WO2022158098A1 - 搬送台車システム - Google Patents
搬送台車システム Download PDFInfo
- Publication number
- WO2022158098A1 WO2022158098A1 PCT/JP2021/042111 JP2021042111W WO2022158098A1 WO 2022158098 A1 WO2022158098 A1 WO 2022158098A1 JP 2021042111 W JP2021042111 W JP 2021042111W WO 2022158098 A1 WO2022158098 A1 WO 2022158098A1
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- WO
- WIPO (PCT)
- Prior art keywords
- power supply
- supply device
- control device
- carriage
- temperature
- Prior art date
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- 238000012544 monitoring process Methods 0.000 claims abstract description 36
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Images
Classifications
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- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M3/00—Feeding power to supply lines in contact with collector on vehicles; Arrangements for consuming regenerative power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
- B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67288—Monitoring of warpage, curvature, damage, defects or the like
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/6773—Conveying cassettes, containers or carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Definitions
- One aspect of the present invention relates to a carriage system.
- one aspect of the present invention aims to provide a carriage system that can prevent system failure.
- a carriage system includes a carriage that travels along a track, a control device that controls the carriage, and a power supply device that is provided for each of a plurality of sections in which the track is divided.
- Each of the plurality of power supply devices has a monitoring device that monitors the state of the power supply device, and a communication device that transmits the monitoring result of the monitoring device to the control device, and the control device receives the monitoring result. Control the carriage accordingly.
- a power supply device is provided for each of a plurality of sections, the state of each power supply device is monitored by a monitoring device, and the carriage is controlled by a control device according to the monitoring results.
- the control device determines whether or not the states of the plurality of power supply devices are in an abnormal state based on the monitoring results, and responds to the power supply device determined to be in an abnormal state.
- the carriage existing in the section may be evacuated from the section. As a result, it is possible to effectively prevent the entire system from being adversely affected by the failure of the power supply device.
- control device is a device that further controls the power supply device, and may stop the power supply device determined to be in an abnormal state. As a result, it is possible to effectively prevent the entire system from being adversely affected by the failure of the power supply device.
- the control device determines whether or not the states of the plurality of power supply devices are in a warning state with a lower degree of abnormality than the abnormal state, based on the monitoring results. Acceleration of the carriage existing in the section corresponding to the power supply device determined to be may be limited. As a result, it is possible to effectively prevent the entire system from being adversely affected by the failure of the power supply device.
- the control device determines that the power supply device is in an abnormal state and the abnormal state is a temperature abnormality
- the abnormal state is determined.
- Information about the temperature distribution in the power supply device may be transmitted from the communication device to the control device. This enables the user to easily grasp the temperature distribution that causes the temperature abnormality in the power supply device in the control device.
- the monitoring result includes first information including at least one of temperature data and power data of the power supply device, and second information regarding whether the state of the power supply device is abnormal.
- first information is transmitted from the communication device to the control device in a first cycle
- second information is controlled from the communication device in a second cycle shorter than the first cycle when the power supply device is normal It may be directed to the device.
- FIG. 1 is a schematic diagram showing a carriage system according to one embodiment.
- FIG. 2 is a schematic front view of the carriage of FIG. 1 as seen from the running direction.
- FIG. 3 is a block diagram showing the configuration of the power supply device of FIG. 1.
- FIG. 4 is a diagram showing a display example to be displayed on the display section of the control device in FIG.
- FIG. 5(a) is a flow chart showing a periodical monitoring process of the carriage system of FIG.
- FIG. 5(b) is a flow chart illustrating the manual image acquisition process of the carrier system of FIG.
- FIG. 6 is a flow chart showing an abnormality monitoring process of the carriage system of FIG.
- the carriage system 1 is a system that transports articles 10 between a plurality of placement units 9 using a carriage 6, for example, in a factory or the like.
- the carriage system 1 includes a carriage 6 that travels along a track 4, a plurality of placement units 9 on which articles 10 are placed, a controller 5 that controls the carriage 6, and supplies power to the carriage 6. and a power supply device 8 for
- the article 10 includes, for example, a FOUP (Front Opening Unified Pod) for storing a plurality of semiconductor wafers, a container such as a reticle pod for storing a glass substrate, general parts, and the like.
- FOUP Front Opening Unified Pod
- the track 4 is, for example, a track laid near the ceiling, which is the overhead space of the worker.
- the track 4 is suspended from the ceiling.
- the track 4 is a predetermined running path for running the carriage 6 .
- the track 4 is divided into a plurality of sections. In the illustrated example, the track 4 is divided into a first section 4X and a second section 4Y.
- the track 4 is supported by the struts 40A.
- the track 4 has a rail body 40 having a C-shaped cross section, which includes a pair of lower surface portions 40B, a pair of side surface portions 40C, and a top surface portion 40D, a power supply portion 40E, and a magnetic plate 40F.
- the lower surface portion 40 ⁇ /b>B extends in the running direction of the carriage 6 and constitutes the lower surface of the rail body 40 .
- the lower surface portion 40B is a plate-like member on which the traveling rollers 51 of the carriage 6 roll and travel.
- the side surface portion 40 ⁇ /b>C extends in the running direction of the carriage 6 and constitutes the side surface of the rail body 40 .
- the top surface portion 40 ⁇ /b>D extends in the traveling direction of the carriage 6 and constitutes the top surface of the rail body 40 .
- the power supply unit 40E is a part that supplies power to the power receiving core 57 of the carrier 6 and transmits and receives signals to and from the carrier 6.
- the power supply portion 40E is a power supply line fixed to each of the pair of side surface portions 40C and extending along the extending direction of the track 4 .
- the power supply unit 40E supplies power to the power receiving core 57 in a non-contact manner.
- a power supply unit 40E is provided for each of a plurality of sections of the track 4 .
- the power supply unit 40E includes a first power supply unit 40EX extending along the track 4 in the first section 4X and a second power supply unit 40EY extending along the track 4 in the second section 4Y.
- the magnetic plate 40F causes the LDM (Linear DC Motor) 59 of the carriage 6 to generate magnetic force for running or stopping.
- the magnetic plate 40F is fixed to the top surface portion 40D and extends along the running direction.
- the length, shape and layout of the track 4 are not limited to the illustrated example, and various lengths, shapes and layouts may be used.
- the transport carriage 6 travels along the track 4 and transports the article 10.
- the carriage 6 is configured to transfer the article 10 thereon.
- the carriage 6 is an overhead traveling unmanned vehicle.
- the number of carriages 6 included in the carriage system 1 is not particularly limited, and is one or more.
- the transport vehicle 6 is also called, for example, a transport vehicle, an overhead transport vehicle, an overhead transport vehicle, or a running vehicle.
- the carriage 6 has a main body portion 7 , a traveling portion 50 and a traveling vehicle controller 35 .
- the body portion 7 has a body frame 22 , a lateral feed portion 24 , a ⁇ drive 26 , an elevation drive portion 28 , an elevation table 30 , and front and rear frames 33 .
- the traverse section 24 collectively traverses the ⁇ drive 26 , the elevation drive section 28 and the elevation platform 30 in a direction perpendicular to the running direction of the track 4 .
- the ⁇ drive 26 rotates at least one of the elevation drive unit 28 and the elevation table 30 within a predetermined angle range in the horizontal plane.
- the lift drive unit 28 lifts and lowers the lift table 30 by winding up or drawing out a suspension material such as a belt, wire, or rope.
- the lifting table 30 is provided with a chuck so that the article 10 can be freely grasped or released.
- a pair of front and rear frames 33 are provided, for example, in front and rear in the traveling direction of the carriage 6 . The front and rear frames 33 prevent the article 10 from falling during transportation by making claws (not shown) appear and disappear.
- the traveling unit 50 causes the carriage 6 to travel along the track 4.
- the running section 50 has a running roller 51 , a side roller 52 , a power receiving core 57 and an LDM 59 .
- the running rollers 51 are arranged at both the front and rear left and right ends of the running portion 50 .
- the running rollers 51 roll on the pair of lower surface portions 40B of the track 4 .
- the side rollers 52 are arranged so as to sandwich the running roller 51 in the front-rear direction.
- the side roller 52 is provided so as to be able to contact the side surface portion 40C of the track 4 .
- the power receiving cores 57 are arranged in front of and behind the running portion 50 so as to sandwich the LDM 59 in the left-right direction.
- the power receiving core 57 performs non-contact power reception from the power supply unit 40 ⁇ /b>E arranged on the track 4 and non-contact transmission/reception of various signals to/from the traveling vehicle controller 35 .
- the LDM 59 is provided before and after the traveling portion 50 .
- the LDM 59 generates magnetic force for running or stopping.
- the traveling vehicle controller 35 is an electronic control unit consisting of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and the like.
- the traveling vehicle controller 35 controls various operations in the carriage 6 . Specifically, the traveling vehicle controller 35 controls the traveling section 50 , the lateral feeding section 24 , the ⁇ drive 26 , the elevation driving section 28 , and the platform 30 .
- the traveling vehicle controller 35 can be configured as software in which, for example, a program stored in a ROM is loaded onto a RAM and executed by a CPU.
- the traveling vehicle controller 35 may be configured as hardware such as an electronic circuit.
- the traveling vehicle controller 35 communicates with the control device 5 using the power supply unit 40E and the like.
- the placement section 9 is arranged along the track 4 .
- the placement section 9 is provided at a position where the article 10 can be delivered by the carrier 6 .
- the placement unit 9 includes a buffer on which the article 10 is temporarily placed, and a load port for delivering the article 10 to a processing device (not shown).
- the control device 5 is an electronic control unit consisting of a CPU, ROM, RAM, and the like.
- the control device 5 can be configured as software in which, for example, a program stored in a ROM is loaded onto a RAM and executed by a CPU.
- the control device 5 may be configured as hardware such as an electronic circuit.
- the control device 5 controls various operations in the carriage system 1 .
- the control device 5 controls the carriage 6 and the power supply device 8 .
- the control device 5 includes a display unit 5A such as a monitor for displaying various information, an input unit 5B such as a keyboard and a mouse for receiving various operation inputs from the user, and a storage unit 5C for storing various information. include.
- the control device 5 is connected to the communication device 3.
- the communication device 3 is a device that communicates with the power supply device 8 .
- the communication device 3 outputs various information received from the power supply device 8 to the control device 5 .
- the communication device 3 transmits various kinds of information input from the control device 5 to the power supply device 8 .
- the communication device 3 is not particularly limited, and for example, a known communication converter can be used.
- the control device 5 requests, via the communication device 3 , transmission of temperature power information (first information) relating to the temperature data and power data of the power supply devices 8 to the plurality of power supply devices 8 .
- the control device 5 acquires the temperature power information transmitted from the power supply device 8 in response to the request via the communication device 3 .
- the control device 5 requests, via the communication device 3, transmission of device status information (second information) regarding whether the state of the power supply device 8 is abnormal, warning, or normal, to the plurality of power supply devices 8. do.
- the control device 5 acquires the device status information transmitted from the power supply device 8 in response to the request via the communication device 3 .
- the control device 5 stores the acquired temperature power information and device state information in the storage unit 5C.
- the power supply device 8 is provided for each of a plurality of sections of the track 4.
- the power supply device 8 includes a power supply device 8X installed corresponding to the first section 4X of the track 4 and a power supply device 8Y installed corresponding to the second section 4Y of the track 4.
- the power supply device 8X is connected to the first power supply section 40EX of the first section 4X.
- the power supply device 8Y is connected to the second power supply portion 49EY of the second section 4Y.
- the power supply device 8 has multiple non-contact temperature sensors 81 , current sensors 82 , power supply device control section 83 , and communication device 84 .
- the non-contact temperature sensor 81 is a sensor that monitors the temperature of the power supply device 8 .
- a thermopile array sensor for example, is used as the non-contact temperature sensor 81 .
- Each of the plurality of non-contact temperature sensors 81 measures the temperature of each of the plurality of areas in the power supply device 8 in a non-contact manner.
- Each non-contact temperature sensor 81 detects the temperature distribution of the area and outputs information about the temperature distribution to the power supply device control section 83 as temperature data.
- a temperature distribution is associated with each identification number of the non-contact temperature sensor 81 .
- the current sensor 82 is a sensor that monitors current at a predetermined measurement point within the power supply device 8 .
- Current sensor 82 detects current at a predetermined measurement point, and outputs information about the current to power supply device control section 83 as current data.
- the power supply device control section 83 is an electronic control unit consisting of a CPU, a ROM, a RAM, and the like.
- the power supply device control unit 83 controls various operations in the power supply device 8 .
- the power supply device control unit 83 can be configured as software in which, for example, a program stored in the ROM is loaded onto the RAM and executed by the CPU.
- the power supply device control unit 83 may be configured as hardware such as an electronic circuit.
- the power supply device control unit 83 determines whether the power supply device 8 is in an abnormal state, a warning state, or a normal state based on the temperature data and the power data.
- the warning state is a state with a lower degree of abnormality than the abnormal state. For example, when the power data is greater than or equal to the first power threshold, the power supply device control unit 83 sets the state of the power supply device 8 to a warning state. For example, the power supply device control unit 83 sets the state of the power supply device 8 to an abnormal state when the power data is greater than or equal to a second power threshold that is larger than the first power threshold.
- the power supply device control unit 83 sets the state of the power supply device 8 to a warning state when any of the highest temperatures in each temperature distribution of the temperature data is equal to or higher than the first temperature threshold. For example, the power supply device control unit 83 sets the state of the power supply device 8 to an abnormal state (abnormal temperature) when any of the highest temperatures in each temperature distribution of the temperature data is equal to or higher than a second temperature threshold that is larger than the first temperature threshold. do. In other cases, the power supply device control unit 83 sets the state of the power supply device 8 to the normal state.
- an abnormal state abnormal temperature
- the power supply device control unit 83 In response to a request from the control device 5, the power supply device control unit 83 outputs the result of determining whether the power supply device 8 is in an abnormal state, a warning state, or a normal state as device state information to the communication device 84. .
- the data size of the device status information is, for example, 20 to 80 bytes. Device status information may consist of an error log.
- the power supply device control section 83 In response to a request from the control device 5 , the power supply device control section 83 outputs temperature data and power data to the communication device 84 as temperature power information.
- the data size of temperature power information is, for example, 80 to 204 bytes.
- the non-contact temperature sensor 81 and the current sensor 82 constitute a monitoring device that monitors the state of the power supply device 8. Further, the temperature/power information and the device state information constitute the monitoring result of the state of the power supply device 8 monitored by the monitoring device (hereinafter also simply referred to as "monitoring result of the power supply device 8").
- the communication device 84 is a device that communicates with the control device 5 via the communication device 3 .
- the communication device 84 outputs various received information to the power supply device control section 83 .
- the communication device 84 transmits various types of information input from the power supply device control section 83 to the control device 5 .
- the communication device 84 transmits the monitoring result of the power supply device 8 to the control device 5 (details will be described later).
- the communication device 84 is not particularly limited, and for example, a known communication converter can be used.
- the control device 5 controls the carriage 6 according to the monitoring results of the power supply device 8 .
- the control device 5 determines whether or not the states of the plurality of power supply devices 8 are abnormal based on the monitoring results of the power supply devices 8 .
- the control device 5 prevents the carriage 6 from entering the section corresponding to the power supply device 8 determined to be in an abnormal state on the track 4. In addition to prohibiting, the carriage 6 existing in the section is withdrawn from the section.
- the control device 5 stops the power feeding device 8 determined to be in an abnormal state. Stopping the power supply device 8 includes at least stopping power supply to the power supply unit 40 ⁇ /b>E connected to the power supply device 8 .
- the control device 5 determines whether or not the states of the plurality of power supply devices 8 are in a warning state based on the monitoring results of the power supply devices 8 . When determining that at least one of the plurality of power supply devices 8 is in the warning state, the control device 5 adjusts the acceleration of the carriage 6 existing in the section corresponding to the power supply device 8 determined to be in the warning state on the track 4. Restrict.
- the control device 5 When determining that at least one of the plurality of power supply devices 8 is in an abnormal state, the control device 5 further determines whether the abnormal state is a temperature abnormality. When the control device 5 determines that the abnormal state is temperature abnormality, the temperature data of the power supply device 8 determined to be in the abnormal state is transmitted from the communication device 84 of the power supply device 8 to the control device 5 . As a result, the controller 5 generates an image of the temperature distribution in which the temperature is abnormal based on the transmitted temperature data, and displays the temperature distribution image on the display section 5A. Details of various processes accompanying the processing of the control device 5 will be described later.
- FIG. 4 is a diagram showing a display example displayed on the display unit 5A of the control device 5.
- FIG. The display example shown in FIG. 4 is an example in which temperature abnormality has occurred in the power supply device 8 of PSP2 among the power supply device 8 of number PSP1 and the power supply device 8 of number PSP2.
- the display unit 5A displays a temperature distribution image G1 relating to the temperature distribution of abnormal temperature in the power supply device 8 of the PSP 2 and its acquisition time.
- various information about the power supply device 8 of the PSP 2 in which the temperature abnormality has occurred is displayed on the display section 5A.
- Various information displayed on the display unit 5A includes, for example, the number of the power supply device 8, the state, whether it is in operation, power data, and the maximum temperature of each temperature distribution detected by each non-contact temperature sensor 81. .
- the display of the display unit 5A for example, when the user clicks the "PSP1" button by operating the input unit 5B, the display can be switched to various information of the power supply device 8 of the PSP1. Further, when the user clicks an "image” button on the display unit 5A by operating the input unit 5B, the display can be switched to the corresponding image data of the temperature distribution of the non-contact temperature sensor 81. can. Further, in such a display on the display section 5A, for example, a "temperature bar" of the temperature distribution image G1 can be set by the user by operating the input section 5B.
- step S1 the control device 5 confirms the temperature and power of all the power supply devices 8 (step S1). Specifically, in step S ⁇ b>1 , temperature power information is requested from the control device 5 to all the power supply devices 8 via the communication device 3 .
- Each power supply device 8 receives the request via the communication device 84 and transmits the temperature power information to the communication device 3 in response to the request.
- the control device 5 acquires temperature power information via the communication device 3 and stores the acquired temperature power information in the storage unit 5C.
- the control device 5 updates the display of the display unit 5A so that the acquired temperature power information is displayed (step S2).
- the display mode and display format of the display section 5A are not particularly limited, and may be various modes and formats (same below).
- the process proceeds to step S1 in the next cycle, and the temperatures and powers of all the power supply devices 8 are checked again. That is, the temperature power information is transmitted from the communication device 84 to the control device 5 in the first cycle.
- step S11 temperature power information is requested from the control device 5 to the target power supply device 8 via the communication device 3 in accordance with the operation received by the input unit 5B.
- the target power supply device 8 receives the request via the communication device 84 and transmits the temperature power information to the communication device 3 in response to the request.
- the control device 5 acquires the temperature power information via the communication device 3, acquires the target temperature distribution from the temperature data of the temperature power information, and generates a temperature distribution image based on the acquired temperature distribution using, for example, a known method. to obtain.
- the control device 5 updates the display on the display unit 5A so that the acquired temperature distribution image is displayed.
- the acquired temperature distribution image is stored in the storage unit 5C (step S12). This completes the manual image acquisition process.
- the manual image acquisition process is set to have a lower priority than the above-described regular monitoring process. Therefore, when each process of the regular monitoring process is being executed, each process of the manual image acquisition process is not executed. .
- the carriage system 1 periodically and repeatedly executes an abnormality monitoring process described below.
- the control device 5 confirms the device status of all the power supply devices 8 (step S21). Specifically, in step S21, the control device 5 requests all the power supply devices 8 via the communication device 3 for the device status information.
- Each power supply device 8 receives the request via the communication device 84 and transmits device status information to the communication device 3 in response to the request.
- the control device 5 acquires device status information via the communication device 3 and stores the acquired device status information in the storage unit 5C.
- control device 5 performs control determination for determining the device state of each power supply device 8 based on the acquired device state information (step S22).
- the control device 5 refers to the device status information and determines whether each power supply device 8 is in an abnormal state, a warning state, or a normal state.
- step S23 and NO in step S24 If none of the power supply devices 8 are in an abnormal state and are not in a warning state (NO in step S23 and NO in step S24), the series of processes in the current period ends, and the process proceeds to step S21 in the next period. Transition occurs in a second period (for example, 1 second) shorter than the first period. That is, the device status information is transmitted from the communication device 84 to the control device 5 in the second cycle shorter than the first cycle when the power supply device 8 is normal.
- a second period for example, 1 second
- step S23 the temperature and power of the power supply device 8 in the abnormal state are checked (step S25). Specifically, in step S25, the temperature power information is requested from the control device 5 to the power supply device 8 in the abnormal state via the communication device 3 .
- the power supply device 8 in the abnormal state receives the request via the communication device 84 and transmits temperature power information to the communication device 3 in response to the request.
- the control device 5 acquires temperature power information via the communication device 3 and stores the acquired temperature power information in the storage unit 5C.
- step S26 the control device 5 updates the display of the display unit 5A so that the acquired temperature power information is displayed, and an abnormal section corresponding to the power supply device 8 determined to be in an abnormal state on the track 4.
- route is closed (step S26).
- the carriage 6 is prohibited from entering the abnormal section of the track 4, and the carriage 6 existing in the abnormal section is evacuated from the abnormal section.
- some command for example, a travel command or a transport command
- a command that does not pass through the abnormal section is assigned.
- a command to travel outside the abnormal section is assigned to the carriage 6 existing in the abnormal section.
- step S26 the control device 5 stops the power feeding device 8 determined to be in an abnormal state.
- the control device 5 determines whether the abnormal state of the power supply device 8 is abnormal temperature based on the device status information of the power supply device 8 in the abnormal state (step S27). If the abnormal state of the power supply device 8 is temperature abnormality (YES in step S27), the control device 5 acquires a temperature distribution image related to the temperature distribution causing the temperature abnormality (step S28).
- step S28 the temperature power information is requested from the control device 5 to the power supply device 8 in an abnormal state via the communication device 3.
- the power supply device 8 in the abnormal state receives the request via the communication device 84 and transmits temperature power information to the communication device 3 in response to the request.
- the control device 5 acquires the temperature power information via the communication device 3, and acquires the temperature distribution causing the temperature abnormality from the temperature data of the temperature power information. Based on the obtained temperature distribution, the control device 5 generates and obtains a temperature distribution image using, for example, a known method.
- step S28 when the state of the power supply device 8 is determined to be abnormal by the control device 5 and the abnormal state is the temperature abnormality, the power supply device 8 determined to be in the abnormal state
- the communication device 84 transmits information (temperature power information) on the temperature distribution inside.
- the controller 5 updates the display of the display unit 5A so that the acquired temperature distribution image is displayed, and stores the acquired temperature distribution image in the storage unit 5C (step S29).
- step S30 the temperature power information is requested from the control device 5 to the power supply device 8 in the warning state via the communication device 3 .
- the power supply device 8 in the warning state receives the request via the communication device 84 and transmits temperature power information to the communication device 3 in response to the request.
- the control device 5 acquires temperature power information via the communication device 3 and stores the acquired temperature power information in the storage unit 5C.
- the control device 5 updates the display of the display unit 5A so that the acquired temperature power information is displayed, and the warning section that is the section corresponding to the power supply device 8 determined to be in the warning state on the track 4. limit the acceleration of the carriage 6 existing at (step S31).
- the maximum acceleration of the command to be assigned to the carriage 6 existing in the warning section is set to a preset acceleration or less.
- step S27 If NO in step S27, after step S29 or after step S31, the series of processes in the current period ends, and the process proceeds to step S21 in the next period.
- the abnormality monitoring process has a lower priority than the regular monitoring process and the manual image acquisition process. , each processing of the abnormality monitoring process is not executed.
- the power supply device 8 is provided for each of a plurality of sections formed by dividing the track 4, the state of each power supply device 8 is monitored by the non-contact temperature sensor 81 and the current sensor 82, and the power supply device The carriage 6 is controlled by the control device 5 according to the monitoring result of 8 .
- the control device 5 can execute processing such that only a part of the system is down rather than the entire system is down. Therefore, it is possible to prevent system failure of the carriage system 1 .
- the control device 5 determines whether the states of the plurality of power supply devices 8 are abnormal based on the monitoring results of the power supply devices 8.
- the control device 5 prohibits the carriage 6 from entering the abnormal section corresponding to the power supply device 8 determined to be in an abnormal state, and evacuates the carriage 6 existing in the abnormal section from the abnormal section.
- it is possible to effectively prevent the adverse effect of the failure of the power supply device 8 from affecting the entire system.
- it is possible to continue the operation with reduced transport capacity.
- the control device 5 stops the power supply device 8 determined to be in an abnormal state. As a result, it is possible to effectively prevent the adverse effect of the failure of the power supply device 8 from affecting the entire system. It is possible to prevent the problem of the power supply device 8 from progressing. This makes it easier to quickly restore the power supply device 8 from malfunction.
- the control device 5 determines whether or not the states of the plurality of power supply devices 8 are in a warning state based on the monitoring results of the power supply devices 8, and responds to the power supply device 8 determined to be in a warning state. limit the acceleration of the carriage 6 existing in the warning zone. As a result, it is possible to effectively prevent the adverse effect of the failure of the power supply device 8 from affecting the entire system. In the carriage system 1, it is possible to continue the operation with reduced transport capacity.
- the control device 5 determines that the state of the power supply device 8 is abnormal and the abnormal state is temperature abnormality
- Temperature power information regarding the temperature distribution inside is transmitted from the communication device 84 to the control device 5 .
- the control device 5 it is possible to display the temperature distribution in which the temperature of the power supply device 8 is abnormal on the display section 5A as a temperature distribution image. The user can easily grasp the temperature distribution of the temperature abnormality in the power supply device 8 in the control device 5 .
- the temperature power information is transmitted from the communication device 84 to the control device 5 in the first cycle.
- the device status information is transmitted from the communication device 84 to the control device 5 in a second cycle shorter than the first cycle when the power supply device 8 is normal.
- the desired temperature/power information and device status information can be simply displayed by the display unit 5A. Also, the display on the display section 5A can be easily set and operated. In addition, it is possible to display the temperature distribution image of the temperature distribution related to the temperature abnormality on the display unit 5A by the user's operation or when the power supply device 8 is in an abnormal state.
- the monitoring device is not limited to the non-contact temperature sensor 81 and the current sensor 82, and may be other sensors capable of monitoring the state of the power supply device 8.
- the power supply device 8 may include only one of the non-contact temperature sensor 81 and the current sensor 82 .
- the area where the non-contact temperature sensor 81 measures the temperature in the power supply device 8 is not limited, and may be various areas.
- the measurement point at which the current sensor 82 in the power supply device 8 measures the current is not limited, and various measurement points may be used.
- the first cycle when the communication device 84 transmits the temperature power information and the second cycle when the communication device 84 transmits the device state information are not particularly limited, and the second cycle is the second cycle. It should be shorter than one cycle.
- the first period and the second period may be fixed values, or may be variable values that fluctuate depending on the situation.
- the control device 5 may issue a notification (for example, a warning on the display unit 5A) to call attention to the power supply device 8. .
- the above-described embodiment may include a plurality of units each composed of a plurality of power supply devices 8 and a control device 5 .
- a host control device that supervises the plurality of control devices 5 may be provided.
- the above embodiments may include a data server that manages data for the entire system.
- the above embodiments may include an overall control device that controls the entire system.
- wireless communication may be used for part or all of the communication, or wired communication may be used.
- the LAN line of the facility where the carriage system 1 is installed may be used for part or all of the communication.
- the power supply device 8 in an abnormal state is stopped, the carriage 6 is prohibited from entering the abnormal section, the carriage 6 that exists in the abnormal section is withdrawn from the abnormal section, and the warning section exists. At least one of these should be executed.
- SYMBOLS 1 Carriage system, 4... Track, 4X... 1st section (section), 4Y... 2nd section (section), 5... Control device, 6... Carriage, 8, 8X, 8Y... Power feeding device, 81... Non Contact temperature sensor (monitoring device), 82 current sensor (monitoring device), 84 communication device.
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Abstract
Description
搬送台車システム1では、次の定期監視プロセスを第1周期(例えば10秒)で周期的に繰り返し実行する。定期監視プロセスでは、図5(a)に示されるように、まず、制御装置5により全ての給電装置8の温度及び電力を確認する(ステップS1)。ステップS1では、具体的には、制御装置5から全ての給電装置8へ通信装置3を介して温度電力情報の要求を行う。各給電装置8は、通信装置84を介して、当該要求を受信すると共に当該要求に応じて温度電力情報を通信装置3へ送信する。制御装置5は、通信装置3を介して温度電力情報を取得し、取得した温度電力情報を記憶部5Cに保存する。
搬送台車システム1では、入力部5Bにおいて、ある給電装置8の非接触温度センサ81で検出された温度分布の温度分布画像を表示部5Aに表示させる操作がユーザによりなされると、次の手動画像取得プロセスを実行する。手動画像取得プロセスでは、図5(b)に示されるように、まず、制御装置5により、表示させる対象の温度分布画像を取得する(ステップS11)。
搬送台車システム1では、次に説明する異常監視プロセスを周期的に繰り返し実行する。異常監視プロセスでは、図6に示されるように、まず、制御装置5により全ての給電装置8の装置状態を確認する(ステップS21)。ステップS21では、具体的には、制御装置5から全ての給電装置8へ通信装置3を介して装置状態情報の要求を行う。各給電装置8は、通信装置84を介して、当該要求を受信すると共に当該要求に応じて装置状態情報を通信装置3へ送信する。制御装置5は、通信装置3を介して装置状態情報を取得し、取得した装置状態情報を記憶部5Cに保存する。
Claims (6)
- 軌道に沿って走行する搬送台車と、
前記搬送台車を制御する制御装置と、
前記軌道が区分けされてなる複数の区間ごとに設けられた給電装置と、を備え、
複数の前記給電装置のそれぞれは、当該給電装置の状態を監視する監視装置と、前記監視装置による監視結果を前記制御装置に向けて送信する通信装置と、を有し、
前記制御装置は、前記監視結果に応じて前記搬送台車を制御する、搬送台車システム。 - 前記制御装置は、
前記監視結果に基づいて、複数の前記給電装置の状態が異常状態か否かを判定し、
前記異常状態であると判定した前記給電装置に対応する前記区間への前記搬送台車への進入を禁止すると共に、当該区間に存在する前記搬送台車を当該区間から退避させる、請求項1に記載の搬送台車システム。 - 前記制御装置は、前記給電装置を更に制御する装置であって、前記異常状態であると判定した前記給電装置を停止させる、請求項2に記載の搬送台車システム。
- 前記制御装置は、
前記監視結果に基づいて、複数の前記給電装置の状態が、前記異常状態よりも異常の度合いが低い警告状態か否かを判定し、
前記警告状態であると判定した前記給電装置に対応する前記区間に存在する前記搬送台車の加速度を低下させる、請求項2又は3に記載の搬送台車システム。 - 前記制御装置により前記給電装置の状態が異常状態であると判定された場合であって、当該異常状態が温度異常であるときには、当該異常状態であると判定した前記給電装置内の温度分布に関する情報が前記通信装置から前記制御装置に向けて送信される、請求項2~4の何れか一項に記載の搬送台車システム。
- 前記監視結果は、前記給電装置の温度データ及び電力データの少なくとも何れかを含む第1情報と、前記給電装置の状態が異常状態か否かに関する第2情報と、を含み、
前記第1情報は、第1周期で前記通信装置から前記制御装置に向けて送信され、
前記第2情報は、前記給電装置が正常な場合に前記第1周期よりも短い第2周期で前記通信装置から前記制御装置に向けて送信される、請求項1~5の何れか一項に記載の搬送台車システム。
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US18/036,964 US20240017752A1 (en) | 2021-01-20 | 2021-11-16 | Transport cart system |
IL302546A IL302546A (en) | 2021-01-20 | 2021-11-16 | Transport trolley system |
JP2022576996A JP7332064B2 (ja) | 2021-01-20 | 2021-11-16 | 搬送台車システム |
EP21921201.6A EP4223666A1 (en) | 2021-01-20 | 2021-11-16 | Transport cart system |
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JPH1169544A (ja) * | 1997-08-22 | 1999-03-09 | Hitachi Ltd | 移動式監視装置 |
JP2008104245A (ja) * | 2006-10-17 | 2008-05-01 | Murata Mach Ltd | 非接触給電設備 |
JP2013035670A (ja) | 2011-08-09 | 2013-02-21 | Murata Machinery Ltd | 搬送車システム |
JP2018107907A (ja) * | 2016-12-27 | 2018-07-05 | 株式会社ダイフク | 搬送台車 |
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IL302546A (en) | 2023-07-01 |
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