JPH04218811A - Load carrying facility - Google Patents

Abstract

PURPOSE:To present a load carrying facility having the carrying efficiently improved by enabling free-running truck to move back. CONSTITUTION:A free-running truck 2 is provided with a covered distance detecting means which detects the covered distance from the base point of a running rail, a transmission/reception means to a ground controller 1, and a main body controller 8, and this controller 8 compares the distance from the base point to the distination inputted from the transmission/reception means with the covered distance inputted from the covered distance detecting means and runs its own free-running truck in the opposite direction when judging that the destination is within a prescribed distance range and is in the direction opposite to the normal running direction. The distance from the base point to the destination and the covered distance of its own free-running truck are compared with each other; and when it is judged that the destination is within the prescribed distance range and is in the direction opposite to the normal running direction, the free-running truck is run in the opposite direction; and thereby, one circulation of the free-running truck 2 is unnecessary to shorten the carrying time. Thus, the carrying efficiently is improved.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to load conveyance equipment equipped with a plurality of self-propelled carts that travel along a loop-shaped fixed route and convey loads.

0002

2. Description of the Related Art In the above-mentioned cargo transport equipment, each of the self-propelled carts performs running control for transporting the cargo based on commands from a ground controller.

[0003] The above-mentioned traveling control of the conventional self-propelled cart will be explained with reference to an example of the block diagram of the self-propelled cart of the load transfer equipment shown in FIG. 3 and the arrangement diagram of the load transfer equipment shown in FIG. In FIG. 3, reference numeral 1 denotes a ground controller consisting of a microcomputer, which is a ground control means for collectively controlling a plurality of self-propelled vehicles 2, and as shown in FIG. Scattered along the traveling rail 3, there are load transfer signals from stations 4 that transfer loads and host computers (not shown), and feedback signals for each self-propelled trolley 2 from a ground modem 5, for example. It makes decisions by inputting data signals such as the address signal of the current position (count value described later) and the presence or absence of cargo, and outputs command signals for each self-propelled trolley 2, such as where to travel and whether to transfer or not. . The ground controller 1 transmits signals to and from the self-propelled trolley 2 via a ground modem 5 corresponding to a transmitter/receiver, and a feeder line 6 laid as an antenna along the entire length of the running rail 3, which is a fixed route. There is.

The self-propelled trolley 2 is provided with two antennas 7A and 7B in the traveling direction of the self-propelled trolley 2, close to and opposite to the feeder line 6, and the main body controller 8 communicates signals with the ground controller 1. The transmission is carried out by these two antennas 7A, 7.
B, distributor 9, and main body modem 10 serving as a transmitter/receiver
is going through. The self-propelled cart 2 also has a transfer section detector 11 as a sensor, which is a photoelectric switch that detects the presence or absence of a load and the fixed position of the load, and a base point 3A installed on the traveling rail 3 as shown in FIG. Base point detector 12 consisting of a photoelectric switch for detection, bumper switch 1 for detecting a rear-end collision
3. An encoder 15 connected to the shaft of the wheel 28 rotating in contact with the traveling rail 3 to detect the rotation speed of the wheel 28, and a photoelectric sensor receiver 16 for detecting the presence or absence of the preceding self-propelled truck 2. A photoelectric sensor transmitter 30 is provided, and further an optical data receiver 17 is arranged on the front, an optical data transmitter 18 is arranged on the rear in a position facing the optical data receiver 17 of the rear self-propelled trolley 2, and A counter 19 is provided that counts the number of pulses from the encoder 23 and is reset by a detection signal from the base point detector 12. The main body controller 8 includes detection signals from each sensor 11 and 13, a count value corresponding to the travel distance from the base point inputted from the counter 19, a command signal from the ground controller 1 inputted from the main body modem 10, and an optical data receiver. The count value of the self-propelled cart 2 in front inputted from 17 or the control signal during manual operation from a control box (not shown) connected to the operation surface 20 is inputted. The main controller 8 also stores a count value (address) from the base point for each station 4. The wheels 28, the encoder 15, the base point detector 12, and the counter 19 constitute a distance detecting means.

[0005] Furthermore, in order to receive power from a control power source (not shown) such as the main body controller 8, a current collector (both not shown) is provided to collect current from a power supply rail laid along the running rail 3. It is being

When the main controller 8 inputs the number of the destination station 4 as a command signal from the ground controller 1, it retrieves the count value from the base point 3A of this station 4, and then calculates the count value from the counter 19 and the destination station number. The count value is compared, and if there is a deviation, the inverter 21 is switched and connected to the travel motor 14 by the switch 22, and the self-propelled trolley 2 starts self-propelled in a predetermined direction (direction of arrow Z in FIG. 4). At this time, the deviation between the count value from the counter 19 and the count value of the self-propelled truck 2 in front inputted from the optical data receiver 17 is taken, and the speed of the traveling motor 14 is controlled according to this deviation, that is, the distance between vehicles. Prevent rear-end collisions. Also, the count value from the counter 19 is sent to the optical data transmitter 1.
8 to the self-propelled trolley 2 located behind. and counter 1
When the deviation between the count value from 9 and the destination count value is zero, that is, when the destination station 4 is reached, the travel motor 14 is stopped, the inverter 21 is switched and connected to the transfer motor 23 by the switch 22, and a loading command is issued. Alternatively, the load on the self-propelled cart 2 is transferred in response to an unloading command.

In this way, the self-propelled trolley 2 moves to the destination station 4 by itself in the direction of the arrow Z in response to the command signal from the ground controller 1 while preventing a rear-end collision, and transfers the load. It is carried out.

[0008]

[Problems to be Solved by the Invention] However, in conventional load transport equipment, the self-propelled cart 2 can only travel in a fixed direction, so the commanded station 4 is slightly behind (arrow Z).
Even if the station 4 is in the opposite direction), it will not be possible to reach the commanded station 4 without going around the traveling rail 3, and even if the load overruns due to the condition of the load,
There was a problem in that the train could not reach the commanded station 4 unless it went around the traveling rail 3 once. Therefore, there is a problem in that a long transport time is required and the transport efficiency is inevitably reduced.

[0009] The present invention solves the above problems, and
The object of the present invention is to provide load conveyance equipment that enables a self-propelled cart to move backward and improves conveyance efficiency.

0010

[Means for Solving the Problems] In order to solve the above problems, the load conveying equipment of the present invention runs on a loop-shaped fixed route,
A cargo transport facility comprising a plurality of self-propelled carts that transport cargo based on commands from a control means on the ground, the self-propelled carts having a travel distance detection device for detecting a travel distance from a base point of the fixed route. and a transmitting/receiving means between the ground control means and the transmitting/receiving means, which compares the traveling distance from the base point of the destination input from the transmitting/receiving means with the traveling distance input from the traveling distance detecting means, and determines that the destination is within a predetermined distance range. The present invention is characterized by the provision of a control means for causing the self-propelled cart to travel in the opposite direction if it is determined that the vehicle is in a direction opposite to the normal traveling direction.

[0011]

[Operation] According to the configuration of the invention, the control means compares the travel distance from the base point of the destination input from the transmitting/receiving means with the travel distance input from the travel distance detection means, and when the destination is within a predetermined distance range, the travel distance from the base point of the destination is compared. If it is determined that the vehicle is in the opposite direction, the self-propelled trolley will travel in the opposite direction and move backward.

0012

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. The blocks of the self-propelled cart of the load conveyance equipment in one embodiment of the present invention are the same as the blocks of the conventional example shown in FIG.
The explanation will be omitted, and the driving control of the main body controller 8, which is the main part of the present invention, will be explained below using the same reference numerals.

FIG. 1 is a flowchart showing the travel control operation of the main body controller 8. First, when a transfer command, that is, a loading command or an unloading command, and the number of the destination station 4 are input as command signals from the ground controller 1 (step-1), the count value J from the base point 3A of this station 4 is input. is searched and stored together with the transfer command (step-2), then the count value K input from the counter 19 is stored (step-3), and this count value K is sent to the rear via the optical data transmitter 18. Output to the self-propelled trolley 2 (step-4). Next, the count value L is input and stored from the forward self-propelled cart 2 via the optical data receiver 17 (step-5), and the count value J from the base point 3A of the destination station 4 and the own count value are input. K is compared, and it is determined whether a travel command has been transmitted based on whether or not there is a deviation in the count value (step-6). If there is a deviation, the target station 4 is moved backward (within a predetermined range).
For example, it is checked whether the deviation (J-K) of the count value is between zero and a predetermined negative value (-α) (step-7).

In step-6, if there is no running command, the stopped state is maintained and the process ends, and step-7
When it is confirmed that the target station 4 is not behind the predetermined range, it is checked whether the deviation (J-K) of the count value is less than the predetermined value A (step-8), and if the deviation (J-K) of the count value is less than the predetermined value A, In other words, if the target station 4 is far from the current position, calculate the deviation E between the count value L input from the forward self-propelled cart 2 and the own count value K (step -9), and calculate this deviation E as follows. It is checked whether the inter-vehicle distance is greater than a predetermined value B, that is, whether the distance between the vehicle and the self-propelled trolley 12 in front is far away (step-10). If it is far away, a high-speed command is outputted to cause the vehicle to travel at a high speed, for example, 100 m/min. (Step-11) When the deviation E is smaller than the predetermined value B, that is, when the distance to the self-propelled trolley 2 in front is close, the vehicle is made to travel at a speed that is reduced from high speed according to the distance, for example, 10 m/min. A low speed command is output (step-12) and the process returns to step-8. In step-8, when the deviation (J-K) of the count value becomes less than or equal to the predetermined value A, that is, when the self-propelled trolley 2 approaches the target station 4, it travels at low speed (step-13), and then the count value The deviation (J-K) is less than or equal to the predetermined value β (α>β),
That is, when the self-propelled cart 2 approaches the target station 4 (step-14), a stop command is output (step-15). Thereafter, the self-propelled trolley 2 travels by inertia and stops in front of the target station 4.

In step-7, when it is confirmed that the target station 4 is behind within a predetermined range, a command to run in the reverse direction at low speed is output (step-16), and when the deviation is less than the predetermined value β, that is, the When the trolley 2 approaches the target station 4 (step-17), step-1
Jump to 5 and output a stop command.

[0016] Through the above operation, as shown in FIG. 2, for example, it is confirmed that the current count value X of the self-propelled trolley 2 and the count value Y of the target station 4A are within a predetermined range (α) at the rear. By running the self-propelled cart 2 in the opposite direction (direction of arrow C) at low speed, it is not necessary to make the self-propelled cart 2 go around once, and the transportation time can be shortened. Therefore, conveyance efficiency can be improved. In addition,
The predetermined range (α) is less than a predetermined inter-vehicle distance from the self-propelled trolley 2 at the rear.

Furthermore, by using the optical data receiver 17 and optical data transmitter 18 to check the distance to the self-propelled vehicle 2 in front and control the traveling speed, the distance to the self-propelled vehicle 2 in front can be determined. can be kept constant at all times, and the self-propelled trolley 2 in front
This can prevent rear-end collisions. In addition, traveling rail 3
In places where the road curves, transmission and reception cannot be performed using the optical data receiver 17 and the optical data transmitter 18, but the vehicle may be driven while maintaining the previous traveling speed or at a predetermined speed slower than the current traveling speed. , the detection signal from the photoelectric sensor receiver 16 is used to prevent rear-end collisions.

In this embodiment, the optical data transceivers 17 and 18 are used as means for transmitting and receiving the travel distance between the self-propelled carts 2.
The travel distance input to the antenna 7A, 7B is transmitted to the ground controller 1 via the feeder line 6, and the travel distance of the self-propelled vehicle 2 in front transmitted from the ground controller 1 is transmitted to the antenna 7A via the feeder line 6. , 7B.

Furthermore, in this embodiment, the encoder 15 is used to detect the rotation speed of the detection wheel 28, but this may also be done by detecting the rotation speed of the travel motor 14 or by detecting the rotation speed of the travel wheel. may be detected. In addition, wheels 28, an encoder 15, a reference point detector 12, and a counter 19 are provided as a traveling distance detecting means, which calculates the traveling distance by integrating the traveling speed of the self-propelled trolley 2 over the traveling time,
The integral value may be reset using the detection signal from the base point detector 12.

[0020]

[Effects of the Invention] As explained above, according to the present invention, the traveling distance from the base point of the destination inputted from the transmitting/receiving means,
Compare the travel distance input by the travel distance detection means, and if it is determined that the destination is within a predetermined distance range and in the opposite direction to the normal traveling direction, the self-propelled trolley is made to go around once by retreating the self-propelled trolley. It is possible to move the object backward to the desired destination without having to worry about it, thereby shortening the transportation time and improving the transportation efficiency.

[Brief explanation of the drawing]

FIG. 1 is a flowchart of travel control of a main body controller of load conveyance equipment in an embodiment of the present invention.

FIG. 2 is a schematic diagram illustrating the operation of a self-propelled trolley of the cargo transport equipment.

FIG. 3 is a block diagram of a self-propelled trolley of the load transport facility.

FIG. 4 is a layout diagram of load conveyance equipment.

[Explanation of symbols]

1 Ground controller (ground control means) 2
Self-propelled trolley 3 Running rail (fixed route) 4 Station 5 Ground modem (transmitting/receiving means) 6 Feeder line (transmitting/receiving means) 7A, 7B Antenna (transmitting/receiving means) 8
Main body controller (control means) 9 Distributor (transmission/reception means) 10 Main body modem (transmission/reception means) 12 Base point detector (mileage detection means) 14 Travel motor 15 Encoder (mileage detection means) 17
Optical data receiver 18 Optical data transmitter

Claims (1)

[Claims] 1. A cargo transport facility comprising a plurality of self-propelled carts that self-propel along a loop-shaped fixed route and transport cargo based on commands from a control means on the ground, the self-propelled carts comprising: a travel distance detection means for detecting the travel distance from the base point of the fixed route; a transmission/reception means with the ground control means; a travel distance from the base point of the destination inputted from the transmission/reception means; and a travel distance from the travel distance detection means. A cargo transport facility that is provided with a control means that causes a self-propelled cart to travel in the opposite direction if the destination is determined to be in a direction opposite to the normal travel direction within a predetermined distance range by comparing the input travel distance.