JPH089329B2 - Carrier control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a carrier control device for moving two or more carriers on the same path.

[Conventional technology]

FIG. 12 is an explanatory view of the relationship between a carrier vehicle and a path for explaining a conventional carrier vehicle control device. 1 is a first carrier vehicle, 2 is a second carrier vehicle, and 3 and 4 are carrier vehicles 1 and 2, respectively. A movable path 5 is a path shared section by the transport vehicles 1 and 2, 6a and 6b are sensors for detecting passage of the transport vehicles 1 and 2, and 7a to 7h are stations for loading and unloading luggage.

 Next, the operation will be described.

The first carrier 1 travels along the path 3 and stays at the station 7.
Serving a, 7b, 7d, 7f, 7h, the second carrier 2 travels along the path 4 and serves stations 7a, 7c, 7e, 7g. Now, in order to travel without collision between the two guided vehicles 1 and 2 in the shared path section 5, the positions of the guided vehicles 1 and 2 are detected by the sensors 6a and 6b, and the first guided vehicle 1 and the second guided vehicle 2 are detected. Operation control must be performed so as to prohibit the transport vehicle 2 from entering the station 7a at the same time.

[Problems to be solved by the invention]

Since the conventional carrier control device is as described above, if the sensors 6a and 6b malfunction or fail, the carriers 1 and 2 will eventually collide and the station 7a cannot be entered. , The service here may not be provided. In addition, when one of the transport vehicles 1 and 2 is in the path sharing section, the operation is delayed if the other enters the path sharing section 5, and the dynamic traveling control cannot be performed. I got it.

The present invention has been made to solve the above problems, and provides a vehicle control device capable of dynamically realizing traveling control of a plurality of vehicles on all routes without collision by a computer-controlled route reservation system. The purpose is to get.

[Means for solving problems]

A carrier control device according to the present invention is a carrier controller for moving two or more carriers on the same route so as not to collide with each other, and a line unit for wirelessly transmitting data to the carrier and a departure point. And a ROM that stores a request table that stores the arrival point number and a RAM that stores a rewritable route reservation table and status,
Connected to the above line unit, ROM, RAM via bus,
The numbers of the departure point and the arrival point obtained from the request table of the ROM based on the transport request of the transport vehicle input through the input port are registered in the request queue in the RAM, and after this registration, Based on the status, it is checked whether there is a transport vehicle that is not transporting, and if there is a transport vehicle that is not transporting, the departure point and arrival point number stored in the ROM and the route reservation stored in the RAM. If it is possible to move, it is judged whether it is possible to move, and if it is possible to move, the reservation of the movable route is written in the route reservation table, and when the reservation of this route is written, the transportation is performed via the line unit. The computer is provided with an arithmetic processing unit that outputs a movement command.

[Work]

In the transfer control device according to the present invention, the route reservation table is stored in the RAM accessed by the arithmetic processing unit,
While looking at the contents of this route reservation table, make a reservation for the transport request for the departure point and arrival point for each transport vehicle,
When the reservation is possible, it works so as to enable the traveling on the route according to the transportation request.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, 11a, 11b, and 11c are input / output stations, which are provided for each station that provides services. 12
Is an input / output port, which interrupts the arithmetic processing unit 13 in response to a transport request from the input / output stations 11a to 11c. 14,1
5 is a RAM connected to the arithmetic processing unit 13 through the bus 18 and
In the ROM, the RAM 14 stores the rewritable route reservation table and status shown in FIG. 7, and the ROM 15 stores the request table shown in FIG. 1
Reference numerals 6 and 17 denote line units connected to the bus 15, which wirelessly transmit and receive data to and from the transport vehicles 1 and 2.

The transport vehicles 1 and 2 travel on a loop-shaped path 8 as shown in FIG. 2, and for example, six stations 7i, 7j, 7k, 7l, 7
Move to service m, 7n. In the embodiment of FIG. 2, the combination list of the departure station X and the arrival station Y is tabulated as shown in FIG. 9. When the departure station X and the arrival station Y are 7i and 7k, respectively, 7k, In the case of 7i as well, stations 7i, 7j, 7k can be obtained using i, k as a key.

 Next, the operation will be described.

First, when a slot to be moved to the exit of the input / output stations 11a to 11c is output, the digital output of the input / output station is turned on, and the digital input / output port 12 interrupts that a transfer request has been issued by the arithmetic processing unit (CPU ) In response to this interrupt, the input / output station reception task operates. This operation is executed as shown in the flow chart of FIG.

First, a transport request is input from the digital input port 12 (step a). This transfer request input causes ROM15
The request table as shown in FIG. 4 is searched to obtain the station numbers 7i to 7n (that is, the input / output stations) of the departure point and the arrival point (step b). Further, the request generation time, the carry-out source and the carry-out destination station number are registered in the request queue as shown in FIG. 10 (step c), and subsequently, the guided vehicle control task is started (step d). This guided vehicle control task is executed according to the flowchart shown in FIG. Here, first, an idle carrier vehicle is searched from the status shown in FIG. 6 stored in the RAM 14, and if both carrier vehicles 1 and 2 are busy, they are stopped and the next start is waited (step e). However, if there is an idle carrier, take out the request table in ROM5 and check it.
When all request queues have been checked, it stops and waits for the next start (step f). Next, the departure point of the request queue,
Check if the route reservation is possible from the arrival number station numbers 7i to 7n and the route reservation table in FIG. 7 (step g). If the reservation is not possible, return to step f to check the next queue. . However, if the reservation is possible, the path is reserved and the path is written in the path reservation table of the RAM 14 (step h). By this writing, a move output is supplied to the line units 16 and 17 (step i), and then the request queue is decremented and the operations following step e are repeated (step j). Note that FIG. 11 is a flow chart showing in detail the processing of steps g and h.

Next, in step i, the move output supplied to the line units 16 and 17 is wirelessly transmitted as a move command to the carrier vehicle 1,
2 is input, and the transport vehicles 1 and 2 execute predetermined processing by the teaching play back. When this process is completed, the line units 16 and 17 are notified of the completion, and the line units 16 and 17 input a completion interrupt for notifying the completion to the arithmetic processing unit 13. The completion acceptance task is activated based on this completion interrupt. This is done according to the flow diagram shown in FIG. That is, in order to set the status in FIG. 6 to idle, the corresponding address data in the RAM 14 is set to 0. Also, the reserved path of the path reservation table shown in FIG. 7 is cleared, leaving only the current station number (step k). Then, after this clearing, the guided vehicle control task is activated (step). As a result, the processing of the next request queue is executed.

In the above embodiment, the traveling control of the two transport vehicles 1 and 2 has been described, but the control of three or more vehicles can be performed by the same system.

〔The invention's effect〕

As described above, according to the present invention, the travel control to each station of the transport vehicle is realized by the automatic track reservation, so that the conventional sensor for detecting the position of the transport vehicle is provided. There is no need, and the effect that dynamic route sharing section control becomes possible is obtained.

[Brief description of drawings]

FIG. 1 is a block connection diagram of a control system for executing a guided vehicle control device according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of the guided vehicle control device, and FIG. 3 is a flow of an input / output station request acceptance task. Fig. 4 and Fig. 4 are request table diagrams stored in ROM, Fig. 5 is a flow chart of the transport vehicle control task, Fig. 6 is a transport vehicle status diagram, Fig. 7 is a route reservation table diagram, and Fig. 8 is transport. Flow diagram of car completion acceptance task,
FIG. 9 is a transit station list table diagram, FIG. 10 is a data writing state diagram for a request queue, FIG. 11 is a detailed flow diagram of a vehicle control task, and FIG. 12 is an explanatory diagram of a conventional vehicle control device. . 1, 2 are carrier vehicles, 7i to 7n are stations, 8 are paths, 11a, 1
1b and 11c are input / output stations, 12 is a digital input port, 13 is a processing unit, 14 is RAM, and 15 is ROM. In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A transport vehicle control device for moving two or more transport vehicles 1, 2 along the same route 8 so as not to collide with each other. A line unit 16, which wirelessly transmits data to the transport vehicles 1, 2. 17, a ROM 15 that stores a request table that stores the numbers of departure and arrival points, a RAM 14 that stores a rewritable route reservation table and status,
Via the bus 18, the above line units 16, 17, ROM15, RAM14
Based on the transport requests of the transport vehicles 1 and 2 connected via the input port 12, the departure point and arrival point numbers obtained from the request table of the ROM 15 are registered in the request queue in the RAM 14. After this registration, based on the status in the RAM14, it is checked whether there is a transport vehicle that is not transporting, and if there is a transport vehicle that is not transporting, the departure and arrival point numbers stored in the ROM15. If it is possible to move, it is judged from the transport state of the route reservation table stored in the RAM 14 and if it is possible, the reservation of the movable route is written in the route reservation table, and when the reservation of this route is written. Through the line units 16 and 17, the carrier
Arithmetic processing unit 13 of the computer which outputs the movement command to 1 and 2
And a carrier control device.