JP2824949B2 - Traveling body control method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for controlling the traveling of a traveling body traveling along a rail, and more particularly to a monorail type article transporting apparatus which is installed on a ceiling of a factory or the like and forms a production line. The present invention relates to an operation control method and apparatus.

[0002]

2. Description of the Related Art Conventionally, there is a method described in Japanese Patent Application Laid-Open No. 63-16310 for controlling the operation of a moving body traveling along a rail. This system is based on operating a manned or unmanned moving body in accordance with a predetermined course and a predetermined time table, but relates to operation control when a plurality of moving bodies are operated on the same course in the same time zone. In this method, the beam reflection device installed at the check point reflects the laser beam from the on-board laser emitter and receiver to obtain a signal, confirms the position, direction, and elapsed time of the moving object, and compares it with the computer program. Controlling.

Further, in the traveling control system for a transporting moving device described in Japanese Patent Application Laid-Open No. 2-67604, a code plate is provided on a guide rail, and the display of the code plate is read by a code reading means mounted on a vehicle. Speed control is being performed.

[0004]

In such a conventional system, since control is performed from the outside of the moving body, if position information cannot be detected due to poor position adjustment, noise or sensor error, etc. For example, there is a possibility that an accident such as running down a curved section that needs to run at low speed at high speed and dropping a load due to centrifugal force may occur. Also, after detecting that the vehicle has entered the low-speed section,
When the moving body is temporarily stopped due to a power failure or the like, and then travels again after the power failure is resolved, the stored position information is cleared and the vehicle may travel at a high speed. Furthermore, due to a detection error of the sensor, two vehicles may be included in a curved section where only one vehicle should be included.
Moreover, in such a curved section, even if there is a sensor for monitoring the front of the moving body, the vehicle in front cannot be detected due to the curved line in many cases.

[0005] In view of the above-mentioned problems of the prior art, the present invention eliminates malfunctions due to sensor failures or detection errors or malfunctions after a power failure, and determines a traveling body for each traveling section. It is an object of the present invention to provide a method and an apparatus for controlling a traveling body capable of accurately traveling in a given mode.

[0006]

In order to achieve the above object, a method for controlling a traveling body according to the present invention comprises the steps of at least three traveling sections of a traveling body traveling along a rail. In each traveling section, a plurality of tracks of power trolley lines are electrically connected in parallel with each traveling section, and at least two tracks are provided in parallel with the power trolley line, In addition, a signal trolley line which is electrically disconnected in an adjacent portion of each traveling section is provided, and when the signal trolley lines of the second traveling section and the third traveling section of the signal trolley line are disconnected, the tracks are separated from each other. At least one pair of signal trolley wires different from each other are electrically connected, and a plurality of traveling bodies are provided on the rails so as to be able to travel along the rails. Detecting means that operates when a voltage between the power trolley lines is applied between the trolley line and the power trolley line. detecting means, by the operating conditions for running a predetermined running body at a high speed, by traveling along the traveling body of the section at a high speed, in the second travel section, not traveling body in the third running the interval exists When the detecting means for the traveling body in the traveling section is
By the actuated state to run the low speed, then run the running body of the section to the low speed, and in the second traveling section, when the traveling body in the third traveling in a section is present, the third travel section in Operating state of the traveling body detecting means in the second traveling section via a signal trolley wire connected between the second and third traveling sections depending on the operating state of the traveling body detecting means in the second traveling section. by this <br/> and that the operating state of stopping the running body, to wait for the running of the running body of the section, in the third traveling section, a detecting means of the running body is in its traveling section, at least by the operational state different from the operating condition detecting means of the running body of the first run lines in section,
Second and connected signal trolley line between the third both traveling section, while supplying electric power from one of the power trolley wire, the traveling body of the section, the low-speed run line or standby is to <br / > It is characterized by controlling as follows. In this case, in the first traveling section, it is preferable to by controlled so that unrestricted allowed <br/> travel of a high speed traveling body.

Further, the traveling body control device of the present invention divides a traveling section of the traveling body traveling along the rail into at least three traveling sections, namely, first to third traveling sections. The power trolley line of the track is connected to each running section electrically in parallel with each other, and has at least two tracks in parallel with the power trolley line. A divided signal trolley line is provided, and in this signal trolley line, the signal trolley lines of the second traveling section and the third traveling section are divided, and the signal trolley lines having different tracks in both sections are connected. At least one pair is electrically connected, and a plurality of traveling bodies are provided on the rails so as to be able to travel along the rails. Each traveling body has a signal trolley wire and a power trolley. During any of the lines, the detection means for operating the voltage between the power trolley line is applied provided,
Each detecting means in each traveling body is a first traveling section,
When the traveling body is located in the second traveling section and the third traveling section, the operating state is different from each other, and when the traveling body is located in the third traveling section, the traveling body is located in the second traveling section. At this time, the detecting means for the traveling body in the third traveling section supplies power from one of the power trolley lines to the signal trolley line connected between the second and third traveling sections, and In order to make the operating state of the detecting means in the two traveling sections different from any of the above operating states, the detecting means and the signal trolley line are provided between each power trolley line and each signal trolley line.
It is characterized in that a beauty electrical connection wires.

[0008] At least two detecting means provided on each traveling body operate when a voltage between power trolley lines is applied.
One of which is connected between any of the power trolley lines and any of the signal trolley lines, the other is connected between each power trolley line and the other signal trolley line, and When one is operated, the normally open contact closed by the actuated one is connected to one end to a signal trolley wire, the other end is connected in series to the other, and the other end is operated so that the other can operate. Another normally open contact, which opens when the closed contact closes, may be connected at one end to the signal trolley wire and at the other end to a power trolley wire to which neither is connected. Preferably, the detecting means is constituted by two relays.

[0009]

When a traveling body is present in the third traveling section, a second one of a plurality of signal trolley lines disposed along the rail is provided.
The detection means of the traveling body in the third traveling section travels while supplying power from the power trolley line to the signal trolley line to the signal trolley line connected between the third traveling section and the third traveling section. The detecting means of the traveling body in the second traveling section enters an operating state different from that when there is no traveling body in the third traveling section, and the presence of the traveling body in the third traveling section is detected. As a result, the traveling of the traveling body in the second traveling section is stopped, so that only one traveling body enters the third traveling section. Further, since there is no need to use a sensor or the like for detecting the distance (position) from the reference point or the passage of the check point between the fixed rail and the traveling body, there is little possibility of detection error, and the distance value and the passage flag Since there is no need to record or store an electric value, etc., no malfunction occurs even when power supply is restored after a power failure.

[0010]

1 to 3 show an embodiment of the present invention.
In FIG. 3, (1) is a rail suspended substantially horizontally from the top of a factory or the like, which is largely curved substantially in a U-shape in plan view, and a straight portion of which is a first traveling section (a high-speed traveling section). A), a second traveling section (B) that is a standby and low-speed traveling section in a relatively narrow section from a straight portion to a curved section, and a third traveling section (C) that is a single low-speed traveling section in a curved section.
The traveling bodies (2-1), (2-2) and (2-3) travel along the rail (1) as shown by arrows in FIG.
-Rails must always run in one direction in the order of-(C)-(A)
It is mounted on (1).

The cross-sectional shape of the rail (1) is preferably a U-shape, an I-shape, an L-shape or the like, and the running body (2-1) (2-2) (2-3)
Is provided with drive wheels driven by a motor (3) (see FIG. 2) provided therein, and guide rollers (both not shown) for sandwiching the rail (1) from left and right and up and down. ) It is better to run in a suspended form.

On the side surface of the rail (1), three power trolley wires (4) (5) connected to a three-phase 200 volt AC power supply as shown in FIG.
(6) and first and second signal trolley lines having two tracks in parallel with the respective power trolley lines (4), (5) and (6).
(7) and (8) are provided. Each of the first and second signal trolley lines (7) and (8) has at least three sections.
In each of the running sections (A), (B), and (C), adjacent to each of the running sections (A), (B), and (C), two rows are formed for each track, and each running section is electrically separated. Signal trolley wire (7a) (7b) (7c) (8a) (8b) (8
c).

In the first traveling section (A), the signal trolley line (7a), the power trolley line (5), and the signal trolley line (8)
a) and the power trolley line (6) are connected so as to be conductive with each other through the connections (9) and (10).

The signal trolley line (8b) of the second traveling section (B) on the second signal trolley line (8) and the third traveling section (C) of the first signal trolley line (7) having a different trajectory therefrom. The signal trolley line (7c) is connected to the signal trolley line (7c) through a connection (11) so as to be conductive.

Each traveling body (2-1) (2-
2) (2-3) Each of the above three power trolley wires
(4) (5) (6) and two signal trolley lines, each of which makes sliding contact with a trolley line forming a total of five tracks (not shown)
Is provided, and through this brush, a power trolley wire (4)
And a second signal trolley line (8a) (8b) (8c) in the circuit connecting the relay (R1), the power trolley line (6) and the first signal trolley line (7a) ( Relays (R2) are provided in the circuits connecting the columns 7b and 7c, respectively.

Relay (R2) and signal trolley wire (7a) (7b) (7c)
The normally open contact (R1-
1), and a relay is provided in the middle of the line connecting the power trolley line (5) and the signal trolley lines (7a) (7b) (7c).
A normally closed contact (R1-2) of (R1) is provided.

A power trolley wire including this contact (R1-2)
The circuit connecting (5) and the train of signal trolley lines (7a) (7b) (7c) is such that the running bodies (2-1), (2-2) and (2-3) are in the third running section.
(C) a power trolley line (5) that is electrically continuous over the entire section and a first signal trolley line;
Connect the signal trolley wire (7c) consisting of the track of (7),
Each signal trolley line (7c) (8b) connected between the second and third travel sections is provided with connection means (12) for supplying power from the power trolley line (5).

The relay (R1) is connected to its traveling body (2-1) (2-
2) When (2-3) is located in the second traveling section (B), a signal trolley line connected between the second and third traveling sections
(7c) It operates when power is supplied from the power trolley line (5) via (8b), and the signal trolley line consisting of the track of the second signal trolley line (8) is activated by the operation of the relay (R1). The conduction state with (8b) is detected. This relay (R1) has no detection means between the signal trolley line (7c) (8b) and the power trolley line (5) when the voltage of the power trolley line is applied. ) Is activated when the other relay (R2) is inactive (OFF), so that the third traveling section
(C) Detects the presence of a traveling object in the second traveling section
(B) constitutes a first detecting means for stopping the traveling of the traveling body located inside.

That is, as shown in FIG. 1, when the traveling body (2-1) exists in the third traveling section (C), the traveling body
The power trolley wire (5) and the signal trolley wire (7c) are connected by the connection means (12) of (2-1), and the power trolley wire (5)-
Connection means (12) for traveling body (2-1) located in third traveling section (C)-signal trolley line (7c)-connection (11)-signal trolley line (8b)-second traveling section (B) The vehicle (2
-2) The relay (R1) -power trolley line (4) circuit is closed and the relay (R1) is turned on, so that the third traveling section
(C) can detect the presence of the traveling body (2-1), and the traveling body (2-2) located in the second traveling section (B).
Can be stopped.

The relay (R2) is connected to each of the traveling bodies (2-1) (2-2) (2-3)
Is located in the first traveling section (A), a connection (9) in which the power trolley line (5) and the signal trolley line (7a) of the first signal trolley line (7) are connected in advance in that section. When the relay (R1) is activated, its normally open contact
Operates via (R1-1). In the relay (R1), the signal trolley wire (8a) in the second signal trolley wire (8) is connected in advance by the connection (10), so that the relay (R1) can always operate in the first traveling section (A). It is in. The relay (R2)
Is between the signal trolley line (7a) and the power trolley line (6) only when the traveling body is located in the first traveling section (A).
The voltage between the power trolley lines is applied to operate, and in this section, a second detecting means for causing the traveling body to travel at a high speed is provided. Thus, in the first traveling section (A), as shown in FIG. 1, both relays forming first and second detecting means are provided.
Both (R1) and (R2) are always in the predetermined operating state (ON)
(ON).

That is, as shown in FIG. 1, when the traveling body (2-3) exists in the first traveling section (A), the traveling body
When the relay (R1) of (2-3) is turned on, the contact (R1-1) is closed and the contact (R1-2) is opened, the connection means (12) is opened and the relay (R2) is turned on. And both relays (R1) (R
When both 2) are turned ON, it can be confirmed that the traveling body (2-3) is located in the first traveling section (A), and the traveling body (2-3) is caused to travel at high speed. You can do it.

FIG. 2 shows the operating state of the detecting means in each of the traveling bodies (2-1), (2-2) and (2-3), that is, ON and OFF of the relays (R1) and (R2).
This shows an example of a control circuit that controls the motor (3) based on the FF. The relay (R1) obtained by the relay block (13)
The combination of ON and OFF of (R2) is input to the microcomputer (14) mounted on the vehicle, and in the microcomputer (14), according to a predetermined program, that is, when both relays (R1) and (R2) are both ON. (When located in the first traveling section (A)), high speed, when both relays (R1) and (R2) are OFF (second traveling section (B) or third traveling section)
(When located in (C)), low speed, relay (R1) ON
When the relay (R2) is OFF (when the relay (R2) is located in the second traveling section (B)), the stop instruction signal is transmitted to the inverter (15).
To control the motor (3).

In the present embodiment, such a configuration is adopted, so that when the traveling body (2-1) enters the third traveling section (C),
Both relays (R1) and (R2) of the traveling body (2-1) are turned off, and the vehicle is driven at a low speed. Also at this time, the traveling body
The power trolley line (5) and the signal trolley line (7c) are connected by the connection means (12) of (2-1).

When the traveling body (2-2) enters the second traveling section (B), if the traveling body (2-1) exists in the third traveling section (C), The relay (R1) is turned on and the signal trolley wire (7b) is completely disconnected from all other trolley wires, so the relay (R2) is turned off and stopped according to the program. 3 running sections
When the vehicle (2-1) is completely separated from (C), the vehicle (2-1)
The connection between the power trolley wire (5) and the signal trolley wire (7c) by the connecting means (12) is released, the relay (R1) is turned off, and the relay (R2) is still turned off. The traveling body (2-2) is run at a low speed and is in the third traveling section
(C).

When the traveling body (2-3) is located in the first traveling section (A), both relays (R1) and (R2) of the traveling body (2-3) are located.
Are turned ON as described above, and the vehicle is driven at high speed. Therefore, when the curved portion of the rail (1) is the third traveling section (C) as in this embodiment, a single traveling body (2-
With only 1), the load can be transported at a low speed, and the risk of dropping the load can be eliminated.

Further, according to the method and apparatus of the present invention as described above, the distance from the reference point, an external value such as an electric value or a passage flag signal obtained from a sensor for detecting the passage of the passage monitoring point, or the like. It is not necessary to rely on the control of the electric signal of the sensor.Therefore, there is little risk of misdetection of position information due to poor position adjustment of the sensor or noise, etc. There is no risk of accidents such as dropping cargo. In addition, since there is no need for electrical values or flag values to be electrically recorded or stored, after the vehicle enters each of the travel sections (A), (B) and (C), the vehicle temporarily stops due to a power failure or the like. Then, when the vehicle stops running after the power outage is resolved, the vehicle can run in the same state as before the power outage, and the vehicle that must run at low speed suddenly runs at high speed. It is not.

As described above, the preferred embodiment of the present invention has been described with reference to the straight traveling section and the curved traveling section of the traveling rail of the article conveying apparatus. However, the present invention is not limited to this specific embodiment. In the branch track line (21) having the branch switch section (20) shown in FIG. 4, the branch switch section (20) stands alone in the third traveling section (C), which is a low-speed traveling section, and stands by in the straight section immediately before the third traveling section (C). The second traveling section (B), which is a low-speed traveling section, and the other straight portion may be defined as a first traveling section (A), which is a high-speed traveling section, and the above-described operation may be performed.

[0028]

According to the present invention, the traveling body can be set in each traveling section by a simple mechanism without using a position detection sensor or a sign board that easily causes a reading error. It can be run accurately. Since electric signals that are easily lost in the event of a power failure, such as electric values to be stored such as distances and positions, and electric flag values to be stored that indicate whether or not the vehicle has passed a checkpoint, are not used, the vehicle may temporarily If the vehicle is stopped and then runs again after the power outage is resolved, it can run in the same state as before the power outage,
There is no risk of malfunction such that a traveling body that must travel at a low speed suddenly travels at a high speed. When the preceding traveling body exits from the preceding traveling section and the preceding traveling body exits from the preceding traveling section, the following traveling body in which the preceding traveling body is in the previous section and waiting is unilaterally changed without communicating signals such as communication. Since the running is started upon detecting the escape, local traffic congestion due to unaware of the escape does not occur.

[Brief description of the drawings]

FIG. 1 is a circuit diagram showing a relationship between wiring of a trolley wire provided on a rail according to the present invention and a relay mounted on a traveling vehicle.

FIG. 2 is a block diagram of a section control system according to the present invention.

FIG. 3 is a schematic plan view showing an example of an arrangement of rails of the article transport device to which the present invention is applied.

FIG. 4 is a schematic plan view of a rail-branched track line to which the present invention can be applied.

[Explanation of symbols]

 (1) Rail (2-1) (2-2) (2-3) Vehicle (3) Motor (4) (5) (6) Power trolley line (7) (8) Signal trolley line (7a) ( 7b) (7c) (8a) (8b) (8c) Signal trolley wire (9) (10) (11) Connection (12) Connection means (13) Relay block (14) Microcomputer (15) Inverter (A) 1 travel section (B) 2nd travel section (C) 3rd travel section (R1) (R2) relay (R1-1) (R1-2) contact

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ identification symbol FI G05D 1/02 G05D 1/02 Z (58) Fields investigated (Int. Cl. ⁶ , DB name) B60L 15/40 B60L 13 / 00 G05D 1/02

Claims (5)

(57) [Claims] 1. A traveling section of a traveling body traveling along a rail is divided into at least first to third traveling sections, and a power trolley line of a plurality of tracks is provided in each traveling section. In parallel with the electric trolley line, a signal trolley line having at least two tracks and being electrically disconnected at adjacent portions of each traveling section is installed in parallel with the electric trolley line. When the signal trolley line of the second traveling section and the third traveling section of the signal trolley line is divided, at least one pair of signal trolley lines having different tracks is electrically connected to each other. The traveling body is provided on the rail so that it can travel along the rail, and for each traveling body,
Detecting means is provided between each of the signal trolley lines and each of the power trolley lines, the detection means being activated when a voltage is applied between the power trolley lines. In the first traveling section, a traveling body in the traveling section is provided. the detection means, by the work <br/> dynamic state for running a predetermined running body at a high speed, by traveling along the traveling body of the section at a high speed, in the second travel section, third travel section in when the traveling body is not present in the sensing means of the running body is in its traveling section, by the operating conditions for running the traveling body to a low speed, then run the running body of the section to a low speed, also, the first In the second traveling section, when the traveling body is present in the third traveling section, the vehicle is connected between the second and third traveling sections depending on the operation state of the detecting means of the traveling body in the third traveling section. Second travel section via signal trolley line An operating state detecting means of the running body in, stop traveling body
By the make operating state, to wait for the running of the running body of the section, in the third traveling section, a detecting means of the running body is in its traveling section, at least the running of the first run lines in section by the different operating states and operating states of the detecting means, the second and connected signal trolley line between the third both traveling section, while supplying electric power from one of the power trolley line, Run the vehicle in that section at low speed or wait
A control method for a traveling body, characterized by performing control so as to cause the vehicle to run. 2. A first traveling section, a control method of the traveling body according to claim 1, characterized in that unlimited is run at a high speed running body. 3. A traveling section of a traveling body traveling along a rail is divided into at least first to third traveling sections, and a plurality of power trolley lines are provided in each traveling section. In parallel with the electric trolley line, a signal trolley line having at least two tracks and being electrically disconnected at adjacent portions of each traveling section is installed in parallel with the electric trolley line. In this signal trolley line, where the signal trolley lines of the second traveling section and the third traveling section are separated, at least one pair of signal trolley lines having different tracks in both sections is electrically connected. Further, a plurality of traveling bodies are provided on the rails so that the traveling bodies can travel along the rails.
Detecting means is provided between each of the signal trolley lines and each of the power trolley lines, the detecting means being activated when a voltage between the respective power trolley lines is applied. ,
When the traveling body is located in the second traveling section and the third traveling section, the operating state is different from each other, and when the traveling body is located in the third traveling section, the traveling body is located in the second traveling section. At this time, the detecting means for the traveling body in the third traveling section supplies power from one of the power trolley lines to the signal trolley line connected between the second and third traveling sections, and In order to make the operating state of the detecting means in the two traveling sections different from any of the above operating states, the detecting means and the signal trolley line are provided between each power trolley line and each signal trolley line.
Controller running body, characterized in that a beauty electrical connection wires. 4. A detecting means provided on each traveling body comprises at least two detectors which operate when a voltage between the power trolley lines is applied, one of which is provided with either one of the power trolley lines and each signal. Connected between any one of the trolley lines, the other is connected between each power trolley line and the other signal trolley line, and closed by an actuated one so that when one is actuated, the other can operate. The normally-open contact formed is connected at one end to a signal trolley wire, the other end is connected in series to the other, and another normally-open contact that opens when the normally-closed contact is closed is connected at one end. The traveling unit control device according to claim 3, wherein the control unit is connected to the signal trolley line and the other end is connected to a power trolley line to which neither of them is connected. 5. The control device for a traveling body according to claim 3, wherein the detecting means is constituted by two relays.