモーターの稼働情報を取得する稼働情報取得部と、
    　稼働情報が取得される前記モーターのトルクを示すトルク情報を取得するトルク取得部と、
    　それぞれの前記搬送車に対応する前記稼働情報と前記トルク情報とに基づき前記給電装置の負荷を算出する負荷算出部と
    を備える搬送車システム。     A transport vehicle system comprising a plurality of transport vehicles for transporting articles and a power supply device having a power supply line for supplying power to the plurality of transport vehicles,
    An operation information acquisition unit for acquiring operation information of a motor included in the transport vehicle;
    A torque acquisition unit that acquires torque information indicating the torque of the motor from which operation information is acquired;
    A transport vehicle system comprising: a load calculation unit configured to calculate a load of the power feeding device based on the operation information and the torque information corresponding to each of the transport vehicles.
  2. 　さらに、
    　それぞれの前記搬送車に対応する前記稼働情報と前記トルク情報とを所定期間、または、所定数ごとに蓄積し、蓄積された前記稼働情報、および、前記トルク情報を統計処理することにより前記所定期間、または、前記所定数における平均的な負荷量である統計負荷量を算出する統計処理部を備え、
    　前記負荷算出部は、前記統計負荷量に基づき前記給電装置の負荷を算出する
    請求項１に記載の搬送車システム。     further,
    The operation information and the torque information corresponding to each of the transport vehicles are accumulated for a predetermined period or every predetermined number, and the accumulated operation information and the torque information are statistically processed to perform the predetermined period. Or a statistical processing unit that calculates a statistical load amount that is an average load amount in the predetermined number,
    The transport vehicle system according to claim 1, wherein the load calculation unit calculates a load of the power supply apparatus based on the statistical load amount.
  3. 　前記給電装置は、第一給電線を有する第一給電装置と第二給電線を有する第二給電装置とを備え、
    　当該搬送車システムはさらに、
    　各搬送車の位置を示す位置情報を取得する位置情報取得部を備え、
    　前記負荷算出部は、前記位置情報に基づき前記第一給電装置の負荷である第一負荷と、前記第二給電装置の負荷である第二負荷とを算出する
    請求項１または２に記載の搬送車システム。     The power supply device includes a first power supply device having a first power supply line and a second power supply device having a second power supply line,
    The carrier system further includes
    A position information acquisition unit for acquiring position information indicating the position of each transport vehicle;
    The conveyance according to claim 1 or 2, wherein the load calculation unit calculates a first load that is a load of the first power supply device and a second load that is a load of the second power supply device based on the position information. Car system.
  4. 　前記稼働情報とは、前記モーターの回転速度である
    請求項１～３のいずれか１項に記載の搬送車システム。     The transport vehicle system according to any one of claims 1 to 3, wherein the operation information is a rotation speed of the motor.
  5. 　前記稼働情報とは、前記モーターの回転数である
    請求項１～３のいずれか１項に記載の搬送車システム。     The transport vehicle system according to any one of claims 1 to 3, wherein the operation information is a rotation speed of the motor.
  6. 　前記稼働情報取得部は、エンコーダからの信号を取得し、当該信号を解析することにより前記モーターの回転速度を示す回転速度情報を算出して稼働情報を取得する
    請求項４に記載の搬送車システム。     5. The transport vehicle system according to claim 4, wherein the operation information acquisition unit acquires a signal from the encoder, calculates the rotation speed information indicating the rotation speed of the motor by analyzing the signal, and acquires the operation information. .
  7. 　前記稼働情報取得部は、前記モーターに電力を供給するアンプに与えるモーターの制御命令に基づいて前記モーターの回転速度を示す回転速度情報を算出して稼働情報を取得する
    請求項４に記載の搬送車システム。     The conveyance according to claim 4, wherein the operation information acquisition unit acquires operation information by calculating rotation speed information indicating a rotation speed of the motor based on a motor control command given to an amplifier that supplies electric power to the motor. Car system.
  8. 　前記トルク取得部は、アンプがモーターに供給する電力を示す信号を取得し、当該信号を解析することにより前記トルク情報を取得する
    請求項１～７のいずれか１項に記載の搬送車システム。     The transport vehicle system according to any one of claims 1 to 7, wherein the torque acquisition unit acquires a signal indicating power supplied from the amplifier to the motor, and acquires the torque information by analyzing the signal.
  9. 　前記統計処理部は、
    　統計処理として前記所定期間または前記所定数における前記稼動情報の平均値と、前記所定期間または前記所定数における前記トルク情報の平均値とを算出し、
    　算出した前記稼動情報の平均値、算出した前記トルク情報の平均値及び係数を乗算して
    　前記統計負荷量を算出する、
    請求項２に記載の搬送車システム。     The statistical processing unit
    An average value of the operation information in the predetermined period or the predetermined number as a statistical process, and an average value of the torque information in the predetermined period or the predetermined number;
    The statistical load amount is calculated by multiplying the calculated average value of the operation information, the average value of the calculated torque information, and a coefficient,
    The transport vehicle system according to claim 2.
  10. 　物品を搬送する複数の搬送車と、複数の前記搬送車に電力を供給する給電線を有する給電装置とを備える搬送車システムにおける前記給電装置の負荷を算出する給電装置の負荷算出方法であって、
    　前記搬送車が備えるモーターの稼働情報を稼働情報取得部により取得し、
    　稼働情報が取得される前記モーターのトルクを示すトルク情報をトルク取得部により取得し、
    　それぞれの前記搬送車に対応する前記稼働情報と前記トルク情報とに基づき前記給電装置の負荷を負荷算出部により算出する
    給電装置の負荷算出方法。     A power supply device load calculation method for calculating a load of the power supply device in a transport vehicle system comprising a plurality of transport vehicles for transporting articles and a power supply device having power supply lines for supplying power to the plurality of transport vehicles. ,
    The operation information acquisition unit acquires the operation information of the motor included in the transport vehicle,
    Torque information indicating the torque of the motor from which the operation information is acquired is acquired by a torque acquisition unit,
    A load calculation method for a power supply apparatus, wherein a load calculation unit calculates a load of the power supply apparatus based on the operation information and the torque information corresponding to each of the transport vehicles.
PCT/JP2014/001060 2013-04-01 2014-02-27 Conveyor system and method for calculating load for power supply device WO2014162655A1 (en)

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