JPH05303423A - Controller for preventing rear-end collision of loop carriage - Google Patents
Controller for preventing rear-end collision of loop carriageInfo
- Publication number
- JPH05303423A JPH05303423A JP4131763A JP13176392A JPH05303423A JP H05303423 A JPH05303423 A JP H05303423A JP 4131763 A JP4131763 A JP 4131763A JP 13176392 A JP13176392 A JP 13176392A JP H05303423 A JPH05303423 A JP H05303423A
- Authority
- JP
- Japan
- Prior art keywords
- carriage
- loop
- curved
- collision prevention
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000002265 prevention Effects 0.000 claims description 41
- 238000001514 detection method Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 11
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000008034 disappearance Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008033 biological extinction Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- Control Of Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、共通のループ走路に沿
って循環的に走行する複数のループ台車の追突防止制御
装置、特に曲線走路部における追突防止制御装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear-end collision prevention control device for a plurality of loop carriages that circulate along a common loop passage, and more particularly to a rear-end collision prevention control device in a curved road portion.
【０００２】[0002]
【従来の技術】無人の自動走行機械の衝突防止のため
に、これら自動走行機械の移動方向端部に光波式，超音
波式等の距離センサーを設け、障害物を自動検出して自
動走行機械を停止させる手段は既に知られている。自動
倉庫等で用いるループ搬送台車設備では、一般に台車を
走行させる走路が直線軌道と曲線軌道の組合せで無端ル
ープ状に布設され、そのループ走路上に多数の台車を一
定方向へ循環的に走行させ、個々の台車が指定された倉
庫と入出庫口間あるいは、倉庫と倉庫間へ停止，走行を
繰返して搬送を行う。2. Description of the Related Art In order to prevent collisions of unmanned automatic traveling machines, a distance sensor such as a light wave type or an ultrasonic type is provided at the end of the moving direction of these automatic traveling machines to automatically detect obstacles and automatically move them. Means for stopping the are already known. In the loop carrier truck equipment used in automated warehouses, etc., the track on which the cart is run is generally laid in an endless loop with a combination of straight and curved tracks, and a large number of carts are cyclically run in a certain direction on the loop track. The individual trucks stop and run repeatedly between the designated warehouse and the entrance / exit gate, or between the warehouses to carry the goods.
【０００３】[0003]
【発明が解決しようとする課題】この種の自動台車で
は、台車相互の衝突防止は直線走路上では光波式，超音
波式距離センサーで相対距離を検出できるが、曲線走路
部では距離センサーが前方の台車を検出できないので、
このような手段では追突防止を図ることは不可能であ
る。In this type of automatic bogie, collision prevention between bogies can be detected by a light wave type or ultrasonic type distance sensor on a straight track, but on a curved track the distance sensor is forward. Can not detect the dolly of
It is impossible to prevent rear-end collision by such means.
【０００４】本発明はこのような事情に鑑みて提案され
たもので、曲線走路でも衝突事故の発生を防止して複数
の台車を円滑かつ迅速に移動する安全かつ経済的なルー
プ台車の追突防止制御装置を提供することを目的とす
る。The present invention has been proposed in view of the above circumstances, and it is a safe and economical loop car collision prevention that prevents a collision accident even on a curved road and smoothly and quickly moves a plurality of cars. An object is to provide a control device.
【０００５】[0005]
【課題を解決するための手段】そのために請求項１の発
明は、同一のループ走路を同一方向に循環的に走行及び
停止して荷物を入出庫する複数のループ台車の自動運転
制御装置において、各ループ台車に付設され先行台車と
の車間距離を検出する車間距離センサーと、上記車間距
離センサーの検出する距離が設定値以上，未満のとき台
車をそれぞれ自動走行，自動停止させる制御ユニットか
らなる直線部追突防止制御部と、ループ走路の曲線部入
口，出口の台車通過を検知する曲線部台車通過センサー
と、上記台車通過センサーの出力信号に基づいて、上記
曲線部入口，出口へ台車が到着するごとに上記曲線部走
路への台車の進入可否を判定し、上記到着台車へ信号を
出力する判定演算部と、上記各台車にそれぞれ付設され
上記判定演算部の進入可否信号に応じて台車をそれぞれ
自動走行，自動停止させる制御ユニットからなる曲線部
追突防止制御部とを具えたことを特徴とする。To this end, the invention according to claim 1 provides an automatic operation control device for a plurality of loop carriages, which cyclically run and stop in the same loop runway in the same direction to load and unload luggage, A straight line consisting of an inter-vehicle distance sensor attached to each loop trolley to detect the inter-vehicle distance from the preceding trolley, and a control unit to automatically run and automatically stop the trolley when the distance detected by the above-mentioned inter-vehicle distance sensor is above or below a set value. A rear-end collision prevention control unit, a curved-portion vehicle passage sensor that detects passage of a curved portion at the entrance and exit of a loop road, and a truck that arrives at the curved portion entrance and exit based on the output signal of the vehicle passage sensor The decision calculation unit that determines whether or not the truck can enter the curved section runway for each and outputs a signal to the arrival truck, and the determination calculation unit that is attached to each of the trucks. Each automatic traveling carriage according to input whether signal, characterized in that comprises a curved portion collision prevention control unit comprising a control unit for automatically stopping.
【０００６】[0006]
【作用】このような構成によれば、直線走路においては
それぞれ後行台車上の車間距離センサーが先行台車まで
の車間距離を測定し、車間距離が台車を停止させるに必
要な設定値以上か未満であるかによって制御ユニットに
より台車を自動走行又は自動停止制御する。台車が曲線
部を走行するときは、曲線部の入口から出口までの適宜
に定めた複数のマーク位置の台車通過を通過センサーに
より検知し、曲線部を通過する台車の位置が中央制御室
の制御盤で監視又は記憶して把握管理される。台車が曲
線部入口近くで最初のマーク位置通過を通過センサーが
検知したとき、この信号で中央制御盤の曲線部進入可否
判定演算部が応答し、その時点で以前に検知済みの記憶
されたデータから曲線部上に先行台車が存在するか否か
を曲線部進入可否判定演算部が判定演算し、曲線部への
進入可否信号を最初のマーク位置到達台車へ伝送する。
そうすると、この台車上の制御ユニットが伝送された進
入可否信号に応じて、進入可の場合は走行継続制御を行
い、進入不可の場合は自動停止制御を行い、中央制御盤
への問合わせを継続し、進入可信号に変わった時点で台
車を自動走行制御させる。ここで、曲線部はその長さに
応じて複数の進入可否判定区域に分割できる。With this structure, the inter-vehicle distance sensor on each trailing vehicle measures the inter-vehicle distance to the preceding vehicle on the straight road, and the inter-vehicle distance is equal to or greater than the set value required to stop the vehicle. Then, the control unit controls the carriage to automatically run or stop. When the truck travels on a curved section, the passage sensor detects the passing of the truck at a plurality of appropriately defined mark positions from the entrance to the exit of the curved section, and the position of the truck passing through the curved section is controlled by the central control room. It is monitored or stored on the panel and is grasped and managed. When the passing sensor detects the first passage of the mark position near the entrance of the curved section of the truck, this signal responds to the curve section advancing possibility determination calculation section of the central control panel, and the stored data previously detected at that time From the above, the curve section entry possibility determination calculation section determines whether or not a preceding vehicle is present on the curve section, and transmits an entry permission signal to the curve section to the first mark position arriving vehicle.
Then, according to the entry permission signal transmitted by the control unit on this trolley, if the entry is possible, the traveling continuation control is performed, if the entry is not possible, the automatic stop control is performed, and the inquiry to the central control panel is continued. Then, the trolley is automatically driven at the time when the signal changes to the entry enable signal. Here, the curved portion can be divided into a plurality of entry permission / prohibition determination areas according to its length.
【０００７】[0007]
【実施例】本発明の実施例を図面について説明すると、
図１はその第１実施例を示すループ台車設備の部分平面
図、図２は図１の台車を示すII−II矢視正面図、図３は
図１の台車の追突防止制御系統を示すブロック図、図４
は図１における各センサー及び関係制御部の作動状況を
示す線図、図５は図４のフローチャート、図６は本発明
の第２実施例を示すループ台車設備の部分平面図、図７
は図６の台車を示す正面図、図８は図６における各セン
サー及び関係制御部の作動状況を示す線図、図９は本発
明の第３実施例を示すループ台車設備の部分平面図、図
１０は図９の台車の正面図、図１１は図９における各セ
ンサー及び関係制御部の作動状況を示す線図、図１２は
本発明の第４実施例を示すループ台車設備の部分平面
図、図１３は図１２の台車の正面図、図１４は図１２に
おける各センサー及び関係制御部の作動状況を示す線
図、図１５は本発明の第５実施例を示すループ台車設備
の部分平面図、図１６は図１５の台車の正面図、図１７
は図１５における各センサー及び関係制御部の作動状況
を示す線図である。Embodiments of the present invention will now be described with reference to the drawings.
FIG. 1 is a partial plan view of loop bogie equipment showing the first embodiment, FIG. 2 is a front view of the bogie of FIG. 1 taken along the line II-II, and FIG. 3 is a block showing a rear-end collision prevention control system of the bogie of FIG. Figure, Figure 4
FIG. 7 is a diagram showing the operating status of each sensor and related control unit in FIG. 1, FIG. 5 is a flow chart of FIG. 4, FIG. 6 is a partial plan view of a loop carriage facility showing a second embodiment of the present invention, and FIG.
6 is a front view showing the bogie of FIG. 6, FIG. 8 is a diagram showing an operating state of each sensor and a related control unit in FIG. 6, FIG. 9 is a partial plan view of a loop bogie facility showing a third embodiment of the present invention, FIG. 10 is a front view of the bogie of FIG. 9, FIG. 11 is a diagram showing an operating state of each sensor and a related control unit in FIG. 9, and FIG. 12 is a partial plan view of a loop bogie facility showing a fourth embodiment of the present invention. FIG. 13 is a front view of the bogie of FIG. 12, FIG. 14 is a diagram showing an operating state of each sensor and a related control unit in FIG. 12, and FIG. 15 is a partial plan view of a loop bogie facility showing a fifth embodiment of the present invention. FIG. 16 and FIG. 16 are front views of the bogie of FIG.
FIG. 16 is a diagram showing an operating state of each sensor and a related control unit in FIG. 15.
【０００８】まず、図１〜図５に示す第１実施例におい
て、図１〜図２に示すように、１は直線部１ａ及び曲線
部１ｂを含む１対の台車軌道２からなるループ台車走
路、３は軌道２に沿って走路１を循環的に同一方向に走
行する複数の搬送台車（以下台車という）、Ｌは台車３
の前端であって若干内側寄りに付設された先行台車との
車間距離測定用の超音波式又は光波式の距離センサー、
Ｓ1 ，Ｓ2 ，Ｓ3 は台車３の下面に走路１の幅方向に等
間隔で配設された台車通過位置検知用の３個の通過位置
センサー、Ｐ1 ，Ｐ2 は走路曲線部１ｂの入口線１ｃと
中間線１ｄのそれぞれ直前で台車３を安全に停止するこ
とができる距離だけ手前側へ離して走路１に通過位置セ
ンサーＳ1 に対応して付設された位置標示用の水平突
条、Ｐ3 は曲線部１ｂの出口線１ｅの直後の走路１に通
過位置センサーＳ1 と対応して付設された位置標示用の
水平突条、Ｔ2 は入口線１ｃから中間線１ｄを越える位
置まで通過位置センサーＳ2 に対応して走路１内に設け
られ曲線部１ｂの前半部で台車通過を検知するための位
置標示用水平突条、Ｔ3 は突条Ｔ2 の後端から出口線１
ｅを越え直線部１ａ上へ台車の減速停止に必要な長さ位
置まで通過位置センサーＳ3 に対応して走路１内に設け
た曲線部１ｂの後半部で台車通過を検知するための位置
標示用の水平突条である。上記位置標示用の水平突条Ｐ
1 ，Ｐ2 ，Ｐ3 ，Ｔ1 ，Ｔ2 ，Ｔ3 は以下単に突条とい
う。First, in the first embodiment shown in FIGS. 1 to 5, as shown in FIGS. 1 and 2, reference numeral 1 denotes a loop truck runway consisting of a pair of truck tracks 2 including a straight portion 1a and a curved portion 1b. Reference numeral 3 denotes a plurality of transport carriages (hereinafter referred to as carriages) cyclically traveling along the track 1 in the same direction along the track 1, and L denotes a carriage 3
An ultrasonic or light-wave distance sensor for measuring the distance between the vehicle and the preceding bogie, which is attached to the front end of the
S 1 , S 2 and S 3 are three passing position sensors for detecting the passing position of the truck, which are arranged on the lower surface of the truck 3 at equal intervals in the width direction of the truck 1 , and P 1 and P 2 are the running curve portions 1 b. A horizontal projection for position marking attached to the runway 1 corresponding to the passing position sensor S 1 separated from the front side just before the entrance line 1c and the intermediate line 1d by a distance that can safely stop the truck 3. A line, P 3 is a horizontal ridge for position indication attached to the runway 1 immediately after the exit line 1e of the curved portion 1b corresponding to the passage position sensor S 1, and T 2 is from the entrance line 1c to the intermediate line 1d. Up to the position, a horizontal ridge for position marking provided in the track 1 corresponding to the passing position sensor S 2 for detecting the passage of the bogie in the front half of the curved portion 1b, and T 3 is an exit from the rear end of the ridge T 2. Line 1
Position marking for detecting the passing of the bogie at the latter half of the curved portion 1b provided in the runway 1 corresponding to the passing position sensor S 3 to the length position required for deceleration stop of the bogie beyond the e It is a horizontal ridge for. Horizontal ridge P for position indication
1, P 2, P 3, T 1, T 2, T 3 is hereinafter simply referred to as ridges.
【０００９】次に図３は上述した配置の車間距離センサ
ーＬ，位置センサーＳ1 ，Ｓ2 ，Ｓ3 からの検出信号に
より、ループ台車３ａ，３ｂ，３ｃの追突防止制御を行
う装置の構成を示す。装置は車間距離センサーＬからの
距離信号により台車の走行，停止の判断を行う制御ユニ
ット５を備える台車３上の直線部追突防止制御部６と、
位置センサーＳ1 〜Ｓ3 からの信号により曲線部１ｂ上
の台車３の移動状況を監視，記憶し、突条Ｐ1 ，Ｐ2 の
位置センサーＳ1 による検知信号に対応して、上記監視
又は記憶された信号から曲線部１ｂの前半部又は後半部
への進入可否を判断し、前記突条Ｐ1 又はＰ2 位置へ到
着した台車へ可否信号を伝送する中央制御盤７に設けた
進入可否判定演算部８及び伝送され進入可否信号に応じ
て台車の走行，停止を行う制御ユニット９を備える曲線
部用追突防止制御部１０とからなる。１１は台車３の走
行用モーターである。[0009] Next 3 inter-vehicle distance sensor L of the arrangement described above, the detection signal from the position sensor S 1, S 2, S 3, loop trolley 3a, 3b, a configuration of a device for collision prevention control 3c Show. The device includes a straight-line rear-end collision prevention control unit 6 on the trolley 3 including a control unit 5 that determines whether the trolley is running or stopped based on a distance signal from the inter-vehicle distance sensor L,
The movement status of the carriage 3 on the curved portion 1b is monitored and stored by the signals from the position sensors S 1 to S 3, and the monitoring or the above is performed according to the detection signal from the position sensor S 1 of the ridges P 1 and P 2. Whether or not to enter the first half or the latter half of the curved portion 1b is judged from the stored signal, and whether or not to enter the central control panel 7 for transmitting the yes / no signal to the carriage that has reached the position of the ridge P 1 or P 2 It comprises a judgment calculation section 8 and a curved section rear-end collision prevention control section 10 having a control unit 9 for running and stopping the vehicle in accordance with the transmitted entry permission signal. Reference numeral 11 is a traveling motor of the carriage 3.
【００１０】図４は図１〜図３の装置の作動順序を組合
わせて示す作用説明図、図５は図１〜図３における制御
フローである。まず、図１，図４により各センサーと制
御部の作用を説明すると、車間距離センサーＬは曲線部
１ｂでＯＦＦとなり、直線部１ａの走路上でＯＮとな
る。直線部１ａ上で台車３ａ（図１）の車間距離センサ
ーＬが先行台車３ｂまでの車間距離を微小時間ピッチで
繰返し測定して台車３ａ上の制御ユニット５へ入力し、
制御ユニット５はこれを設定車間距離、例えば５ｍと比
較演算し５ｍ以上では台車３ａを走行制御し、５ｍ未満
では台車３ａを停止制御し、位置３ａ′に停止して先行
台車３ｂへの追突を防止する。停止した台車３ａ′は先
行台車３ｂの走行で台車間隔測定値が５ｍ以上になる
と、制御ユニット５により再び自動走行するように制御
される。FIG. 4 is an operation explanatory view showing a combination of operation sequences of the apparatuses of FIGS. 1 to 3, and FIG. 5 is a control flow in FIGS. First, the operation of each sensor and the control unit will be described with reference to FIGS. 1 and 4. The inter-vehicle distance sensor L is turned off at the curved portion 1b and turned on on the running path of the straight portion 1a. The inter-vehicle distance sensor L of the trolley 3a (FIG. 1) on the straight line portion 1a repeatedly measures the inter-vehicle distance to the preceding trolley 3b at a minute time pitch and inputs it to the control unit 5 on the trolley 3a.
The control unit 5 calculates and compares this with a set inter-vehicle distance, for example, 5 m. When the distance is 5 m or more, the carriage 3a is traveled, and when the distance is less than 5 m, the carriage 3a is stopped and stopped at the position 3a 'to collide with the preceding carriage 3b. To prevent. The stopped carriage 3a 'is controlled by the control unit 5 so as to automatically travel again when the preceding carriage 3b travels and the measured value of the carriage distance becomes 5 m or more.
【００１１】位置センサーＳ1 は図１の台車３ｂの位置
で突条Ｐ1 を検知してＯＮになり、その位置センサーＳ
1 の出力の立上がりに同期して、台車３ｂ上の制御ユニ
ット９から中央制御盤１０へ問合わせ信号が送られる。
曲線部１ｂ内で台車３ｃの位置で位置センサーＳ1 が突
条Ｐ2 を検知したときも同様に問合わせ信号が送られ
る。曲線部１ｂを先行する台車３ｃ，３ｄ，３ｅが突条
Ｔ2 又はＴ3 上に位置すると、台車３ｃ又は３ｄの位置
センサーＳ2 ，Ｓ3 は突条Ｔ2 ，Ｔ3 の長さの範囲でＯ
Ｎ、それ以外でＯＦＦとなり、この信号が進入可否判定
演算部８へ送られて監視されている。進入可否判定演算
部８は台車３ｂ又は３ｃからの前記問合わせ信号に応答
して、監視下にある位置センサーＳ2 ，Ｓ3 のＯＮ，Ｏ
ＦＦを判別し、ＯＮ状態のときは「進入不可」信号を、
また、ＯＦＦ状態のときは「進入可」信号を問合わせを
入れた台車３ｂ，３ｃへそれぞれ出力する。The position sensor S 1 is turned on by detecting the ridge P 1 at the position of the carriage 3b in FIG.
In synchronization with the rise of the output of 1, an inquiry signal is sent from the control unit 9 on the carriage 3b to the central control panel 10.
When the position sensor S 1 detects the ridge P 2 at the position of the carriage 3c within the curved portion 1b, the inquiry signal is similarly sent. Carriage 3c preceding curve portion 1b, 3d, when 3e is positioned on the ridge T 2 or T 3, the position sensor S 2, S 3 of the bogie 3c or 3d in the range of the length of the ridge T 2, T 3 And O
N, otherwise, it is turned off, and this signal is sent to the entry permission / prohibition determination calculation unit 8 and monitored. In response to the inquiry signal from the trolley 3b or 3c, the approach possibility determination calculation unit 8 turns on and off the position sensors S 2 and S 3 under monitoring.
FF is discriminated, and when it is in the ON state, an "entry impossible" signal
Further, in the OFF state, the "entry permitted" signal is output to each of the carts 3b and 3c inquired.
【００１２】台車３ｂ，３ｃ上の制御ユニット９は進入
可否判定演算部８から受取った信号が「進入不可」のと
きは台車を自動停止制御して図１の位置３ｂ′，３ｃ′
に停止させ、かつ問合わせ信号を継続して「進入可」信
号の到着を待ち、受け取った信号が「進入可」のときに
は、台車３ｂ，３ｃを継続走行又は再走行に制御し、曲
線部の前半部又は後半部内へ台車を走行させる。曲線部
１ｂの出口線１ｅを越えた台車３ｅは、位置センサーＳ
1 が突条Ｐ3 を検知してＯＮに変わり、これに同期して
距離センサーＬの出力がＯＮに変わり、先行台車との車
間距離の測定を始め、直線部１ａでの追突防止運転に引
継がれる。３ｅ′はこの直線部１ａへの移行直後に制御
ユニット５により台車３ｅを自動停止させた場合停止位
置を示している。上記構成によれば、問合わせ位置標示
用突条Ｐ1 ，Ｐ2 をそれぞれ曲線部１ｂの入口線１ｃ
に、中間線１ｄから台車の自動停止制御に必要な距離だ
け手前に配置し、かつ突条Ｔ2 ，Ｔ3 の布設長さを中間
線１ｄ，出口線１ｅを越えてそれぞれ適当な長さ延長し
て設けることによって、曲線部１ｂ内では無駄のない台
車間隔で、また直線部１ａと曲線部１ｂとの間で円滑に
両方の追突防止判断を連続的に行うことができる。The control unit 9 on the carriages 3b, 3c automatically stops the carriage when the signal received from the entry permission / prohibition determination calculation section 8 is "not enterable", and positions 3b ', 3c' in FIG.
And wait for the arrival of the "entry permitted" signal by continuing the inquiry signal, and when the received signal is "entry permitted", the carriages 3b, 3c are controlled to continue traveling or re-travel, and Drive the truck into the first half or the second half. The trolley 3e that crosses the exit line 1e of the curved portion 1b has a position sensor S
1 changes to ON when it detects the ridge P 3, and in synchronization with this, the output of the distance sensor L changes to ON, and the measurement of the inter-vehicle distance with the preceding bogie starts, and it is taken over to the rear-end collision prevention driving in the straight line portion 1a. Be done. 3e 'indicates a stop position when the carriage 3e is automatically stopped by the control unit 5 immediately after the transition to the straight line portion 1a. According to the above configuration, the inquiry position indicating ridges P 1 and P 2 are respectively provided on the entrance line 1c of the curved portion 1b.
In, placed in front of the middle line 1d by distance required for the automatic stop control of the truck, and ridges T 2, T 3 middle line 1d the laying length of each suitable length beyond the outlet line 1e extended With this configuration, it is possible to make continuous continuous collision prevention determinations between the straight line portion 1a and the curved line portion 1b at intervals of the bogies without waste in the curved portion 1b.
【００１３】次に、図６〜図８は本発明の第２実施例を
示し、この実施例では図１，図２及びず４に対応する部
分のみを示し、制御部の構成，制御フローはそれぞれ図
３，図５と同一である。第１実施例と同一の符号はそれ
ぞれ同図と同一の部材を示し、この実施例が第１実施例
と異なるところは、図１の比較的長い突条Ｔ2 ，Ｔ3の
代わりに、同突条Ｔ2 ，Ｔ3 の始点，終点位置に分散し
て短い突条Ｔ1 ，Ｔ2，Ｔ11，Ｔ12を配置した点にあ
る。Next, FIGS. 6 to 8 show a second embodiment of the present invention. In this embodiment, only the portions corresponding to FIGS. 1, 2 and 4 are shown, and the configuration of the control unit and the control flow are as follows. These are the same as FIGS. 3 and 5, respectively. Same reference numerals as in the first embodiment denote the same members as figure respectively, where this embodiment differs from the first embodiment, instead of the relatively long protrusions T 2, T 3 in FIG. 1, the It is a point where short ridges T 1 , T 2 , T 11 and T 12 are arranged dispersedly at the start and end points of the ridges T 2 and T 3 .
【００１４】そして、突条Ｔ1 ，Ｔ2 ，Ｔ11，Ｔ12の位
置を通過する台車の位置センサーＳ2 ，Ｓ3 は対応する
突条Ｔ1 ，Ｔ2 又はＴ11，Ｔ12への接近及び離脱でＯ
Ｎ，ＯＦＦ信号を発信し、同時に位置センサーＳ2 の突
条Ｔ1 によるＯＮ信号の発生位置から突条Ｔ2 によるＯ
Ｎ信号の消滅位置までの間及び位置センサーＳ3 の突条
Ｔ11によるＯＮ信号の発生位置から突条Ｔ12によるＯＮ
信号の消滅位置までの間で、それぞれ曲線部の前半部又
は後半部通過中を表示するフラグＯＮ信号を該当台車例
えば図６中における台車３ｃ又は３ｄ，３ｅから進入可
否判定演算部８へ発信させ、判定演算部８が後続する台
車からの問合わせに応答し、上記前半部フラグ，後半部
フラグのＯＮ，ＯＦＦを判別し、フラグＯＮで「進入不
可」，フラグＯＦＦで「進入可」信号をそれぞれ問合わ
せ台車へ出力する。他の部分の構成と作用は第１実施例
と実質的に同じである。この実施例では、曲線走路の位
置標示用突条の長さが短くて済むので、突条Ｔ1 〜Ｔ12
の取付けが容易になる利点がある。The position sensors S 2 , S 3 of the carriage passing through the positions of the ridges T 1 , T 2 , T 11 , T 12 are connected to the corresponding ridges T 1 , T 2 or T 11 , T 12 . O when approaching or leaving
N and OFF signals are transmitted, and at the same time, from the position where the ON signal is generated by the ridge T 1 of the position sensor S 2 , the O is generated by the ridge T 2.
From the position where the ON signal is generated by the protrusion T 11 of the position sensor S 3 to the position where the N signal disappears, and the position sensor S 3 is turned on by the protrusion T 12.
A flag ON signal indicating the passage of the first half or the second half of the curved portion is transmitted from the truck, for example, the truck 3c or 3d, 3e in FIG. In response to the inquiry from the succeeding truck, the determination calculation unit 8 determines whether the first half flag and the second half flag are ON or OFF. Output to inquiry carts respectively. The structure and operation of the other parts are substantially the same as in the first embodiment. In this embodiment, since the length of the ridges for indicating the position of the curved track is short, the ridges T 1 to T 12 are required.
Has the advantage of being easy to install.
【００１５】また、図９〜図１１は本発明の第３実施例
を示し、この実施例は図１の突条Ｐ1 ，Ｐ2 ，Ｐ3 ，Ｔ
2 ，Ｔ3 の代わりに突条Ｐ1 の始点から突条Ｔ2 の始点
までを突条Ｐ21、突条Ｐ2 の始点から突条Ｔ2 の終点ま
でを突条Ｐ22、突条Ｐ3 の始点から突条Ｔ3 の終点まで
を突条Ｐ23の３個の突条Ｐ21，Ｐ22，Ｐ23で置換え、こ
れに対応する位置センサーをＳ11１個のみ設けている。
そうすると、図１１で示すように、位置センサーＳ11の
突条Ｐ21によるＯＮ信号の発生点により前半曲線部の進
入可否問合わせ実行を同期させ、かつ同ＯＮ信号の消滅
点により車間距離センサーＬのＯＦＦへの切換え及び前
半曲線部の台車通過中フラグ信号の発生を同期させ、位
置センサーＳ11の次の突条Ｐ22によるＯＮ信号の発生に
より、後半曲線部進入可否の問合わせ実行を同期させ、
かつ同ＯＮ信号の消滅点、前半部通過中フラグ信号のＯ
ＦＦ及び後半部通過中フラグ信号の発生を同期させる。FIGS. 9 to 11 show a third embodiment of the present invention, which is the projection P 1 , P 2 , P 3 , T of FIG.
2, T instead ridges P 1 ridge P 21 until the starting point of the ridge T 2 from the beginning of the 3, protrusions P 2 of the start point from the ridge T 2 of the the end point projection P 22, ridges P 3 to start replacing the end point of the ridge T 3 with three protrusions P 21, P 22, P 23 of the protrusion P 23, is provided with a position sensor corresponding thereto S 11 1 piece only.
Then, as shown in FIG. 11, the execution permission inquiry of the first half curve portion is synchronized by the generation point of the ON signal by the ridge P 21 of the position sensor S 11 , and the inter-vehicle distance sensor L is determined by the disappearance point of the ON signal. Is turned off and the generation of the truck passing flag signal in the first half curve portion is synchronized, and the ON signal is generated by the next protrusion P 22 of the position sensor S 11 to synchronize the execution of the inquiry about whether or not the second half curve portion can be entered. Let
And the extinction point of the ON signal, O of the flag signal during the first half passing
The generation of the FF and the flag signal during passage through the second half is synchronized.
【００１６】さらに、次の突条Ｐ23による位置センサー
Ｓ11のＯＮ信号発生により、車間距離センサーＬの出力
のＯＮへの切換えを同期させ、かつ同センサーＳ11のＯ
Ｎ信号消滅により、後半部通過中フラグ信号のＯＦＦを
同期させるようにし、また、進入可否判定制御部８によ
る進入可否判定を第２実施例と同様にフラグ信号のＯＮ
で「進入不可」，フラグ信号のＯＦＦで「進入可」とし
て問合わせ台車へ回答するようにしたものである。この
実施例によれば、突条の全長は第１実施例より著しく減
少し、また位置センサーＳ11の数量も第１，第２実施例
より減少することができる効果がある。その他の構成及
び作用は第１実施例のものと同様である。Further, when the ON signal of the position sensor S 11 is generated by the next protrusion P 23 , the switching of the output of the inter-vehicle distance sensor L to ON is synchronized, and the O of the sensor S 11 is O.
By the disappearance of the N signal, the OFF of the flag signal during the latter half of the passage is synchronized, and the approach possibility determination by the approach possibility determination control unit 8 is turned ON of the flag signal as in the second embodiment.
In this case, the inquiry is answered as "Inaccessible" and "Enterable" when the flag signal is OFF. According to this embodiment, there is an effect that the total length of the ridges can be remarkably reduced as compared with the first embodiment, and the number of position sensors S 11 can be also reduced as compared with the first and second embodiments. Other configurations and operations are similar to those of the first embodiment.
【００１７】さらに、図１２〜図１４は本発明の第４実
施例を示す。この実施例は第１実施例と同様に曲線部走
路中央に短突条Ｐ1 ，Ｐ2 ，Ｐ3 を設けるとともに、台
車３上には短突条Ｐ1 〜Ｐ3 に対応する位置センサーＳ
1 １個と車間距離センサーＬとを設け、台車３の曲線前
半部，後半部への入口，出口の走路側部に位置センサー
Ｓ31，Ｓ32及びＳ41，Ｓ42を設ける。この構成では位置
センサーＳ1 の突条Ｐ1 ，Ｐ2 によるＯＮ信号の発生に
より曲線部１ｂの前半部，後半部への進入可否問合わせ
を行い、また突条Ｐ1 ，Ｐ3 によるＯＮ信号の発生で車
間距離センサーＬのＯＦＦ，ＯＮ切換えを行い、また、
位置センサーＳ31，Ｓ32及びＳ41，Ｓ42の台車検知によ
り発生するＯＮ，ＯＦＦ，ＯＮ，ＯＦＦ信号の連続する
パターンで曲線部１ｂの前半区域，後半区域を台車が通
過途中か、通過済かを判定し、判定演算部８から該当台
車へ進入可否の応答信号を出す。この場合にも、第１，
第２実施例に比較し、位置センサー、突条配置の規模が
軽量化し、同様に円滑な追突防止の効果が得られる。12 to 14 show a fourth embodiment of the present invention. This embodiment is provided with the first embodiment and the short projections P 1 to the curved portion runway center Similarly, P 2, P 3, a position sensor S, which is on the carriage 3 corresponding to the short protrusion P 1 to P 3
11 and an inter-vehicle distance sensor L are provided, and position sensors S 31 , S 32 and S 41 , S 42 are provided at the runway side of the entrance and exit of the trolley 3 to the first half and the second half of the curve. In this configuration, the ON signal is generated by the protrusions P 1 and P 2 of the position sensor S 1 to inquire whether or not the curved portion 1b can enter the first half and the latter half of the curved portion 1b, and the ON signal is generated by the protrusions P 1 and P 3. Is generated, the inter-vehicle distance sensor L is switched OFF and ON, and
With the continuous pattern of ON, OFF, ON, and OFF signals generated by the truck detection of the position sensors S 31 , S 32 and S 41 , S 42 , the truck is in the middle of passing the first half area or the second half area of the curved portion 1b, or has already passed. It is determined whether or not, and the determination calculation unit 8 outputs a response signal indicating whether or not the vehicle can be entered. In this case also,
Compared with the second embodiment, the scale of the position sensor and the ridge arrangement is reduced in weight, and the smooth effect of preventing a rear-end collision can be obtained.
【００１８】最後に、図１５〜図１７は本発明の第５実
施例を示し、この実施例は台車３上に車間距離センサー
Ｌだけを設け、曲線部１ｂ用の台車位置センサーをすべ
て走路内側に配置した。ここで、車間距離センサーＬは
運転中は作動状態のままとし、曲線部では曲線部追突防
止制御部１０の動作を優先させる。位置センサーＳ21，
Ｓ22には曲線部１ｂの前半区域，後半区域への進入可否
問合わせ用、Ｓ31，Ｓ32は前半区域の台車３の通過検知
用、Ｓ41，Ｓ42は後半区域の台車通過検知用である。前
半及び後半区域内の台車の有無及び進入可否判定は第４
実施例と同一要領で行う。この構成によると、曲線部１
ｂにおける位置検知用の突条配置は全く不要になり、か
つ設備全体で使用する位置センサーＳの数量を減少する
ことができる効果がある。上述した各実施例では、曲線
部１ｂへの進入可否判断を前半，後半の２つの区域に分
けて行う場合を示したが、この区域は曲線部１ｂの走路
の長さに応じて、曲線部１ｂ全体を１つの進入可否判定
区域としたり、又は３以上の進入可否判定区域としても
良いものである。Finally, FIGS. 15 to 17 show a fifth embodiment of the present invention. In this embodiment, only the inter-vehicle distance sensor L is provided on the carriage 3 and all the carriage position sensors for the curved portion 1b are inside the track. Placed in. Here, the inter-vehicle distance sensor L remains in the operating state during driving, and the operation of the curved portion rear-end collision prevention control unit 10 is prioritized in the curved portion. Position sensor S 21 ,
First half section of the curve portion 1b in S 22, for entry permission inquiry to the second half area, S 31, S 32 is a passage detection of the carriage 3 in the first half area, S 41, S 42 is a carriage passing detection of late region Is. The presence or absence of trolleys in the first half and the second half of the area and whether or not entry is possible are 4th
The procedure is the same as in the embodiment. According to this configuration, the curved portion 1
There is an effect that the ridge arrangement for position detection in b is not necessary at all and the number of position sensors S used in the entire equipment can be reduced. In each of the above-described embodiments, the decision as to whether or not to enter the curved portion 1b is made by dividing it into two zones, the first half and the second half. However, this area is determined by the length of the runway of the curved portion 1b. The entire 1b may be set as one approach determination area, or three or more approach determination areas.
【００１９】以上の各実施例において使用した台車通過
位置センサーとしては、走路に沿って延びる水平突条
と、台車に付設され上記水平突条に沿って移動する際、
水平突条の前端通過時点，後端通過時点をそれぞれ検出
する慣用の位置センサーであれば、接触式，非接触式い
ずれの構造のものでも採用可能であり、電気的，光学
的，音響的等種々の型式のものが知られている。The trolley passing position sensor used in each of the above-described embodiments includes a horizontal ridge extending along a running path and a horizontal ridge attached to the trolley when moving along the horizontal ridge.
As long as the position sensor is a conventional position sensor that detects the time when the horizontal ridge passes through the front end and the time when it passes through the rear end, a contact type or non-contact type structure can be used, such as electrical, optical, or acoustic. Various types are known.
【００２０】[0020]
【発明の効果】請求項１の発明によれば、同一のループ
走路を同一方向に循環的に走行及び停止して荷物を入出
庫する複数のループ台車の自動運転制御装置において、
各ループ台車に付設され先行台車との車間距離を検出す
る車間距離センサーと、上記車間距離センサーの検出す
る距離が設定値以上，未満のとき台車をそれぞれ自動走
行，自動停止させる制御ユニットからなる直線部追突防
止制御部と、ループ走路の曲線部入口，出口の台車通過
を検知する曲線部台車通過センサーと、上記台車通過セ
ンサーの出力信号に基づいて、上記曲線部入口，出口へ
台車が到着するごとに上記曲線部走路への台車の進入可
否を判定し、上記到着台車へ信号を出力する判定演算部
と、上記各台車にそれぞれ付設され上記判定演算部の進
入可否信号に応じて台車をそれぞれ自動走行，自動停止
させる制御ユニットからなる曲線部追突防止制御部とを
具えたことにより、曲線走路でも衝突事故の発生を防止
して複数の台車を円滑かつ迅速に移動する安全かつ経済
的なループ台車の追突防止制御装置を得るから、本発明
は産業上極めて有益なものである。According to the invention of claim 1, in an automatic operation control device for a plurality of loop carriages, which cyclically run and stop in the same direction on the same loop runway to load and unload cargo,
A straight line consisting of an inter-vehicle distance sensor attached to each loop trolley to detect the inter-vehicle distance from the preceding trolley, and a control unit to automatically run and automatically stop the trolley when the distance detected by the above-mentioned inter-vehicle distance sensor is above or below a set value. A rear-end collision prevention control unit, a curved-portion vehicle passage sensor that detects passage of a curved portion at the entrance and exit of a loop road, and a truck that arrives at the curved portion entrance and exit based on the output signal of the vehicle passage sensor Judgment whether or not the truck can enter the curved section runway for each, and a judgment calculation unit that outputs a signal to the arrival carriage, and a truck that is respectively attached to each of the carriages according to the entry permission signal of the judgment calculation unit. By having a curved part rear-end collision prevention control unit consisting of a control unit that automatically runs and stops automatically, it is possible to prevent the occurrence of collision accidents on curved roads and Since obtaining a collision prevention control device of a safe and economical loop carriage moves smooth and quickly, the present invention is extremely useful industrially.
【００２１】請求項２の発明によれば、請求項１のルー
プ台車の追突防止制御装置において、前記曲線部台車通
過センサーとして、曲線部の前半部，後半部の前後端に
それぞれ配設され同曲線部走路に沿って延びる円弧状水
平突条と、上記ループ台車に付設され上記水平突条の前
後端位置をそれぞれ検出する位置センサーとを具えたこ
とにより、曲線走路でも衝突事故の発生を防止して複数
の台車を円滑かつ迅速に移動する安全かつ経済的なルー
プ台車の追突防止制御装置であって、無駄のない車間距
離で複数の台車を安全かつ円滑に運行することができる
から、本発明は産業上極めて有益なものである。According to a second aspect of the present invention, in the rear-end collision prevention control device for a loop vehicle according to the first aspect, the curved portion carriage passage sensors are provided at the front and rear ends of the curved portion. Prevents collision accidents even on curved roads by providing arcuate horizontal ridges extending along the curved track and position sensors attached to the loop carriage to detect the front and rear end positions of the horizontal ridges, respectively It is a safe and economical loop collision prevention control device for multiple bogies that moves smoothly and swiftly, and it is possible to operate multiple bogies safely and smoothly with a lean inter-vehicle distance. The invention is extremely useful in industry.
【００２２】請求項３の発明によれば、請求項１のルー
プ台車の追突防止制御装置において、前記曲線部台車通
過センサーとして、曲線部の入口端，出口端，上記両端
の曲線路をほぼ等分割する複数の中間位置にそれぞれ配
設され同曲線部走路に沿って延びる比較的短い水平突条
と、上記ループ台車に付設され上記各水平突条の通過を
検出する複数の位置センサーとを具えたことにより、曲
線走路でも衝突事故の発生を防止して複数の台車を円滑
かつ迅速に移動する安全かつ経済的なループ台車の追突
防止制御装置であって、突条の長さを短くすることがで
きるから本発明は産業上極めて有益なものである。According to the third aspect of the present invention, in the rear-end collision prevention control device of the first aspect of the present invention, the curved portion carriage passage sensor has an inlet end, an outlet end of the curved portion, and curved passages at both ends substantially equal to each other. It is provided with a relatively short horizontal ridge which is arranged at each of a plurality of intermediate positions to be divided and extends along the curved track, and a plurality of position sensors which are attached to the loop carriage and detect passage of each of the horizontal ridges. As a result, it is a safe and economical loop collision prevention control device for loop carts that prevents the occurrence of collision accidents even on curved roads and moves multiple carts smoothly and quickly. Therefore, the present invention is extremely useful industrially.
【００２３】請求項４の発明によれば、請求項１のルー
プ台車の追突防止制御装置において、曲線部の両端にそ
れぞれ連続する直線部走路にそれぞれ配設され同直線部
走路に沿って延びる比較的長い水平直線状突条及び同曲
線部のほぼ中央に配設され同曲線部走路に沿って延びる
比較的長い水平円弧条突条と、上記ループ台車に付設さ
れ上記各水平突条の通過を検出する位置センサーとを具
えたことにより、曲線走路でも衝突事故の発生を防止し
て複数の台車を円滑かつ迅速に移動する安全かつ経済的
なループ台車の追突防止制御装置であって、突条の全長
を短縮し位置センサーの数量を減少することができるか
ら、本発明は産業上極めて有益なものである。According to a fourth aspect of the present invention, in the rear-end collision prevention control device for a loop vehicle according to the first aspect of the present invention, there is provided a comparative example in which the straight line running paths which are continuous with the curved line portions are provided respectively on both sides of the curved line portion. Relatively long horizontal linear ridges and relatively long horizontal arc ridges that are arranged almost in the center of the curved section and extend along the curved section runway, and the passage of each of the horizontal ridges attached to the loop carriage. A safe and economical loop carriage rear-end collision prevention control device that prevents collisions on curved roads and smoothly and quickly moves multiple carriages by using a position sensor that detects The present invention is extremely useful in the industry because it can reduce the total length and the number of position sensors.
【００２４】請求項５の発明によれば、請求項１のルー
プ台車の追突防止制御装置において、曲線部の入口端，
出口端，上記両端間の曲線路をほぼ等分割する複数の中
間位置にそれぞれ配設され、同曲線部走路に沿って延び
る比較的短い水平突条と、上記ループ台車に付設され上
記各水平突条の通過を検出する同一の位置センサーとを
具えたことにより、曲線走路でも衝突事故の発生を防止
して複数の台車を円滑かつ迅速に移動する安全かつ経済
的なループ台車の追突防止制御装置であって、位置セン
サー及び突条配置の規模を軽量化することができるか
ら、本発明は産業上極めて有益なものである。According to the fifth aspect of the present invention, in the rear-end collision prevention control device for the loop cart according to the first aspect, the inlet end of the curved portion,
A relatively short horizontal ridge, which is arranged at each of a plurality of intermediate positions that divide the curved path between the exit end and the both ends substantially equally, and extends along the curved path, and each of the horizontal ridges attached to the loop carriage. A safe and economical loop collision prevention control device for loop carts that has the same position sensor that detects the passage of a strip to prevent collision accidents even on curved roads and move multiple carts smoothly and quickly However, the present invention is extremely useful industrially because the size of the position sensor and the ridge arrangement can be reduced.
【００２５】請求項６の発明によれば、請求項１のルー
プ台車の追突防止制御装置において、曲線部の入口端，
出口端，上記両端間の曲線路をほぼ等分割する複数個所
にそれぞれ配設され、台車の通過を順次検出する複数の
位置センサーとを具えたことであって、曲線部における
位置検知用の突条を全く不要をし、設備全体で使用する
位置センサーの数量を減少することができるから、本発
明は産業上極めて有益なものである。According to the invention of claim 6, in the rear-end collision prevention control device for the loop carriage of claim 1, the entrance end of the curved portion,
A plurality of position sensors, which are respectively arranged at the exit end and the curved path between the both ends, which divide the curved road substantially equally, and which sequentially detect the passage of the trolley, are provided. The present invention is extremely useful in the industry because it eliminates the need for any strips and reduces the number of position sensors used in the entire equipment.
【図１】本発明の第１実施例を示すループ台車設備の部
分平面図である。FIG. 1 is a partial plan view of loop bogie equipment showing a first embodiment of the present invention.
【図２】図１の台車を示すII−II矢視正面図である。FIG. 2 is a front view taken along the line II-II of the cart of FIG.
【図３】図１の台車の追突防止制御系統を示すブロック
図である。FIG. 3 is a block diagram showing a rear-end collision prevention control system of the truck of FIG.
【図４】図１における各センサー及び関係制御部の作動
状況を示す線図である。FIG. 4 is a diagram showing an operating state of each sensor and a related control unit in FIG. 1.
【図５】図４のフローチャートである。FIG. 5 is a flowchart of FIG.
【図６】本発明の第２実施例を示すループ台車設備の部
分平面図である。FIG. 6 is a partial plan view of loop bogie equipment showing a second embodiment of the present invention.
【図７】図６の台車を示す正面図である。FIG. 7 is a front view showing the cart of FIG.
【図８】図６における各センサー及び関係制御部の作動
状況を示す線図である。FIG. 8 is a diagram showing an operating state of each sensor and a related control unit in FIG.
【図９】本発明の第３実施例を示すループ台車設備の部
分平面図である。FIG. 9 is a partial plan view of loop bogie equipment showing a third embodiment of the present invention.
【図１０】図９の台車の正面図である。10 is a front view of the bogie of FIG. 9. FIG.
【図１１】図９における各センサー及び関係制御部の作
動状況を示す線図である。FIG. 11 is a diagram showing an operating state of each sensor and a related control unit in FIG. 9.
【図１２】本発明の第４実施例を示すループ台車設備の
部分平面図である。FIG. 12 is a partial plan view of loop bogie equipment showing a fourth embodiment of the present invention.
【図１３】図１２の台車の正面図である。13 is a front view of the trolley shown in FIG.
【図１４】図１２における各センサー及び関係制御部の
作動状況を示す線図である。FIG. 14 is a diagram showing an operating state of each sensor and a related control unit in FIG.
【図１５】本発明の第５実施例を示すループ台車設備の
部分平面図である。FIG. 15 is a partial plan view of the loop carriage equipment showing the fifth embodiment of the present invention.
【図１６】図１５の台車の正面図である。16 is a front view of the bogie of FIG. 15. FIG.
【図１７】図１５における各センサー及び関係制御部の
作動状況を示す線図である。FIG. 17 is a diagram showing an operating state of each sensor and a related control unit in FIG. 15.
１ ループ台車走路 １ａ 直線部 １ｂ 曲線部 １ｃ 入口線 １ｄ 中間線 １ｅ 出口線 ２ 台車軌道 ３，３ａ，３ｂ，３ｃ 台車 ５ 台車上の制御ユニット ６ 直線部追突防止制御部 ８ 進入可否判定演算部 ９ 台車上の制御ユニット １０ 曲線部追突防止制御部 １１ 走行用モーター Ｌ 車間距離センサー S1,S2,S3,S11,S21,S22,S31,S32,S41,S42 台車通過位置
センサー Ｐ1,Ｐ2,Ｐ3,Ｔ2,Ｔ3 突条1 Loop bogie runway 1a Straight line section 1b Curved section 1c Entrance line 1d Intermediate line 1e Exit line 2 Bogie track 3,3a, 3b, 3c Bogie 5 Control unit on the car 6 Straight section rear collision prevention control unit 8 Entry possibility judgment calculation unit 9 Control unit on trolley 10 Curved part rear-end collision prevention control unit 11 Driving motor L Inter-vehicle distance sensor S 1 , S 2 ,, S 3 ,, S 11 ,, S 21 ,, S 22 , S 31 , S 32 , S 41 , S 42 trolley Passing position sensor P 1 , P 2 , P 3 , T 2 , T 3 ridge
Claims (6)
走行及び停止して荷物を入出庫する複数のループ台車の
自動運転制御装置において、各ループ台車に付設され先
行台車との車間距離を検出する車間距離センサーと、上
記車間距離センサーの検出する距離が設定値以上，未満
のとき台車をそれぞれ自動走行，自動停止させる制御ユ
ニットからなる直線部追突防止制御部と、ループ走路の
曲線部入口，出口の台車通過を検知する曲線部台車通過
センサーと、上記台車通過センサーの出力信号に基づい
て、上記曲線部入口，出口へ台車が到着するごとに上記
曲線部走路への台車の進入可否を判定し、上記到着台車
へ信号を出力する判定演算部と、上記各台車にそれぞれ
付設され上記判定演算部の進入可否信号に応じて台車を
それぞれ自動走行，自動停止させる制御ユニットからな
る曲線部追突防止制御部とを具えたことを特徴とするル
ープ台車の追突防止制御装置。1. In an automatic operation control device for a plurality of loop carriages that cyclically run and stop on the same loop track in the same direction to load and unload luggage, the inter-vehicle distance between a preceding carriage and each loop carriage is set. Inter-vehicle distance sensor for detection, straight-line rear-end collision prevention control unit consisting of control unit for automatically traveling and stopping the bogie when the distance detected by the inter-vehicle distance sensor is equal to or greater than a set value, and less than a set value, and a curved path entrance of the loop track ， Each time the vehicle arrives at the curve section entrance or exit, it is determined whether the vehicle can enter the curve section runway based on the curve section vehicle passage sensor that detects the passage of the vehicle at the exit and the output signal of the vehicle passage sensor. Judgment calculation unit for judging and outputting a signal to the arriving trolley, and each trolley attached to each of the trolleys to automatically travel the trolley in accordance with the entry permission signal of the judgment calculation unit, A rear-end collision prevention control device for a loop carriage, comprising: a curved-part rear-end collision prevention control unit including a control unit that automatically stops.
置において、前記曲線部台車通過センサーとして、曲線
部の前半部，後半部の前後端にそれぞれ配設され同曲線
部走路に沿って延びる円弧状水平突条と、上記ループ台
車に付設され上記水平突条の前後端位置をそれぞれ検出
する位置センサーとを具えたことを特徴とするループ台
車の追突防止制御装置。2. The loop truck rear-end collision prevention control device according to claim 1, wherein the curved portion carriage passage sensors are provided at front and rear ends of the front half portion and the rear half portion of the curved portion, respectively, and extend along the curved portion runway. A rear-end collision prevention control device for a loop carriage, comprising: an arcuate horizontal projection and a position sensor attached to the loop carriage for detecting front and rear end positions of the horizontal projection.
置において、前記曲線部台車通過センサーとして、曲線
部の入口端，出口端，上記両端の曲線路をほぼ等分割す
る複数の中間位置にそれぞれ配設され同曲線部走路に沿
って延びる比較的短い水平突条と、上記ループ台車に付
設され上記各水平突条の通過を検出する複数の位置セン
サーとを具えたことを特徴とするループ台車の追突防止
制御装置。3. The loop carriage rear-end collision prevention control device according to claim 1, wherein the curved portion carriage passing sensor is provided at a plurality of intermediate positions that divide the curved end portions of the curved portion into substantially equal portions. A loop characterized by comprising a relatively short horizontal ridge that is respectively arranged and extends along the same curved path, and a plurality of position sensors that are attached to the loop carriage and that detect the passage of each of the horizontal ridges. Rear collision prevention control device.
置において、前記曲線部台車通過センサーとして、曲線
部の両端にそれぞれ連続する直線部走路にそれぞれ配設
され同直線部走路に沿って延びる比較的長い水平直線状
突条及び同曲線部のほぼ中央に配設され同曲線部走路に
沿って延びる比較的長い水平円弧条突条と、上記ループ
台車に付設され上記各水平突条の通過を検出する位置セ
ンサーとを具えたことを特徴とするループ台車の追突防
止制御装置。4. The loop truck rear-end collision prevention control device according to claim 1, wherein the curved-portion vehicle passing sensor is provided on each of straight-line running paths continuous to both ends of the curved section and extends along the straight-line running path. Relatively long horizontal linear ridges and relatively long horizontal arc-shaped ridges that are arranged approximately in the center of the curved section and extend along the curved section runway, and passage of each of the horizontal ridges attached to the loop carriage. A rear-end collision prevention control device for a loop carriage, comprising a position sensor for detecting
置において、前記曲線部台車通過センサーとして、曲線
部の入口端，出口端，上記両端間の曲線路をほぼ等分割
する複数の中間位置にそれぞれ配設され、同曲線部走路
に沿って延びる比較的短い水平突条と、上記ループ台車
に付設され上記各水平突条の通過を検出する同一の位置
センサーとを具えたことを特徴とするループ台車の追突
防止制御装置。5. The loop truck rear-end collision prevention control device according to claim 1, wherein the curved portion carriage passage sensor has a plurality of intermediate positions at which an inlet end, an outlet end of the curved portion and a curved road between the both ends are substantially equally divided. Each of which is provided with a relatively short horizontal ridge extending along the curved track, and the same position sensor attached to the loop carriage for detecting passage of each of the horizontal ridges. Loop cart rear-end collision prevention control device.
置において、前記曲線部台車通過センサーとして、曲線
部の入口端，出口端，上記両端間の曲線路をほぼ等分割
する複数個所にそれぞれ配設され、台車の通過を順次検
出する複数の位置センサーとを具えたことを特徴とする
ループ台車の追突防止制御装置。6. The loop truck rear-end collision prevention control device according to claim 1, wherein the curved portion carriage passing sensor is provided at each of a plurality of positions at which an inlet end, an outlet end of the curved portion and a curved road between the both ends are divided substantially equally. A loop carriage rear-end collision prevention control device, comprising: a plurality of position sensors that are arranged and sequentially detect passage of the carriage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4131763A JPH05303423A (en) | 1992-04-24 | 1992-04-24 | Controller for preventing rear-end collision of loop carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4131763A JPH05303423A (en) | 1992-04-24 | 1992-04-24 | Controller for preventing rear-end collision of loop carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05303423A true JPH05303423A (en) | 1993-11-16 |
Family
ID=15065604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4131763A Withdrawn JPH05303423A (en) | 1992-04-24 | 1992-04-24 | Controller for preventing rear-end collision of loop carriage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05303423A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009142051A1 (en) * | 2008-05-22 | 2009-11-26 | 村田機械株式会社 | Traveling vehicle system and method for controlling traveling by traveling vehicle system |
| EP3599126A1 (en) * | 2018-07-25 | 2020-01-29 | B&R Industrial Automation GmbH | Method for operating a long-stator linear motor with switch |
| EP3599127A1 (en) * | 2018-07-25 | 2020-01-29 | B&R Industrial Automation GmbH | Method for operating a long-stator linear motor with transport units and collision monitoring |
| JP2020196329A (en) * | 2019-06-03 | 2020-12-10 | Ｊｆｅスチール株式会社 | Blocking control system and control method for the same |
-
1992
- 1992-04-24 JP JP4131763A patent/JPH05303423A/en not_active Withdrawn
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009142051A1 (en) * | 2008-05-22 | 2009-11-26 | 村田機械株式会社 | Traveling vehicle system and method for controlling traveling by traveling vehicle system |
| CN102037422A (en) * | 2008-05-22 | 2011-04-27 | 村田机械株式会社 | Traveling vehicle system and method for controlling traveling by traveling vehicle system |
| JP5071695B2 (en) * | 2008-05-22 | 2012-11-14 | 村田機械株式会社 | Traveling vehicle system and travel control method in traveling vehicle system |
| US8751060B2 (en) | 2008-05-22 | 2014-06-10 | Murata Machinery, Ltd. | Traveling vehicle system and method for controlling traveling by traveling vehicle system |
| CN110775645A (en) * | 2018-07-25 | 2020-02-11 | B和R工业自动化有限公司 | Method and device for operating a long stator linear motor with an adapter |
| EP3599127A1 (en) * | 2018-07-25 | 2020-01-29 | B&R Industrial Automation GmbH | Method for operating a long-stator linear motor with transport units and collision monitoring |
| EP3599126A1 (en) * | 2018-07-25 | 2020-01-29 | B&R Industrial Automation GmbH | Method for operating a long-stator linear motor with switch |
| CN110798120A (en) * | 2018-07-25 | 2020-02-14 | B和R工业自动化有限公司 | Method and conveyor device for operating a long stator linear motor |
| US10826370B2 (en) | 2018-07-25 | 2020-11-03 | B&R Industrial Automation GmbH | Method for operating a long stator linear motor with switch |
| US10994943B2 (en) | 2018-07-25 | 2021-05-04 | B&R Industrial Automation GmbH | Method for operating a long stator linear motor with transport units and collision monitoring |
| CN110775645B (en) * | 2018-07-25 | 2022-09-09 | B和R工业自动化有限公司 | Method and device for operating a long stator linear motor with an adapter |
| CN110798120B (en) * | 2018-07-25 | 2024-01-09 | B和R工业自动化有限公司 | Method and conveying device for operating a long stator linear motor |
| JP2020196329A (en) * | 2019-06-03 | 2020-12-10 | Ｊｆｅスチール株式会社 | Blocking control system and control method for the same |
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| A300 | Application deemed to be withdrawn because no request for examination was validly filed |
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