JPH0648883B2 - Travel control device for transportation trains - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention divides the travel route of a transportation train used in an assembly plant, a product sensor, or the like into a plurality of zones to locate the transportation train in the zone. The present invention relates to a travel control device for executing a travel control method called a so-called section control method, which controls according to a No. (address).

(Prior Art and Problems Thereof) In the conventional so-called section control system as described above, a signal line that is physically divided for each zone is installed along the train travel route, and the signal line for each zone is grounded. Since it was connected to the control device on the side by separate wiring, it is necessary to have independent wiring for the signal line and the ground side control device for the number of zones, and if the total length of the travel route is long and the number of zones is large, wiring The amount becomes enormous.

Further, since the signal line of each zone and the ground-side control device are connected via the input / output terminal of the control device, as many i / o points as the number of zones are required. Furthermore, the types of signals that can be exchanged between the control device on the ground side and the on-vehicle control device mounted on each transport train are limited, and there is a drawback that the condition of the transport train cannot be sufficiently managed on the ground side. there were.

(Means for Solving Problems) The present invention proposes a travel control method capable of solving the above-mentioned conventional problems, and the features thereof will be described with reference numerals of embodiments described below in parentheses. In addition, it has a ground side control device (12), an in-vehicle control device (9), an address setting member (20), a signal line (10), and an address determination means (5 to 7). A travel control device for a transportation train (1), wherein the transportation train (1) travels on a travel route divided into a plurality of zones each having a unique address, and an address setting member (20) is a travel route. The signal line (10) is continuously installed along the travel route between the zones, and the address identification means (5 to 7) are installed on the transport train (1). Provided,
The current address of the transportation train (1) is detected from the address setting member (20), and the in-vehicle control device (9) displays the train identification information unique to each train.
Signal line with the current address of the train detected by the address identification means (5 to 7)
It transmits to the ground side control device (12) via (10), and the ground side control device (12) transmits the destination and the start command to the onboard control device (9) via the signal line (10). It has characteristics.

(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 general electric train 1 is constantly connected to two signal lines 10 laid along the travel route via a current collector 11, and the ground via the two signal lines 10. It is connected to the side controller 12. This ground side control device 12
Is composed of a master station 13 for transmitting multiple signals, a sequencer 15 connected to the master station 13 for transmitting multiple signals via a communication means 14 such as RS232C, and a microcomputer 16 for giving a command to the sequencer 15. ing. 17
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 measured and input in mm.

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.

As described above, the speed control condition set by the DIP switch of the microcomputer 7 in the vehicle-mounted controller 9 can also be sent to the ground side by the multiple signal transmission system, if necessary.

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. 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 S3 at a predetermined low speed (positioning speed), It will automatically stop at the stop position S3. Of course, at this time, the remaining travel distance Lt in the subtraction function 26 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. However, it is needless to say that the present invention is not limited to the configuration of this embodiment.

Further, the transport train 1 is operated by the calculated target total travel distance TL.
The control method of causing the vehicle to run and stopping is not limited to the method of the above-described embodiment. For example, the actual traveling distance of the transport train 1 is detected using the traveling distance detecting means, and the actual traveling distance and the target are detected. The control method may be such that speed control is performed based on the difference from the total travel distance, and the transport train 1 is stopped when the difference between the two is eliminated.

(Operation and Effect of the Invention) According to the above-mentioned device of the present invention, each traveling electric train (1)
The address unique to each address setting member (20) read by the address determining means (5 to 7) is the onboard control device together with the train identification information unique to each transport train (1), for example, the train number. It is transmitted from (9) to the ground side control device (12) via a signal line (10) installed along the traveling route. Therefore, the ground control device
(12) can know the address of all the transportation trains (1) on the travel route. Then, the ground-side control device (12) uses the position information for each transport train (1) as a basis for each transport train.
A destination, speed command, start command, etc. can be sent to the on-vehicle control device (9) of (1) through the signal line (10).

Of course, from the onboard controller (9) of each transport train (1) to the ground controller (12), not only the address information (zone No.) and train identification information, but also detailed position information and transport within the zone Train
(1) Speed information set on the side can also be sent in the same way.

That is, according to the traveling control device of the present invention, the signal line divided for each zone is installed on the traveling route side only by installing the address setting member (20) at the boundary position of each set zone. There is no need, the ground side control device (12) and each transport train
The signal line (10) for transmitting and receiving signals to and from the vehicle-mounted control unit (9) in (1) is installed so as to be continuous between zones along the travel route, and this is connected to the ground-side control unit (12). ), The total amount of wiring for the entire equipment is continuous over the entire length of the travel route, for example, only two signal lines (10), no matter how many zones there are, so wiring work is simple and easy. Not only can this be done, the number of zones can be increased or decreased and the zone length can be changed very easily.

Moreover, a wide variety of information can be exchanged between the on-vehicle control device (9) and the ground-side control device (12) of the transportation train (1), and each transportation train ( The control status of 1) can be fully managed.

[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. FIG. 4 is a block diagram 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 supply 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.

Claims (1)

[Claims] 1. A controller (12) on the ground side and an in-vehicle controller
(9), an address setting member (20), a signal line (10), and an address determination means (5 ~ 7) is a traveling control device of a transportation train (1), which is a transportation train (1 ) Runs on a travel route divided into a plurality of zones with unique addresses, the address setting member (20) is arranged at the starting point of each zone of the travel route, and the signal line (10) It is continuously installed along each route between each zone, and the address identification means (5-7) is installed in the transportation train (1),
The current address of the transportation train (1) is detected from the address setting member (20), and the in-vehicle control device (9) displays the train identification information unique to each train.
Signal line with the current address of the train detected by the address identification means (5 to 7)
It is transmitted to the ground-side control device (12) via the (10), and the ground-side control device (12) transmits the destination and the start command to the on-vehicle control device (9) via the signal line (10). Train running control device.