JPH01202102A - Travel controlling method for conveying electric railcar - Google Patents

Abstract

PURPOSE:To peculiarly control the travels of conveying electric railcars by reading and storing a communication content by a controller for other conveying electric railcar at the time of communicating various instructions and information between the railcar and a master station controller. CONSTITUTION:Various travel control instructions, such as a destination command, a start command, a speed command, etc., and data transmission instructions, such as a present position, a present state, etc. for conveying electric railcars 1 are transmitted with destination electric railcar code number from a master station controller 4 to signal lines 2a, 2b. Data, such as present position, present state, etc., of conveying electric railcars are transmitted from the railcars 1 to the signal lines 2a, 2b. The controllers of the railcars 1 control the travels on the basis of the signals to its own railcars and the signals to other railcars.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention includes a running control controller mounted on each of a plurality of transport trains running on a fixed route, and controlling the running of all transport trains. A system in which various commands, position information, etc. are exchanged between a master station controller and the controller of each transport train using a multiplex transmission method using signal lines arranged along the route. The present invention relates to a method of controlling the running of each transport train in the area.

(Prior art) In the above-mentioned system, the position and running status of all transport trains can be monitored by the master station controller, so it is possible to prevent rear-end collisions between transport trains, etc. This can be done on the master station controller side, but if the number of trains is very large, the burden on the master station controller side will be very large. Therefore, it was necessary for each transport train to perform its own control to prevent rear-end collisions between transport trains, i.e., to automatically stop a running train when it approaches the preceding train within a certain distance. . The conventional running control method for this type of transport train is to attach a sensor to each transport train to detect a preceding train within a certain distance, and automatically stop the train based on the sensor's detection of the preceding train. A single type of sensor is installed, and a signal line is installed for each section along the travel route, and each train uses this signal line to detect whether or not a train is present in the next section. There is a known section control method that uses this detection mechanism to automatically stop the running of a train when it is detected that a train is present in the next section.

(Problem to be solved by the invention) In the conventional one-sensor type or section control type as described above,
Regardless of the running state of the preceding train, the following train is simply stopped based on the detection of the presence of the preceding train within a certain distance, such as when the preceding train has already started running at high speed. This results in the system being stopped even when it actually does not need to be stopped, making it impossible for the system to work efficiently.

In addition to these problems, the one-sensor system also has the disadvantage that special sensors must be installed on every train, and furthermore, it may not be possible to detect a preceding train as expected on a curved route, or it may cause problems for workers. There were inconveniences such as automatic stopping even if a vehicle crossed in front of the vehicle. Also, in the section control system, signal lines to prevent rear-end collisions must be laid accurately along the entire length of the travel route, and all transport trains must be equipped with transmitters and receivers for the signal lines. Therefore, like the one-sensor type, it has the disadvantage of high cost.

(Means for Solving the Problems) The present invention proposes a traveling control method for a transport train that can solve the conventional problems as described above, and its characteristics are as follows: When the master station controller communicates with one transport train, the content of the communication is read and stored by the controller of the other transport train, so that each transport train can know the position of the other transport train. The purpose of this system is to provide information regarding running conditions, etc., and to perform independent running control of each transportation train based on this information.

(Example) In FIG. 1, 1 is a transport train that can run on its own along a fixed route, and each train from No. 1 to No. N is given a unique train number. 2a and 2b are two signal lines stretched along the travel route of each transport train 1, and each train 1 is provided with collectors 3a and 3b that come into sliding contact with the signal lines 2a and 2b. ing. 4 is the signal line 2a,
2b is a master station controller that controls the running of all transport trains 1, and is composed of a sequencer (programmable controller) 5 and a multiplex transmission transmitter/receiver la6 connected to the sequencer (programmable controller) 5.

Each transport train 1 serving as a slave station to the master station controller 4 is equipped with a travel control controller 7, as shown in FIG. This controller 7 is CP
It is composed of a microcomputer consisting of a U (central processing unit) 8, an input/output board 10 that connects the CPU 8 to the collectors 3a and 3b and the motor controller 9, and a memory 11 that stores various data and control programs. The motor controller 9 controls the rotational direction, rotational speed, etc. of the motor 13 that drives the drive wheels 12 of the transportation train 1.

As shown in FIG. 3, the traveling route of the transport train 1 is divided into sections that are appropriately longer than the total length of one transport train 1, and each section is assigned a unique address. Each transport train 1 is equipped with an address detection function for detecting the address at which it is currently located. Further, before the master station controller 4 controls the running of each transport train 1, address link information on the entire travel route, that is, map information is given to each transport train 1 and stored in the memory 11. Ru.

The master station controller 4 sends various running control commands such as destination commands, start commands, and speed commands to each transport train 1, as well as current position (address), current status (automatic, running speed, abnormality, etc.). ), etc., with the destination train code number attached to the signal line 2a.

2b. On each transport train 1 side, signal line 2a
, 2b are constantly read by the CPU 8 via the collectors 3a, 3b and the input/output board 10,
As shown in the flowchart of FIG. 4, it is determined from the destination train code number whether the signal is addressed to the own army or not. If the signal is addressed to its own military, it decodes the signal contents and determines whether it is a data transmission command or a travel control command. All data such as the current position and current status of each transport train 1 is stored in the memory 1.
If it is a data transmission command, predetermined data is read from the memory 11 based on the contents of the command and transmitted from the input/output boat 10 to the signal lines 2a, 2b via the collectors 3a, 3b. Further, if it is a travel control command, the contents of the command are received, taken into the memory 11, and stored.

The master station controller 4 receives data transmitted from each transport train 1 through signal lines 2a and 2b, captures and stores it in memory, and stores data transmitted from each transport train 1 on the travel route.
Manage the location and status of.

Transport train 1 with running control commands loaded into memory 11
The vehicle starts in response to a start command and automatically travels along the designated route to the designated destination address.
゛Even if the signal received from the signal lines 2a, 2b is a signal addressed to another vehicle, the content of the signal is similarly decoded to determine whether it is a data transmission command or a travel control command. If it is a data transmission command, then the transmission data addressed to the master station controller transmitted from the transport train 1 of the corresponding train number to the signals L12a and 2b is received, and the memory 1
In step 1, write in the corresponding column of the data table for each train number. In addition, if it is a traveling control command, the contents of the command are received and 8 of the data table for each train number is received.
Write in the pig (fund).

The above actions are executed according to a program set and stored in the memory 11, and as a result, each transport train 1
From the data table for each train number stored in the memory 11, it has information about the addresses and conditions of all other transport trains 1. Therefore, by setting and executing the necessary search program, it is possible to check whether the transport train 1 is present at the selected address, and if so, whether the train 1 is stopped or not, and whether the train is running at low speed. It is possible to determine the situation, such as whether the vehicle is inside or driving at high speed.

In the memory 11 of the travel control controller 7 in each transport train 1, a travel control program for preventing a rear-end collision is set and stored, which is executed using information obtained from the above data table. Rear-end collision prevention control using this program will be explained below.

Each transport train 1 uses the information stored in the memory 11 in its respective controller 7 to determine at which address its own army is located, and to check the location of other vehicles at each address from the address where its own army is located to two addresses ahead. For example, as shown in Figure 3, the No. 2 train at No. 4 is constantly reading out the status of other cars (whether they are traveling at high speed or not), whether they are occupied or vacant, and if other cars are present. 1
To explain this using an example, we know that our army is at address 4, and from the address link information we know that the next address after address 4 is address 5, and the 2nd address is address 6, so the 5th address up to 2nd address and A search is made to see if any of the 6th seats are vacant. In the illustrated example, since all seats are vacant, the No. 2 train 1 can run at high speed. Now, if another car (train No. 3) is stopped at No. 7, when No. 2 train No. 1 moves from No. 4 to No. 5, the next No. 6 is vacant, but the next No. 7 is empty.
The fact that another car is present at the address and that the other car (train No. 3) is not running at high speed is read from the information held by the own army, and as a result, the own army (train No. 2) is able to drive at high speed on its own. The wheel drive motor 13 is decelerated via the motor controller 9 so as to switch from low speed to low speed travel.

When the No. 2 train 1, which has switched to low-speed running, moves to the next number 6, it is read that another car is present at the next No. 7, so the No. 2 train 1 switches the motor controller to stop on its own. A stop command is output to address 9, and the machine automatically stops at address 6.

If No. 2 train 1 moves from No. 4 to No. 5, 7
If the No. 3 train 1 at the address has started running at high speed, the No. 2 train 1 entering No. 5 will continue to run at high speed without switching to low speed.

With the above-mentioned rear-end collision prevention control, each transport train 1 will run at low speed only when the other vehicle is not traveling at high speed (stopping, running at low speed, etc.) when it approaches address 2 in front of the address where another vehicle is present. The vehicle will automatically stop at one address before the other vehicle's address, avoiding a rear-end collision.

(Operations and Effects of the Invention) As described above, according to the traveling control method of the present invention, when various commands and information are communicated between the transport train corresponding to the slave station and the master station controller, the contents of the communication are transmitted. By having the controllers of other transport trains that are not the target read and store information, each transport train has information regarding the position and running status of other transport trains, and based on this information, each transport train can independently For example, the rear-end collision prevention control described in the embodiment is performed, so there is no need for conventional rear-end collision prevention control sensors, signal lines, transceivers, etc., and the master station controller and each transport The running control controller installed in each transport train can be used as is to control the running based on the means of transmitting various commands and information between the transport train and the commands received from the master station controller. This allows each transportation train to carry out necessary travel control such as preventing rear-end collisions.

Moreover, instead of decelerating simply because the vehicle is approaching another vehicle, based on the state of the other vehicle read from the previous information, it is determined that the other vehicle has already started traveling at high speed, for example, as described in the embodiment. If it is, it is possible to perform very detailed control such as not performing deceleration control, and it is possible to efficiently utilize each transport train without blindly decelerating it. Of course, all the drawbacks of rear-end collision prevention control using a single-sensor system are eliminated.

[Brief explanation of the drawing]

Figure 1 is a schematic side view illustrating the signal transmission system between the master station controller and each transport train, Figure 2 is a block diagram explaining the configuration of each transport train, and Figure 3 is a diagram showing the travel route. The diagrams illustrating the set addresses and FIGS. 4 and 5 are flowcharts illustrating the control method. DESCRIPTION OF SYMBOLS 1... Transport train, 2a, 2b... Signal line for multiplex transmission, 3a, 3b... Collector, 4... Master station controller, 7... Controller for travel control. Figure 1 Figure 3 Figure 5

Claims (1)

[Claims] A running control controller is installed on each of the multiple transport trains that run on a fixed route, and various commands and instructions are sent between the master station controller that controls the running of all transport trains and the controller of each transport train. In a system in which position information, etc. is exchanged using a multiplex transmission method using signal lines arranged along the route, when communicating between the master station controller and one transport train, By having the controllers of other transport trains read and store the communication content, each transport train has information regarding the position and running status of other transport trains, and based on this information, each transport train A method for controlling the running of a transport train, characterized by performing running control unique to the train.