JP2004110109A - Abnormality restoration control device and control method for automated carrier system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable an operator to easily grasp the cause of abnormality by displaying a list of abnormality restoration conditions even when the combinations of interlocking conditions are various. <P>SOLUTION: The combinations of sensors constituting the interlocking conditions corresponding to each of various abnormalities are stored beforehand in a storage means 5. When abnormality occurs, the output of various sensors is incorporated by a CPU 11 through a sensor input means 9, and the corresponding interlocking conditions are searched and led out of the storage means 5 from the incorporated present condition of each sensor. The abnormality restoration conditions formed of the combination of the sensors constituting the led out interlocking conditions, for releasing the interlocking conditions are formed, and a display means 7 is controlled to display the list of the abnormality restoration conditions. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an abnormality recovery control device for an unmanned transport system that guides an unmanned transport vehicle traveling along a predetermined traveling path to a target position among a plurality of transfer positions and loads or unloads the unmanned transport vehicle, and It relates to a control method.
[0002]
[Prior art]
Generally, when controlling an automatic guided vehicle that automatically loads or unloads in a building, for example, a data storage unit including a memory provided in a controller indicates a position of a loading / unloading destination in the building in advance. The transfer position data is stored, and the transfer position data is fetched by the control CPU of the automatic guided vehicle, and is arranged on a predetermined traveling path on the floor until a predetermined transfer position based on the fetched transfer position data. The traveling motor, which is a power source of the automatic guided vehicle, is driven while traveling while detecting the position detection mark thus loaded, and is loaded or unloaded.
[0003]
In this type of automatic guided vehicle system, when an abnormality occurs, a display device including a liquid crystal display is mounted on the automatic guided vehicle in order to prepare for a state in which the automatic operation cannot be performed as described above. Is displayed, and when the cause of the abnormality is limited to a small number, the cause and a specific recovery method are displayed.
[0004]
[Patent Document 1]
JP-A-10-124145 (page 3, FIG. 4)
[0005]
[Problems to be solved by the invention]
However, the above-described abnormal recovery in the conventional unmanned transport system has a problem that when the combination of interlock conditions is diversified, specific recovery conditions cannot be displayed.
[0006]
Also, depending on the state of the automatic guided vehicle at that time, the recovery conditions may be different even under the same interlock conditions, so recovery cannot be performed by itself or the manufacturer must be consulted. There was a problem that it became complicated.
[0007]
Therefore, an object of the present invention is to display a list of abnormality recovery conditions so that an operator can easily grasp the cause of an abnormality even when the combinations of interlock conditions are various.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the control device according to the present invention guides an automatic guided vehicle traveling along a predetermined traveling path to a destination position among a plurality of transfer positions to load or unload the vehicle. In the error recovery control device of the unmanned transport system that performs unloading, multiple sensors are installed at locations where abnormalities are predicted to detect abnormalities at each location, and interlock conditions corresponding to each type of abnormalities are configured The interlock comprising a combination of the sensor that holds the combination of the sensors to be used and the sensor that composes the interlock condition that derives the interlock condition corresponding to the current state of each sensor from the holding unit. Recovery condition forming means for forming an abnormal recovery condition for canceling the condition; and Display means for displaying a list of normal restoration condition on a screen, is characterized in that a control means for controlling said each means receives the output of the sensors (claim 1).
[0009]
According to such a configuration, a combination of sensors constituting an interlock condition corresponding to each of various kinds of abnormalities is held in the holding unit in advance, and when an abnormality occurs, the interlock condition is released by the recovery condition forming unit. Are established and displayed in a list on the display means.
[0010]
Therefore, even when the combinations of the interlock conditions are various, the operator can easily grasp the cause of the abnormality and can select the most appropriate countermeasure according to the state of the automatic guided vehicle. .
[0011]
Further, in the control device according to the present invention, the control unit controls the respective units to cancel the abnormality in response to the cancellation of the interlock condition performed according to the abnormality recovery condition displayed on the screen of the display unit. (Claim 2).
[0012]
According to such a configuration, when a countermeasure is selected and executed by the operator based on the abnormality recovery conditions displayed in a list, each unit is controlled by the control unit in accordance with the cancellation of the executed interlock condition. Since the error is canceled and the operator can select and execute an appropriate countermeasure, the system can quickly recover from the error.
[0013]
Further, in the control method according to the present invention, a sensor for detecting an abnormality is installed at a location where an abnormality is predicted, and a combination of the sensors constituting an interlock condition corresponding to each of various types of abnormalities is set in advance. The interlock condition corresponding to the current state of each sensor is derived from the holding unit, and the interlock condition is released from the combination of the sensors constituting the derived interlock condition. And displaying the list on the screen of the display means.
[0014]
According to such a configuration, a combination of sensors constituting an interlock condition corresponding to each of various types of abnormalities is held in the holding unit in advance, and when an abnormality occurs, an abnormality recovery condition for canceling the interlock condition is set. Since it is formed and displayed on the display means, even when the combination of interlock conditions is various, the operator can easily grasp the cause of the abnormality and take the most appropriate countermeasure according to the state of the automatic guided vehicle. Can be selected.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described with reference to FIGS. However, FIG. 1 is a block diagram of the unmanned transport system, and FIG. 2 is an operation explanatory diagram.
[0016]
The abnormality recovery control device for an unmanned transport system according to the present embodiment is configured as shown in FIG. That is, as shown in FIG. 1, the control device 1 includes various operation switches 3 arranged on a panel of the device 1 and layout data including address data such as a transfer position in a layout based on a home position. And a storage means 5 composed of a recording medium such as a CD-ROM or a DVD in which screen data for displaying a predetermined screen on a display means to be described later is stored in advance. And a display means 7 including a liquid crystal display for displaying a layout screen based on layout data, an abnormality recovery screen, and the like. Sensor input means 9 for inputting signals from a plurality of sensors for detecting abnormalities at respective points, and control of these means Has a CPU11 govern. Note that the storage unit 5 is not limited to the case where the storage medium 5 is formed of the above-described recording medium, and may be an HDD, a memory, or the like.
[0017]
Incidentally, various sensors constituting the sensor group will be specifically described. Now, the traveling direction of the automatic guided vehicle is defined as a vertical (east-west) direction and a horizontal (north-south) direction. For example, regarding the automatic guided vehicle traveling, a plurality of vertical and horizontal points, vertical and horizontal intersections, and loading or unloading. A bogie sensor for detecting whether or not an automatic guided vehicle is present at each of the vertical and horizontal joining positions for performing the operation, and a traveling switching detection for detecting a traveling vehicle height. A sensor, a trolley positioning sensor for detecting the trolley height, a table height detection sensor for detecting the height of the table of the transfer apparatus with respect to the transfer apparatus for loading or unloading the automatic guided vehicle, and a rail. Position detection sensor, chain guide position detection sensor, stopper height detection sensor for detecting the height of the stopper of the transfer device, snake position detection sensor for detecting the limit of the snake chain, and hook height A hook height detection sensor for detecting, by various sensors such as the type detecting sensor for detecting the presence or absence of Togo type, sensors are configured.
[0018]
In addition, in addition to the layout data described above, a combination of sensors constituting interlock conditions corresponding to various types of abnormalities are stored in the storing unit 5 in advance. The interlock conditions are obtained by retrieving the relevant interlock conditions from the storage means 5 based on the current state of each of the sensors, and deriving the interlock conditions from the sensors. Is formed, and the display unit 7 is controlled to display a list of the abnormal recovery conditions on the display unit 7.
Here, the storing means 5 corresponds to the holding means in the present invention, the processing for forming the recovery condition by the CPU 11 corresponds to the abnormal recovery forming means in the present invention, and the control processing of each means by the CPU 11 corresponds to the present invention. Corresponds to the control means.
[0020]
FIG. 2 shows an example of the abnormality recovery screen at that time. Briefly describing this screen, horizontal arrangement means "AND", vertical arrangement means "OR", and black characters are filled with white characters. Indicates the condition in which white and black characters are not satisfied.
[0021]
Then, in order to satisfy the unsatisfied condition, it suffices to take measures so that the sensor state being displayed is in the opposite state, for example, when the trolley position is displayed as "not integrated" in white and black characters By setting the carriage position to the mating position, the character is changed to black and white characters, and a part or all of the condition is satisfied.
[0022]
In order to perform the automatic operation of transfer, lateral running, and vertical traveling respectively, in the “automatic mode start-up error screen” which is the error recovery screen as shown in FIG. All you have to do is put out the characters. Specifically, in the case of FIG. 2, there are the following four types of abnormality recovery conditions for performing the lateral running. In other words, (1) the cart position is "horizontal up", the travel switching is "north-south", the table is "down", the rail is "in", the chain guide is "closed", the stopper is "out", and the snake chain is "return".・ When the hook is “closed” and the type detection is “yes”, ▲ 2 ▼ The truck position is “horizontal upward”, the traveling switching is “north-south”, the table is “down”, the rail is “in”, and the chain guide is When the "closed", the snake chain is "in the trolley", and the type detection is "no", (3) the trolley position is "intersection", the positioning is "medium", the travel switching is "east-west", and the table is "down". When the rail is “in”, the chain guide is “closed”, the stopper is “out”, the snake chain is “return”, the hook is “closed”, and the type detection is “yes”, the trolley position is “intersection”.・ Positioning is “Medium” ・ Driving switching is “East / West” ・ Table is “Lower” When "closed" Snake chain is "in the truck" - type detection is "no", is four.
[0023]
Now, in order to perform the lateral running in the situation of FIG. 2, the hook is closed and the above condition (1) is satisfied, or the type detection is not performed and the condition of (2) is not satisfied. It turns out that it is easiest to satisfy the condition.
[0024]
In addition to these, although complicated, the position of the cart is "intersection", the positioning is "medium", the travel switching is "east-west", and the hook is "closed" to satisfy the above condition (3). Alternatively, the lateral traveling start-up condition is also satisfied by setting the cart position to "intersection", the positioning to "medium", the traveling switching to "east-west", and the type detection to "nothing" to satisfy the above condition (4). To make it possible to run laterally. Further, the other start-up conditions may be the same as the lateral running start-up conditions.
[0025]
In this way, a combination of sensors constituting the interlock condition corresponding to each of various types of abnormalities is stored in the storage unit 5 in advance, and when an abnormality occurs, an abnormal recovery condition for releasing the interlock condition by the CPU 11 is formed. Then, a list is displayed on the display means 7.
[0026]
Therefore, according to the above-described embodiment, even when the combination of the interlock conditions is diversified, the operator can easily grasp the cause of the abnormality, and furthermore, the most appropriate according to the state of the automatic guided vehicle. A countermeasure can be selected and executed, and the system can be quickly restored to an abnormal state.
[0027]
In the above-described embodiment, in addition to the layout data and various screen data, a combination of sensors constituting an interlock condition corresponding to each of various abnormalities is stored and stored in the storage unit 5, The combination of the sensors constituting the interlock condition corresponding to each of the various abnormalities may be stored in the internal memory of the CPU 11 or another external memory not shown in FIG. .
[0028]
Further, in the above-described embodiment, an example of the abnormality recovery screen is shown in FIG. 2, but this is merely an example, and the abnormality recovery screen is not limited to the example of FIG. 2. Further, the sensors to be provided are not limited to those described above.
[0029]
Further, the present invention is not limited to the above-described embodiment, and various changes other than those described above can be made without departing from the gist of the present invention.
[0030]
【The invention's effect】
As described above, according to the first and third aspects of the present invention, a combination of sensors constituting an interlock condition corresponding to each type of abnormality is held in the holding unit in advance, and when an abnormality occurs, the interlock Since the abnormality recovery condition for canceling the condition is formed and displayed on the display means, even when the combination of the interlock conditions is various, the operator can easily grasp the cause of the abnormality, Moreover, it is possible to select the most appropriate countermeasure according to the state of the automatic guided vehicle.
[0031]
According to the second aspect of the present invention, when a countermeasure is selected and executed by the operator based on the abnormality recovery conditions displayed in a list, the control unit responds to the cancellation of the executed interlock condition. Thus, each means is controlled and the abnormality is canceled, so that the operator can select and execute an appropriate countermeasure, and the system can be quickly restored to the abnormal state.
[Brief description of the drawings]
FIG. 1 is a block diagram of a control device according to an embodiment of the present invention.
FIG. 2 is an operation explanatory diagram of one embodiment of the present invention.
[Explanation of symbols]
1 Abnormality recovery control device 5 Storage means (holding means)
7 display means 11 CPU (recovery condition forming means, control means)

Claims (3)

In an abnormality recovery control device of an unmanned transport system that guides an automated guided vehicle traveling along a predetermined traveling path to a destination position among a plurality of transfer positions and loads or unloads the automated guided vehicle,
A plurality of sensors installed at locations where anomalies are predicted to detect anomalies at each location;
Holding means for holding a combination of the sensors constituting an interlock condition corresponding to each of various abnormalities,
The interlock condition corresponding to the current state of each sensor is derived from the holding unit, and an abnormality recovery condition for canceling the interlock condition is formed by a combination of the sensors constituting the derived interlock condition. Recovery condition forming means;
Display means for displaying a list of the abnormal recovery conditions formed by the recovery condition forming means on a screen,
Control means for taking in the output of each of the sensors and controlling each of the means;
An abnormal recovery control device for an unmanned transport system, comprising: 2. The control device according to claim 1, wherein the control unit controls each of the units to cancel an abnormality in response to cancellation of the interlock condition performed in accordance with the abnormality recovery condition displayed on a screen of the display unit. 3. An abnormal recovery control device for an unmanned transfer system as described in the above. In an abnormality recovery control method for an unmanned transport system that guides a guided vehicle traveling along a predetermined traveling path to a destination position among a plurality of transfer positions and loads or unloads the automated guided vehicle,
A sensor for detecting an abnormality is installed at a location where an abnormality is predicted, and a combination of the sensors constituting an interlock condition corresponding to each of various types of errors is set in advance and held in a holding unit. Deriving the corresponding interlock condition from the current state of the sensor from the holding means,
An abnormal recovery of the unmanned transport system, comprising a combination of the sensors constituting the derived interlock condition, forming an abnormal recovery condition for canceling the interlock condition, and displaying a list on a screen of a display means. Control method.

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