Carriage running control system

• US 5,267,173 A
• Filed: 10/11/1991
• Issued: 11/30/1993
• Est. Priority Date: 10/23/1990
• Status: Expired due to Fees

• Current Assignee: Daifuku Company Limited
• Original Assignee: Daifuku Company Limited
• Inventors: Iwama, Michio, Watanabe, Yoshitaka, Tanizawa, Hideichi
• Primary Examiner(s): RUGGIERO, JOSEPH F
• Application Number:
  US07/775,160
• Time in Patent Office: 781 Days
• Field of Search: 364/478, 364/468, 364/424.01, 364/424.02, 364/461, 104/88, 180/167, 180/168, 180/169, 318/587, 235/375, 235/384, 235/385
• US Class Current: 700/229
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0263 using magnetic strips
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

A carriage running control system includes a plurality of readable and writable memory media installed along a running track of carriages. Each carriage is capable of communicating information with the memory media. The running track includes special zones such as curved sections, branching sections, merging sections, and sections including stations. When a preceding carriage is present in one of such special zones, the memory medium disposed at the entry end of this zone supplies presence information to a succeeding carriage to prevent the latter from entering the zone. A detector is disposed at the exit end of each such zone for detecting departure of the carriages and resetting the memory medium at the entry end.

Claims

1. A carriage running control system comprising:

a plurality of carriages;

a zone included in a running track of the carriages;

at least one memory medium installed on the ground adjacent an entry end of said predetermined zone, said memory medium being a read-write memory medium for reading and writing information;

detecting means disposed adjacent an exit end of said predetermined zone for detecting passage of each said carriage;

each said carriage including;

communication means for communicating the information with said memory medium, and

control means for controlling running of said carriages based on the information read by said communication means;

wherein said control means stops each said carriage when the information read by said communication means includes presence information indicating the presence of a preceding carriage in said predetermined zone while said control means otherwise allows said carriage to enter said predetermined zone after causing said communication means to write presence information into said memory medium, with said control means resetting said presence information when passage of the carriage is detected by said detecting means.

2. A carriage running control system as claimed in claim 1, wherein said memory medium is constructed to store running control information applicable to said predetermined zone.

3. A carriage running control system as claimed in claim 2, wherein said control means effects running control based on said running control information read from said memory medium.

4. A carriage running control system as claimed in claim 1, wherein said carriages run along a guideline.

5. A carriage running control system as claimed in claim 4, wherein said guideline is in loop form, and comprises a magnetic member having a rectangular cross section with an N-pole disposed on a front thereof and an S-pole disposed on a back, said magnetic member being surrounded by an epoxy resin flush with a track surface.

6. A carriage running control system as claimed in claim 4, further comprising a supplementary guideline extending parallel to and spaced from a predetermined section of said guideline, said control means effecting a line change control for causing the carriage to run from the predetermined section of said guideline to said supplementary guideline.

7. A carriage running control system as claimed in claim 6, wherein said control means executes the line change control for causing the carriage to return to the predetermined section of said guideline after running from the predetermined section of said guideline to said supplementary guideline.

8. A carriage running control system as claimed in claim 7, wherein said memory medium stores running control information for allowing execution of said line change control, said communication means reading said running control information from said memory medium as the carriage approaches said memory medium, said control means executing said line change control based on said running control information read by said communication means.

9. A carriage running control system as claimed in claim 4, wherein each of said carriages is controllable to follow said guideline and to run autonomously in predetermined sections of said guideline from an upstream guideline to a downstream guideline.

10. A carriage running control system as claimed in claim 9, further comprising safety means for use when each carriage fails to run onto said downstream guideline.

11. A carriage running control system as claimed in claim 10, wherein said safety means includes a restrictor line, a sensor mounted on each said carriage for sensing said restrictor line and said control means, said restrictor line distinguishable from said downstream guideline and extending substantially parallel to and spaced, in a downstream direction with respect to a running direction along said upstream guideline, from said downstream guideline, said control means determining from detection by said sensor of said restrictor line that the carriage has failed to run onto said downstream guideline.

12. A carriage running control system as claimed in claim 11, wherein said guideline is a magnetic line having one of magnetic poles to be detected, and said restrictor line is a magnetic line having the other magnetic pole to be detected.

13. A carriage running control system as claimed in claim 3, wherein each of said carriages further includes measuring means for measuring a running distance based on a rotating rate of a ground wheel of the carriage.

14. A carriage running control system as claimed in claim 13, wherein said memory medium stores distance information indicating a distance to an adjacent memory medium, said control means determining that a permissible error is exceeded by a difference between said distance information read by said communication means as the carriage approaches said memory medium and said running distance measured by said measuring means as the carriage runs from said memory medium to said adjacent memory medium.