JPH02210170A - Controlling method for runaway of transfer carrier - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is a method for preventing runaway of a self-propelled carrier that moves back and forth on a travel route, such as a carrier for entering and exiting a car in a parking lot facility. This relates to a control method.

(Prior Art) When a self-propelled transport vehicle reciprocating along a traveling path becomes unable to control its travel due to a failure in the control system, etc., and the transport vehicle runs out of control toward the end of its travel, the self-propelled transport vehicle It is necessary to turn off the power supply system for driving the vehicle and apply an emergency stop. In this type of conventional system, an emergency stop detector is installed on the lower side of the end stop position set at the end of the travel, and the emergency stop detector detects a carrier that does not stop at the end stop position. The configuration was such that if the vehicle did so, an emergency stop would be applied to the transport vehicle.

(Problems to be Solved by the Invention) In the conventional configuration as described above, when an emergency stop is applied to a carrier that passes the position of the emergency stop detector at the expected maximum speed, the carrier The overrun distance between the emergency stop detector position and the end of the travel route must be maintained by the overrun distance required to actually stop the vehicle. The higher the expected maximum speed of the transport vehicle, the longer the run space becomes, which significantly reduces the efficiency of floor space utilization.

(Means for Solving the Problems) In order to solve the conventional problems as described above, the present invention has the following features:
A speed detection position is set on the front side of the terminal stop position set at the end of the travel route of the self-propelled transport vehicle, and the speed of the transport vehicle passing through this speed detection position on its way to the terminal stop position is determined as the speed. Compare the detected speed with a set speed that is detected by the detection means and set slightly higher than the passing speed at the speed detection position of the conveyance vehicle that normally stops at the terminal stop position, and determine whether the detected speed exceeds the set speed. The purpose of the present invention is to propose a control method for preventing runaway of a transport vehicle, which is characterized in that the transport vehicle is controlled to be brought to an emergency stop when the transport vehicle is in an emergency state.

(Operation of the invention) When the transport vehicle runs out of control due to a failure in the control system, etc., when the runaway transport vehicle passes through the speed detection position, the speed detected by the speed detection means will naturally be higher than the set speed. . Therefore, the runaway conveyance vehicle is brought to an emergency stop before the end stop position at the end of the traveling route. However, the runaway conveyance vehicle will overrun the terminal stop position and stop, but the distance between the final stop position and the terminal stop position, that is, the space for overrun, will exceed the terminal stop position. Since the emergency stop is applied before the above-mentioned speed detection position, the distance is shorter than the distance from the position where the emergency stop is applied (substantially the same position as the speed detection position) to the final stop position (overrun distance).

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

Figures 1 and 2 show the main parts of the parking facility, in which 1 is a self-propelled transport vehicle for entering and exiting cars, and the side part of its travel route 2 (in the illustrated example, it is on one side, but on both sides). (may be)
Vehicle storage compartments 3 divided along the travel route 2 are arranged side by side. On the transport vehicle 1 and in each storage compartment 3, a conveyor 5.6 that supports and traverses the front wheels of the automobile 4, and a conveyor 7.8 that supports and traverses the rear wheels of the automobile 4 are arranged in parallel. It is set up.

The transport vehicle 1 is supported via drive wheels 10 on guide rails 9 laid along the travel route 2.
As shown in FIG. 3, the transport vehicle 1 is equipped with a motor 11 for driving the driving wheels 10, a controller 12 for the motor 11, and a microcomputer 13 for controlling the controller 12, and is installed on the ground side. The microcomputer 14 and the microcomputer 13 on the carriage are connected by a signal transmission means 17 consisting of a signal line 15 stretched along the traveling route 2 and a current collector 16 on the side of the carriage 1. . The on-bogie microcomputer 13 also controls the on-bogie conveyors 5 and 7, and the ground-side microcomputer 14 also controls the conveyors 6 and 8 in each storage compartment 3, but the control system for these conveyors 5 to 8 is The explanation will be omitted.

The transfer of the automobile 4 between the transport vehicle 1 and each storage compartment 3 is carried out with the transport vehicle 1 stopped at a predetermined position adjacent to the specific storage compartment 3 to be loaded or unloaded. This is done by driving the conveyors 5, 7 and the conveyor 6.8 on the particular storage section 3 synchronously in the same direction.

In the parking lot facility as described above, as shown in FIG. A proximity switch 18 is disposed at a suitable distance longer than the total length of the conveyance vehicle 1 on the upper side of the terminal stop position P corresponding to the elevator for elevating and lowering conveyance, etc., which performs the transfer. The trolley 1 is provided with detection plates 19A and 19B that can be detected by the proximity switch 18 at both front and rear ends. Then, the detection signal of the proximity switch 18 is inputted to the ground side microcomputer 14 as shown in FIG. 3, so that the passing speed of the transport vehicle 1 is calculated.

That is, since the distance 1 m between the detection plates 19A and 19B is fixed, the time t sec required for the proximity switch 18 to detect the front detection plate 19A and the rear detection plate 19B is If known, the average speed V x (m /5ec) of the transport vehicle 1 at that time can be determined by l/l, so this speed calculation program is set in the microcomputer 14. The average speed Vx of the transport vehicle 1 is determined by the position where the rear end detection plate 19B corresponds to the proximity switch 18, that is, the speed detection position X,
will be detected when the transport vehicle 1 passes,
The proximity switch 1, the detection plates 19A and 19B, and the microcomputer 14 constitute a speed detection means. Note that the speed detection position X is
It is located above the terminal stop position P of the transport vehicle 1.

The control method of the present invention performed using the microcomputer 14 will be explained based on the flowchart in FIG. The timing operation starts when the proximity switch 18 detects the front end detection plate 19A of the trolley 1, and stops when the proximity switch 18 detects the rear end detection plate 19B.
Distance between A and 19B1. The time t required to travel m
sec is measured. and the measured time tsee
The average speed Vx when the transport vehicle 1 passes the speed detection position X is calculated from the above distance 1 m. On the other hand, a set speed Vs is stored in advance in the microcomputer 14. This set speed Vs is set slightly higher than the maximum expected speed vy when the transport vehicle 1, which is under deceleration control in order to stop at the terminal stop position P, passes the speed detection position X, and The average speed Vx obtained by the calculation is equal to the set speed Vs.
If the average speed Vx is lower than the set speed Vs, it is determined that the vehicle is running normally, and if the average speed Vx is higher than the set speed Vs, it is determined that the vehicle is running out of control. An emergency stop is immediately applied to the transport vehicle 1. This emergency stop is performed by the ground side microcomputer.
14 via the signal transmission means 17 to the carrier vehicle 10 micro combinator 13, and at the same time as the power supply circuit of the motor 11 is opened, a mechanical brake is applied to the driving wheels 10 (motor 11). Can be applied.

When an emergency stop is applied to the carrier 1 passing the speed detection position X as described above, the carrier 1 coasts over the overrun distance shown in FIG. 4 and then stops. Since an emergency stop is applied above the terminal stop position P, the space that must be secured from the terminal stop position P to the end of the traveling route 2 is significantly shorter than the overrun distance.

Note that even if the average speed of the transport vehicle 1 when passing the speed detection position X is lower than the set speed Vs, if the stop control at the terminal stop position P is not performed normally, the transport vehicle 1 If there is a possibility that the vehicle will run out of control toward the end of the travel route 2, an emergency stop detector is installed slightly below the terminal stop position, and an emergency stop command is issued from the ground side microcomputer 14. It is also possible to configure such that when the emergency stop detector detects the transport vehicle 1 in a state where no signal is output, the transport vehicle 1 is brought to an emergency stop. In this case, since the traveling speed of the transport vehicle 1 passing the position of the emergency stop detector is low,
The coasting distance (overrun distance) after an emergency stop is short, and the speed detection position
It is possible to stop the conveyance vehicle 1 before the final stop position when an emergency stop is applied.

The means for detecting the average speed Vx of the transport vehicle l passing through the speed detection position 18 can be provided on the transport vehicle 1 side, and the detection plates 19A and 19B can also be arranged on the travel path 2 side. You can also calculate speed.

(Effects of the Invention) As described above, according to the control method for preventing runaway of a transport vehicle of the present invention, abnormal high speed is detected before (on the upper side) the terminal stop position set at the end of the traveling route. Since an emergency stop is applied, the distance between the final stop position of the transport vehicle stopped by the emergency stop and the final stop position is from the position where the emergency stop is overturned (substantially the same position as the speed detection position). It is shorter than the distance to the final stop position (overrun distance), therefore, the extra overrun space that must be secured at the end of the travel path is short, increasing the floor space utilization efficiency of the entire equipment. I can do it.

[Brief explanation of the drawing]

Fig. 1 is a plan view illustrating the main parts of the parking facility, Fig. 2 is a front view thereof, Fig. 3 is a block diagram illustrating the configuration of the control system, and Fig. 4 is a side view illustrating the method of the present invention. FIG. 5 is a flowchart explaining the control procedure. DESCRIPTION OF SYMBOLS 1...Self-propelled carrier for entering and exiting cars, 2...Traveling route, 3...Storage compartment, 4...Car, 5-8...
・Car transfer conveyor, IO...driving wheel, II・
...Mo 1-112...Motor controller, 1
3... Microcomputer on the trolley - 114... Micro combinator on the ground side - 115... Signal line, 16
...Electronic collector, 17...Signal transmission means, 18...Proximity switch, 19A, 19B...Detected plate, P...
Terminal stop position, X...speed detection position, Vx...average detected speed, Vs...set speed. Patent applicant Arunaeki Co., Ltd.

Claims (1)

[Claims] A speed detection position is set on the front side of the terminal stop position set at the end of the traveling route of the self-propelled transport vehicle, and the speed of the transport vehicle passing through this speed detection position toward the terminal stop position is determined as the speed. Compare the detected speed with a set speed that is detected by the detection means and set slightly higher than the passing speed at the speed detection position of the conveyance vehicle that normally stops at the terminal stop position, and determine whether the detected speed exceeds the set speed. A runaway prevention control method for a transport vehicle, characterized in that the transport vehicle is controlled to apply an emergency stop when the transport vehicle is in an emergency state.