JPH0638683B2 - Travel control device for transportation trains - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is to set a transportation electric train that is self-propelled on a set traveling route in an assembly factory, a product center, or the like, in the traveling route. The present invention relates to a travel control device for automatically traveling from one of a large number of stop positions to another stop position set as a destination.

(Prior Art and Problems Thereof) There is a method of using a travel distance detecting means as one of the travel control methods of this type of transportation train. For example, a pulse encoder that works with the wheels of a transportation train is provided, and the number of pulses transmitted by this pulse encoder is counted so that the traveling distance of the transportation train can be detected. Only the target traveling distance up to the set destination stop position is set. A travel control method is known in which a transport train is run and stopped.

In such a traveling control method, the distance data from the starting point (home position) set in the traveling route to each stop position is calculated by the learning work of actually traveling the transportation train and counting the transmission pulses of the pulse encoder. I made it and memorized it.

Such a conventional traveling control method, like an automatic warehouse,
One transportation train (stacker crane) is used for one travel route where the total length of the travel route is relatively short and one end is the starting point (home position), and the stop position set in one travel route is constant. If there is no problem,
A large number of transport trains travel on a travel route that is long and has a complicated layout, and each transport train is arbitrarily selected from one of the many stop positions set on the travel route. In a transportation facility that requires traveling to another one, it takes a lot of time and effort to make all transportation trains learn the travel distance data from the starting point to all the stop positions. Not only is it impractical, it is extremely difficult to change the stop position.

Further, the traveling control of the transportation train is performed based on the difference between the traveling distance to the destination stop position and the actual traveling distance of the transportation train. It is quite possible that an error will occur due to slippage, which may make it impossible to accurately stop the transport train at the target stop position.

(Means for Solving Problems) An object of the present invention is to solve the above-mentioned conventional problems, and the reference numerals of the embodiments whose features will be described later are given in parentheses. In other words, the traveling control device for a transportation electric train of the present invention includes an address setting member (20), traveling distance detection means (5, 7), address discrimination means (5 to 7), and a control device (9). , 12) of the transportation train (1), wherein the transportation train (1) travels on a traveling route divided into a plurality of zones having unique addresses, and the address setting member (1) 20) is installed at the starting point of each zone of the travel route, and the travel distance detection means (5, 7) and the address identification means (5 to 7) are installed on the transport train (1) to detect the travel distance. The means (5, 7) detect the mileage of the transport train (1) and the address determination means (5 to 7) detect and output the zone address from the address setting member (20), respectively, and output the control device (9, 12) is The zone length data (25) and the stop position data (23) are stored in advance, and the stop position data (23) corresponds to each stop position (S1, S2 ...) arbitrarily set in the travel route. It is data consisting of a combination of the belonging zone address and the distance between the stop position and the immediately preceding zone start point position, and the output of the running distance detection means (5, 7) and the address discrimination means (5 to 7). Destination stop position and the zone length data (2
5) and stop position data (23), the target total travel distance (TL) from the current position to the destination stop position is calculated, and when the transport train (1) starts traveling, the target total travel distance (TL) is calculated. )) To calculate the remaining travel distance (Lt) by subtracting the travel distance detected by the travel distance detection means (5, 7), and during the travel, when the address setting member of the address determination means (5 to 7) is detected. , The address setting member (2
0) to the destination stop position (S3), the total travel distance (Lt ') is calculated based on the data (23, 25), and the remaining travel distance (Lt) at that time is calculated as the midway calculation travel distance (Lt). Lt ′), and at the position where the remaining mileage (Lt) becomes zero, the transport train (1)
It is characterized in that it outputs a control signal for stopping.

(Example) Hereinafter, one example of the present invention will be described with reference to the accompanying drawings.

In FIG. 1 and FIG. 2, reference numeral 1 is a plurality of transport trains traveling on the same traveling route, and a speed control inverter 4 of a motor 3 for driving a drive wheel 2 and the drive wheel 2
A vehicle-mounted control device 9 including a pulse encoder 5, an address setting member detection photoelectric switch 6, and a microcomputer 7 and a multiple signal transmission slave station 8 is provided.

The multiple signal transmission slave station 8 of each carrier train 1 is constantly connected to two signal lines 10 installed along the traveling route via a current collector 11, and via the two signal lines 10. It is connected to the ground control device 12. This ground control device 1
Reference numeral 2 includes a multiple signal transmission master station 13, a sequencer 15 connected to the multiple signal transmission master station 13 via a communication means 14 such as RS232C, and a microcomputer 16 for giving a command to the sequencer 15. Has been done. 1
Reference numeral 7 is a monitor display. Reference numeral 18 is a power supply power line for supplying power to the motor 3 of each transport train 1 via the current collector 19 and the inverter 4.

FIG. 3 shows an example of the layout of the travel route of the transportation train 1. This travel route is divided into a plurality of zones, and an address setting member (code plate) 20 detected by the address setting member detecting photoelectric switch 7 is installed at the starting point position of each zone as shown in FIG. Has been done. Although not shown in the drawing, each address setting member 20 is configured to have an address (unique code No.) given to the zone immediately after, and 1 to 23 shown in FIG. Is an address No. given to each address setting member 20, and is also an address given to a zone between each address setting member 20 and the next address setting member 20. S1 to S10 are address setting members 2
It indicates a stop position arbitrarily set in the travel route regardless of 0.

The layout of the entire traveling route can be replaced with the connection information of the address number (hereinafter referred to as MAP information), and each carrier train 1 arranged on the traveling route is the master station 1 for transmitting multiple signals.
3, the MAP information is received from the ground-side control device 12 via the signal line 10 and the multiple signal transmission slave station 8 and stored in the vehicle-mounted control device 9 (memory of the microcomputer 7).

The vehicle-mounted control device 9 stores the zone length data and the stop position data together with the MAP information in the microcomputer 7.
It is stored in the memory of. Each zone length data is, for example, as shown in FIG. 4, a pulse encoder 5,
Using the photoelectric switch 6, the address number reading function 21 programmed in the microcomputer 7, and the zone length measuring function 22 to automatically create the traveling train 1 by running it over the entire travel route. Can be done.

That is, the address number reading function 21 determines an address unique to each address setting member 20 based on the number of pulses transmitted from the pulse encoder 5 while the photoelectric switch 6 is detecting the address setting member 20 at each zone start position. The zone length measuring function 22 is a function of determining each, based on the number of transmission pulses of the pulse encoder 5 from the time when the address is read from the address setting member 20 to the time when the address is read from the next address setting member 20. It is a function to determine the length of the zone.
Data of the length of each zone is created and stored from 1 and 22.

Further, the address (zone No.) read by each transportation train 1 by the address number reading function 21 is a signal line from the slave station 8 for multiple signal transmission together with a device-specific code number unique to each transportation train 1. It is sent via 10 to the master station 13 for transmitting multiple signals. Then, as a result of the master station 13 sending the information to the sequencer 15 via the communication means 14, the sequencer 15 can know in which zone each transport train 1 is located.

If there is a request from the ground side, the distance measured by the zone length measuring function 22, that is, the distance from the starting point of the address (zone) to which the transportation train 1 belongs to the transportation train 1 is used for transportation. The current detailed position information of the train 1 can be sent to the ground side by the multiple signal transmission system. In this case, since the distance is processed by the number of pulses, it is desirable that the distance is converted to the unit of mm and sent to the ground side.

On the other hand, on the ground side, stop position data composed of a combination of an address No. (zone No.) belonging to each of the stop positions S1 to S10 and a distance from the address setting member 20 serving as the starting point of the zone is created, It is stored in the memory of the microcomputer 16 in the ground side control device 12.
The distance from the address setting member 20 to the stop position is actually measured in mm and is input.

Next, the travel control method of the transportation train 1 using the control device having the above configuration will be specifically described. Now, as shown in FIG. 5, the stop position S2 in the address 4 (zone No. 4) will be described. When the destination is set to drive the transportation train 1 stopped at No. 6 to the stop position S3 in the address 6 (zone No. 6), as shown in FIG. The data of the stop position S3, that is, [6th address / 1800 mm] is searched from the stopped position data 23, and this data is stopped from the ground side at the stop position S2.
To the multi-signal transmission system.

Control device 9 for the transport train 1 (microcomputer 7)
The total mileage calculation function 24 is programmed in
The data of the stop position S3 [6th address / 1800 mm], the zone length 4L of the 4th address retrieved from the zone length data 25 created and stored as described above, the zone length measuring function 22
Between the current position of the transport train 1 obtained from the above and the immediately preceding zone start point position (the number of pulses corresponding to the distance 2200 mm from the start point of the address 4 to the stop position S2) and the zone length of the address 5 L Based on this, the target total travel distance TL = 4L-2200 (mm) from the stop position (current position) S2 to the stop position S3
+ 5L + 1800 (mm) is calculated. Since all the internal processing including the stored data is performed with the number of pulses, the distance value (1800 mm) given from the stop position data 23 is converted into the number of pulses. The target total travel distance TL calculated in this way is preset in the subtraction function 26 for calculating the remaining travel distance.

On the other hand, the control device 9 of each transport train 1 uses the DIP switch of the microcomputer 7 to set high-speed (transport speed), medium-speed (turn and transfer speed) and low-speed (positioning speed) speed values, acceleration and Deceleration is set. Therefore, when the target total traveling distance TL is calculated as described above, the speed control position calculating function 27 programmed in the microcomputer 7 of the control device 9 causes the traveling speed condition and the target total distance set in advance as described above. Mileage T
Based on L, for example, the destination stop position S3 shown in FIG.
The distance Ls between the deceleration start position and the deceleration start position is calculated.

Stop position from the microcomputer 16 of the ground side control device 12 via the sequencer 15 and the multiple signal transmission system
When a start command is given to the transportation train 1 stopped at S2, the transportation train 1 starts running. Simultaneously with the start of traveling of the transportation train 1, the target total traveling distance TL preset in the subtraction function 26 is obtained by subtracting the number of transmission pulses from the pulse encoder 5 (that is, the actual traveling distance of the transportation train 1). Then, the remaining travel distance Lt is output.

The traveling electric train 1 travels through the address setting members 20 at addresses 5 and 6 before reaching the destination stop position S3, but the photoelectric switch 6 causes the address setting member 20 at address 5.
The address number reading function 2 as shown in FIG.
When the address No. of address 5 is output by 1, the address setting member 2 of address 5 is output by the remaining travel distance calculation function 28 programmed in the microcomputer 7 of the vehicle-mounted controller 9.
Remaining travel distance Lt '= 5L from 0 to the destination stop position S3
+1800 (mm) is calculated. And then subtraction function 2
The remaining running distance Lt output from 6 is replaced with the midway calculation remaining running distance Lt 'newly calculated as described above.

That is, when the transport train 1 travels to the address setting member 20 at address 5, the remaining travel distance Lt output from the subtraction function 26 is the distance [4L-22 from the initial total travel distance TL.
00 (mm)] is subtracted, but the remaining travel distance Lt output from the subtraction function 26 is a normal remaining travel distance, that is, the midway calculation residual, due to slipping of the driving wheels 2 or the like. Even when the running distance Lt ′ = 5L + 1800 (mm) is shorter, the remaining running distance Lt output from the subtraction function 26 is automatically set to the midway calculation remaining running distance Lt ′ which is a normal remaining running distance. The replacement will be corrected.

When the transport train 1 detects the address setting member 20 at the next address 6, the normal remaining travel distance is calculated in the same manner as above,
At that time, the remaining travel distance L output from the subtraction function 26
The value t is replaced with the midway calculation remaining travel distance Lt ′ and corrected.

As a result of such an automatic correction operation of the remaining traveling distance being performed each time the address setting member 20 is passed, the value of the remaining traveling distance Lt is always equal to the actual remaining traveling distance or the error is minimized. To be

When the remaining travel distance Lt becomes equal to the calculated distance Ls, predetermined deceleration stop control is performed, and the transportation train 1 finally reaches the destination stop position at a predetermined low speed (positioning speed).
After reaching S3, the vehicle automatically stops at the stop position S3. Of course, at this time, the remaining travel distance L in the subtraction function 26
t is zero or a value within the allowable error range. In other words, the transport train 1 has stopped after traveling the target total travel distance TL from the current position (stop position S2) to the stop position S3.

The in-vehicle control device 9 controls the inverter 4 by an encoder feedback method using the transmission pulse of the pulse encoder 5 so that the transportation train 1 travels accurately under the traveling speed conditions set as described above. ing.

As in the above embodiment, each transport train 1 is provided with the zone length data 25, and the on-vehicle control device 9 of each transport train 1 calculates the target total travel distance TL to the set destination stop position. Although it is desirable to do so, in some cases, the control device 12 on the ground side has the zone length data 25, and at the destination stop position set for each transport train 1 by the control device 12 on the ground side. It is also possible to calculate the target total travel distance TL and transmit the target total travel distance TL to a predetermined transport train 1.

Further, in the above embodiment, the address determining means for detecting the address setting member 20 and determining the address of each zone is the pulse encoder 5, the address setting member detecting photoelectric switch 7, and the address number reading function of the microcomputer 7. 21 and the traveling distance detecting means is composed of the pulse encoder 5, the pulse counting function of the microcomputer 7, and the zone length measuring function 22 of the microcomputer 7, but the present invention is not limited to this embodiment. Of course.

(Operation and Effect of the Invention) As described above, according to the travel control device of the present invention, each stop position (S1, S2 ...) Can be arbitrarily set regardless of each zone of the train travel route. Then, by measuring how far each set stop position (S1, S2 ...) is from the starting point position of the zone of the address, it consists of the zone address and distance value for each stop position (S1, S2 ...) The stop position data (23) should be created and stored. On the other hand, address identification means (5-7)
Since the data (25) of the length (… 4L, 5L, 6L…) for each zone measured by the and the travel distance detection means (5, 7) are stored in advance, the destination is the transport train (1). When the stop position (S3) is set, the current address zone (No.4) determined by the address determination means (5-7) and the current address zone detected by the mileage detection means (5,7) The current position of the transport train from the start point position of
Distance traveled to (S2) (2200), zone length (4L, 5L) obtained from zone length data (25), and stop position data
Target from the current position (S2) of the transport train (1) to the destination stop position (S3) from the destination stop position (S3) obtained from (23) and the distance (1800) between the previous zone start point position Total mileage
(TL) can be calculated. Therefore, after that, it is sufficient to control so that the transport train (1) travels and stops for the conventional target total travel distance (TL).

The zone length data (25) is, for example, as shown in the embodiment, the transportation train (1) is actually run, and the address determination means
It can be created by measuring and storing the distance (zone length) between each address setting member using (5 to 7) and running distance detection means (5, 7). Even if it does, it is not necessary to measure the distance from a fixed starting point to each stop position (S1, S2 ...), so the measurement work can be performed from any position, and since the distance measurement zone is short, accurate measurement is possible. You can Even when multiple transport trains (1) are on the same travel route, the zone length data (25) of different areas for each transport train (1) can be measured and stored at the same time, and The zone length data (25) of the traveling route can be efficiently measured and stored.

That is, according to the travel control device of the present invention, a large number of transport trains travel on a travel route having a long overall length and a complicated layout, and a large number of transport trains are set on the travel route. Even if it is a transport device that has to travel from one of the stop positions to another arbitrarily selected, the reference work for obtaining the control data that must be stored in advance is performed. It can be easily and easily and efficiently performed, and the traveling control from the current position to the destination stop position for each transport train can be accurately performed.

Also, it is not necessary to install anything at each stop position, and address setting members can be roughly installed at appropriate intervals on the travel route side regardless of the stop position. In addition, the stop position can be easily changed or increased / decreased.

Further, according to the device of the present invention, after the transportation train (1) starts traveling, the remaining traveling distance (Lt) is gradually subtracted from the target total traveling distance (TL) by the actual traveling distance of the transportation train (1). In the middle of traveling, every time the address setting member (20) is passed, the total travel distance (L) from the address establishing member (20) to the destination stop position (S3)
t ') is calculated based on each of the data (23, 25) and the remaining travel distance (Lt) at that time is replaced with the midway calculated total travel distance (Lt'). Even if the slip or the deviation of the transmission pulse pitch of the pulse encoder that constitutes the traveling distance detection means occurs, the transport train can be stopped accurately at the set destination stop position.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating a signal transmission system between a control device on the ground side and each carrier train, FIG. 2 is a block diagram illustrating a configuration of the carrier train, and FIG. 3 is a travel route. Showing the layout of FIG. 4, FIG. 6, FIG. 6 and FIG. 7 are block diagrams for explaining the function of the control device, and FIG. 5 is a diagram for explaining a specific section in the travel route. 1 ... transport train, 2 ... driving wheel, 3 ... motor, 4
...... Inverter, 5 ...... Pulse encoder (traveling distance detecting means, address determining means), 7 ... Optical switch for detecting address setting member (address determining means), 7 ... Microcomputer, 8 ... Multiple signal transmission element Station, 9 ... In-vehicle control device, 10 ... Signal line, 12 ... Ground-side control device, 13 ...
... Master station for transmitting multiple signals, 14 ... Communication means, 15 ... Sequencer, 16 ... Microcomputer, 18 ... Power line for power supply, 20 ... Address setting member, 21 ... Address number of control device 9 Reading function, 22 ... Zone length measuring function of control device 9, 23 ... Stop position data, 24 ... Total running distance calculation function of control device 25, 25 ... Zone length data, 26 ... Control device 9 Subtraction function for calculating the remaining mileage of
27: speed control position calculation function of the control device 9, 28 ...
The remaining travel distance calculation function of the control device 9.

Claims (1)

[Claims] 1. An address setting member (20) and traveling distance detecting means
(5, 7), address discrimination means (5 to 7), and a control device (9, 12) for the traveling control device of the transportation train (1), the transportation train (1) is unique The vehicle travels on a travel route divided into a number of zones, and the address setting member (20) is installed at the start position of each zone of the travel route, and the travel distance detection means (5, 7) and the address discrimination means are provided. (5-7) is installed in the transportation train (1), the mileage detection means (5, 7) sets the mileage of the transportation train (1), and the address determination means (5-7) sets the address. The zone address is detected and output from the member (20) respectively, and the control device (9, 12) stores the zone length data (25) and the stop position data (23) in advance. The data (23) consists of a set of a zone address of each stop position (S1, S2 ...) arbitrarily set in the travel route and a distance between the stop position and the immediately preceding zone start position. And mileage inspection Means (5,7) and being input and the output and the destination stop position of the address discriminating means (5-7), the zone length data (2
5) and stop position data (23), the target total travel distance (TL) from the current position to the destination stop position is calculated, and when the transport train (1) starts traveling, the target total travel distance (TL) is calculated. )) To calculate the remaining travel distance (Lt) by subtracting the travel distance detected by the travel distance detection means (5, 7), and during the travel, when the address setting member of the address determination means (5 to 7) is detected. , The address setting member (2
0) to the destination stop position (S3), the total travel distance (Lt ') is calculated based on the data (23, 25), and the remaining travel distance (Lt) at that time is calculated as the midway calculation total travel distance. Replace with (Lt ′), and at the position where the remaining mileage (Lt) becomes zero, transport train
(1) A travel control device for a transportation train that outputs a control signal to stop.