JPH03161809A - Load carriage installation - Google Patents

Abstract

PURPOSE:To improve working efficiency by driving a brake means corresponding to a scanning speed at the time of driving a photoelectric switch. CONSTITUTION:When both the optical sensor receiver 3 and photoelectric switch 2 are not driven because a distance between respective self-traveling trucks 12 is separated more than a fixed distance, both the trucks 12 can travel at high speed. When the receiver 3 is driven as the distance between the trucks 12 is shortened, the succeeding truck 12 is decelerated and travels as slow speed, and if the traveling speed of the succeeding truck 12 when the switch 2 is driven, the vehicle is stopped as a prescribed deceleration without using the brake means for a traveling motor 22. When the traveling speed exceeds the slow speed, the truck 12 is stopped by driving the brake means. When the traveling speed of the truck 12 exceeds the set speed, an alarm is outputted. Even if the operation delay of the receiver 3 is generated, the succeeding traveling truck 12 can be prevented from colliding with the preceding truck.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to load conveyance equipment that is equipped with a plurality of self-propelled carts that are driven by travel motors and travel on a fixed path to convey loads.

Conventional technology In the above-mentioned cargo transport equipment, each self-propelled cart performs rear-end collision prevention control to prevent rear-end collisions with each other. As shown in FIG. 4, the conventional self-propelled trolley has a photoelectric switch 2 on the front of the self-propelled trolley 1 that detects the presence or absence of an object in a detection area A in front indicated by diagonal lines, and a photoelectric switch 2 that detects light from the front. An optical sensor receiver 3 is provided on the rear surface of the self-propelled trolley 1, and an optical sensor transmitter 4 is provided on the rear surface of the self-propelled vehicle 1 to emit light to a wide area B further away from the detection area A of the photoelectric switch 2, as shown in FIG. As shown in the figure, when the optical sensor receiver 3 operates, the speed is decelerated from a high speed, for example, 100 n/nin, to a low speed, for example, 101 m#lin, at a predetermined deceleration, and when the photoelectric switch 2 is operated, it is stopped at a predetermined deceleration. It was so oval. In FIG. 4, reference numeral 5 indicates a traveling rail along which the self-propelled cart 1 is guided.

Problems to be Solved by the Invention However, in the conventional elliptical device that prevents rear-end collisions, the detection distance may become short due to aging or malfunction of the optical sensor receiver 3. Furthermore, if there is a delay in the operation of the optical sensor receiver 3, there is a problem in that the operation of the photoelectric switch 2 cannot be stopped at If, resulting in a rear-end collision with the self-propelled cart 1 in front.

The present invention is intended to solve the above-mentioned problems, and aims to provide a load conveyance facility that can prevent a rear-end collision of the self-propelled cart 1 even if the optical sensor receiver is delayed in operation.

Means for Solving the Problems In order to solve the above problems, the cargo conveyance equipment of the present invention includes a photoelectric switch on the front of the self-propelled cart that detects the presence or absence of an object in a specific area in front, and a light that detects light from the front. A sensor receiver is provided on the rear surface of the self-propelled bogie, and an optical sensor transmitter is provided on the rear surface of the self-propelled bogie for emitting light to an area further away from the specific area of the photoelectric switch; A speed detection means for detecting the running speed of the trolley and a brake means for stopping the running of the self-propelled trolley are provided in the self-propelled trolley, and the self-propelled trolley runs at high speed when neither the optical sensor receiver nor the photoelectric switch operates, If only the optical sensor receiver is activated, the vehicle will travel at a low speed, and if the photoelectric switch is activated, and the traveling speed detected by the speed detection means is below the low speed, the vehicle will decelerate and stop. Control means is provided for driving the brake means to stop the vehicle when the vehicle exceeds the low speed, and for outputting an alarm when the travel speed exceeds a set speed set between the low speed and the high speed. .

Effect With the above structure, when the distance between the self-propelled carts is large and neither the optical sensor receiver nor the photoelectric switch operates, the self-propelled carts run at high speed, and the distance between the self-propelled carts becomes close and the optical sensor receiver is activated. When activated, the self-propelled trolley decelerates and travels at a low speed, and when the photoelectric switch is activated, if the traveling speed of the white-running trolley is lower than low speed, it stops at a predetermined deceleration without using the brake means, When the running speed of the self-propelled trolley exceeds a low speed, the brake means is driven to stop it, and furthermore, when the running speed of the self-propelled trolley exceeds a set speed, an alarm is output.6 Example The following is an example of the present invention. will be explained based on the drawings. Note that the same elements as those in FIG. 4 of the conventional example are given the same reference numerals, and the explanation thereof will be omitted.

FIG. 1 is a diagram illustrating a control block of a self-propelled trolley of a load conveying facility according to the present invention. In FIG. 1, reference numeral 11 denotes a ground controller which is a microcomputer and is a ground control means for collectively controlling a plurality of self-propelled bogies 12, and is scattered along the traveling rail 5 on which the self-propelled bogies 12 run. , a load transfer signal from a load transfer station or host computer (none of which is shown) and each self-propelled trolley 12 from a ground modem 13, which will be described later.
Feedback signals for each vehicle, such as the currently installed address 5 signal and signals indicating the presence or absence of cargo, are input and judged, and the destination of each self-propelled trolley 12 and whether or not to transfer are controlled. The ground controller 1 is a self-propelled trolley 12
A terrestrial modem 13 corresponding to a transceiver transmits signals to and from
, and as an antenna via a feeder line 14 which is installed along the entire length of the traveling rail 5 along the traveling direction of the self-propelled trolley 12.

The self-propelled trolley 12 is provided with two antennas 15 in the running direction of the self-propelled trolley 12, approaching and opposing the feeder line 14. 16, and the main controller 7 transmits signals to and from the ground controller 11 using these two antennas 15,
16, a distributor 18, and a main body modem 19 serving as a transmitter/receiver. The main body controller 7 also includes a transfer section detector 20 consisting of a photoelectric switch that detects the presence or absence of a load and the fixed position of the load, a pamper catch 21 that detects a rear-end collision, and a brake on the driving wheel body that detects travel distance and travel speed. An encoder 23 detects the rotation speed of the traveling motor 22, and a photoelectric switch 6 for detecting the preceding self-propelled cart is connected to the optical sensor receiver 3, and the signals from each sensor and Judgment is made based on a control signal from the ground controller 11 inputted from the main body modem 19 or a manual control signal from a control box (not shown) connected to the operation surface 24, and the above-mentioned traveling is performed via the inverter 25 and the changeover switch 26. The transfer motor 27 is controlled by switching with the motor 22 or the changeover switch 26 to control the self-propulsion of the self-propelled cart 12 and the transfer of loads from the self-propelled cart 12. Further, the main body controller 17 uses the above-mentioned optical sensor transmitter 4 to project light to detect the approach of the following self-propelled cart.

Next, regarding the traveling control of the main body controller 17, the second
The explanation will be given according to the F-chart in the figure.

First, it compares the address signal of the position transmitted from the ground controller 1 to the roller 11 with the address of the current position to determine whether a travel command has been transmitted (step s-i>
If there is no running command, the process ends without executing anything, and if there is a running command, it is determined whether the photoelectric switch 2 is operating (step S2), and if it is not operating, the optical sensor receiver 3 is operating (step s-
3).

If the optical sensor receiver 3 is not operating, run at high speed, for example, 1001l/Ilin (step S-4).
, if it is operating, perform a predetermined deceleration from high speed to low speed,
For example, run at 10n/nin (step S5)
.

When the photoelectric switch 2 is operating in step S-2, the self-propelled trolley 12 is calculated from the rotation speed of the traveling motor detected by the pulse input from the encoder 23.
Step S to determine whether the traveling speed of
-6), if the speed is lower than low speed, the vehicle is stopped at a predetermined deceleration without using the brake (step S-7>, if the speed exceeds low speed, the set speed is set between low speed and high speed). , for example, 30 IIl/min or less (step S-8). If the traveling speed is less than the set speed, the brake of the traveling motor 22 is activated to stop it (
Step S-9), when the set speed is exceeded, alarm signal B is transmitted to the ground controller 1 via the main body modem 19, distributor 18, antennas 15, 16, feeder line 14, and ground modem 13, and the optical sensor In step S-10) to report a defect in the receiver 3, the brake of the travel motor 22 is activated to stop it in step S9.

FIG. 3 shows a speed characteristic diagram when the high speed is 100 n#ain, the low speed is 10 i/nin, and the set speed is 30 l/IIlin.

When the traveling speed is less than 10 m/rain, the vehicle is stopped at a predetermined deceleration, when it exceeds 10 m/rain, the brake is applied to stop it, and when it exceeds 30 m/II + i n, a warning signal is output. , In this way, as shown by the dashed line in FIG. 3, even if the operation of the optical sensor receiver 3 is delayed and deceleration is delayed, the brake is operated according to the traveling speed at the time of operation of the photoelectric switch 2. It is possible to prevent a rear-end collision with the self-propelled cart 12 in front, and avoid a situation where the self-propelled cart 12 stops due to the operation of the bumper switch 21 and the load transfer equipment stops, and it is possible to improve work efficiency. . Furthermore, by providing a warning of a defect in the optical sensor receiver 3, it is possible to perform maintenance such as replacing the optical sensor receiver 3 before the self-propelled trolley 12 causes a rear-end collision.

In this embodiment, the brake of the travel motor 22 is operated, but it is clear that any brake that locks the wheels of the self-propelled cart 12 may be used.

Effects of the Invention As described above, according to the present invention, by operating the braking means in accordance with the traveling speed when the photoelectric switch is activated, even if deceleration is delayed due to a delay in the operation of the optical sensor receiver, the vehicle in front can be It is possible to prevent a rear-end collision with a moving truck, improve the situation where the self-propelled truck stops due to a rear-end collision and stop transporting loads, and improve work efficiency. Moreover, the output of an alarm can notify the user of a defect in the optical sensor receiver, and maintenance such as replacing the optical sensor receiver can be performed before the self-propelled truck causes a rear-end collision.

[Brief explanation of the drawing]

Fig. 1 is a control block diagram of a self-propelled trolley of load transfer equipment showing one embodiment of the present invention, and Fig. 2 is a control block diagram of the main unit of the load transfer equipment.
- Flowchart of roller traveling control, Figure 3 is a speed characteristic diagram of the self-propelled cart of the same load transport equipment when it is stopped, and Figure 4 is the photoelectric switch and optical sensor transmission of the self-propelled trolley of the load transport equipment. Fig. 5 is a schematic diagram illustrating the operation of the receiver and the receiver, and Fig. 5 is a speed characteristic diagram when the self-propelled cart of the conventional cargo transport equipment is stopped. 2...Photoelectric switch, 3...
Optical sensor receiver, 4... Optical sensor transmitter, 12...
Self-propelled trolley, 17...main controller (control means),
22... Traveling motor with brake, 23... Encoder (speed detection means).

Claims (1)

[Claims] 1. A photoelectric switch for detecting the presence or absence of an object in a specific area in front of the self-propelled trolley and an optical sensor receiver for detecting light from the front are provided on the front surface of the self-propelled trolley, and the photoelectric switch is installed on the rear surface of the self-propelled trolley at the rear. A light sensor transmitter is provided on the self-propelled bogie body to emit light to an area farther than the specific area of the self-propelled bogie, and a speed detection means for detecting the traveling speed of the self-propelled bogie and a speed detecting means for stopping the traveling of the self-propelled bogie are provided on the self-propelled bogie body. A braking means is provided in the self-propelled trolley, and when neither the optical sensor receiver nor the photoelectric switch operates, the vehicle travels at high speed, and when only the optical sensor receiver operates, it travels at low speed, and the photoelectric switch is activated. When the vehicle operates, when the traveling speed detected by the speed detection means is below the low speed, the vehicle decelerates and stops; when the traveling speed exceeds the low speed, the brake means is driven to stop traveling, and the vehicle stops traveling. A cargo conveying equipment provided with a control means for outputting an alarm when the speed exceeds a set speed set between the low speed and the high speed.