Branching and converging control system and method for rail type carrier

Abstract

The invention discloses a diverging and converging control system and method for rail-mounted carriers. A first straight vehicle runs on a first running rail of the system, a second straight vehicle runs on a second running rail of the system, and a diverging and converging vehicle runs on a diverging and converging rail which runs from the first running rail, passes through the diverging and converging rail and then is merged into the second running rail; the first straight-going vehicle is provided with a first vehicle PLC and a photoelectric communication module B5, and the second straight-going vehicle is provided with a second vehicle PLC and a photoelectric communication module B6; the master control PLC issues a driving control instruction for a first straight vehicle to the first vehicle PLC according to the states of the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4 and the photoelectric sensor S6; and the main control PLC issues a driving control instruction for the second straight vehicle to the second vehicle PLC according to the states of the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4 and the photoelectric sensor S6. The influence of the outside on communication is reduced, and the running safety and reliability of the rail type carrier are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of transport vehicle control, and in particular relates to a divergence and merging control system and method for a rail-type transport vehicle. Background Art

[0002] The rail-mounted transport vehicle system is an automated logistics system that uses rail-mounted trolleys for material handling. It mainly includes rail-mounted trolleys, guide rails, material stations and control systems. Among them, the rail-mounted trolley is responsible for moving on the guide rails to complete the material handling task. The guide rails provide tracks for the trolley to move, ensuring that the trolley travels along the preset path. The material station is used for loading and unloading materials, and the control system is responsible for the operation control and scheduling of the trolley.

[0003] At present, in the rail transport vehicle system, before entering the diverging and merging section of the track, the rail transport vehicle needs to know whether there are other vehicles in the diverging and merging section to avoid collision. The traditional contact sensor interaction method is easily affected by the outside world. For example, when there is an object blocking the optical communication module, the vehicle communication will be interrupted, affecting the stability and safety of the entire rail transport vehicle system. Summary of the invention

[0004] To this end, the present invention provides a divergence and merging control system and method for a rail-mounted transport vehicle to solve the problem of potential safety hazards caused by poor communication stability in traditional technologies.

[0005] In order to achieve the above-mentioned object, the present invention provides the following technical solution: a divergence and merging control system of a rail-type transport vehicle, comprising a first running track, a second running track and a divergence and merging track; a divergence section entrance is formed at the intersection of the first running track and the divergence and merging track, and a merging section exit is formed at the intersection of the second running track and the divergence and merging track; A photoelectric sensor S1 is provided at the entrance of the diverging section, a photoelectric sensor S2 and a photoelectric sensor S3 are provided at the diverging merging track, and a photoelectric sensor S4 is provided at the exit of the merging section; a photoelectric sensor S5 is provided at the entrance side of the exit of the merging section on the second running track, and a photoelectric sensor S6 is provided at the exit side of the exit of the merging section on the second running track; It also includes a main control PLC, an optoelectronic communication module B1 and an optoelectronic communication module B2; a first straight vehicle is running on the first driving track, a second straight vehicle is running on the second driving track, and a diverging and merging vehicle is running on the diverging and merging track, which enters from the first driving track and then merges into the second driving track; the first straight vehicle is equipped with a first vehicle PLC and an optoelectronic communication module B5, and the second straight vehicle is equipped with a second vehicle PLC and an optoelectronic communication module B6; The photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, the photoelectric sensor S5, and the photoelectric sensor S6 are all connected to the main control PLC; the main control PLC is connected to the first vehicle PLC through the photoelectric communication module B1 and the photoelectric communication module B5; the main control PLC is connected to the second vehicle PLC through the photoelectric communication module B2 and the photoelectric communication module B6; The master control PLC issues a driving control instruction for the first straight-moving vehicle to the first vehicle PLC according to the states of the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6; The main control PLC issues a driving control instruction for the second straight-moving vehicle to the second vehicle PLC according to the states of the photoelectric sensor S1 , the photoelectric sensor S2 , the photoelectric sensor S3 , the photoelectric sensor S4 , and the photoelectric sensor S6 .

[0006] As a preferred solution of the divergence and merging control system of the rail transport vehicle, it also includes an optoelectronic communication module B3, and the divergence and merging vehicle is equipped with a third vehicle PLC and an optoelectronic communication module B4; the main control PLC establishes a connection through the optoelectronic communication module B3, the optoelectronic communication module B4 and the third vehicle PLC; The master control PLC controls the following diverging and merging vehicle to stop entering the diverging and merging track before the diverging section entrance according to the signal that there is a diverging and merging vehicle in front running on the diverging and merging track; The master control PLC controls the following divergent merging vehicle to enter the divergent merging track according to a signal that there is no preceding divergent merging vehicle running on the divergent merging track.

[0007] As a preferred solution for the divergence and merging control system of the rail-mounted transport vehicle, when the photoelectric sensor S2 is in the sensing-off state, and at least one of the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing-on state, the main control PLC sends an instruction to the first vehicle PLC to allow the first straight-moving vehicle to continue moving straight through the divergence section entrance.

[0008] As a preferred solution for the divergence and merging control system of the rail-mounted transport vehicle, when the photoelectric sensor S2 is in the sensing-on state, and at least one of the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing-off state, the main control PLC sends an instruction to the first vehicle PLC to prohibit the first straight-moving vehicle from continuing to move straight through the divergence section entrance.

[0009] As a preferred solution for the divergence and merging control system of the rail-mounted transport vehicle, when the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 are all in the sensing-off state, the main control PLC sends an instruction to the second vehicle PLC to allow the second straight-moving vehicle to continue moving straight through the merging section exit.

[0010] As a preferred solution for the divergence and merging control system of the rail-mounted transport vehicle, when at least one of the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing on state, the main control PLC sends an instruction to the second vehicle PLC to prohibit the second straight-moving vehicle from continuing to move straight through the merging section exit.

[0011] As a preferred solution of the diverging and merging control system of the rail-mounted transport vehicle, it is determined whether the second straight-moving vehicle is heading for the merging section exit by sensing the on or off state of the photoelectric sensor S5.

[0012] The present invention also provides a divergence and merging control method for a rail-mounted transport vehicle, comprising the following steps: The master control PLC controls whether the following diverging merging vehicle enters the diverging merging track according to the signal of whether there is a diverging merging vehicle in front running on the diverging merging track; The main control PLC controls whether the first vehicle on the first running track continues to go straight through the diverging section entrance according to whether there is a diverging merging vehicle signal running on the diverging merging track; The main control PLC controls whether the second vehicle on the second running track continues to go straight through the merging section exit according to whether there is a divergent merging vehicle signal running on the divergent merging track.

[0013] As a preferred solution of the diverging and merging control method of the rail transport vehicle, the master control PLC controls the following diverging and merging vehicle to stop entering the diverging and merging track before the diverging section entrance according to the signal that there is a diverging and merging vehicle in front running on the diverging and merging track; The master control PLC controls the following divergent merging vehicle to enter the divergent merging track according to a signal that there is no preceding divergent merging vehicle running on the divergent merging track.

[0014] The present invention has the following advantages: a photoelectric sensor S1 is provided at the entrance of the diverging section, a photoelectric sensor S2 and a photoelectric sensor S3 are provided on the diverging merging track, and a photoelectric sensor S4 is provided at the exit of the merging section; a photoelectric sensor S5 is provided on the entrance side of the exit of the merging section of the second running track, and a photoelectric sensor S6 is provided on the exit side of the exit of the merging section of the second running track; a first straight-moving vehicle runs on the first running track, a second straight-moving vehicle runs on the second running track, and a diverging vehicle runs on the diverging merging track, which enters from the first running track, passes through the diverging merging track, and then merges into the second running track. Merging vehicles; the first straight vehicle is equipped with a first vehicle PLC and an optoelectronic communication module B5, and the second straight vehicle is equipped with a second vehicle PLC and an optoelectronic communication module B6; the main control PLC sends a driving control instruction for the first straight vehicle to the first vehicle PLC according to the status of the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6; the main control PLC sends a driving control instruction for the second straight vehicle to the second vehicle PLC according to the status of the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6. The present invention can realize non-contact communication control, effectively reduce the impact of the outside world on communication, and ensure the safety and reliability of the operation of the rail transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0016] Figure 1 It is a schematic diagram of the architecture of a diverging and merging control system of a rail-mounted transport vehicle provided in an embodiment of the present invention; Figure 2 A schematic diagram of an operation scenario of a divergence and merging control system for a rail-mounted transport vehicle provided in an embodiment of the present invention; Figure 3 It is a flow chart of a divergence and merging control method for a rail-mounted transport vehicle provided in an embodiment of the present invention.

[0017] In the figure, 1, the first driving track; 2, the second driving track; 3, the diverging and merging track; 4, the diverging section entrance; 5, the merging section exit; 6, the main control PLC; 7, the first vehicle PLC; 8, the second vehicle PLC; 9, the third vehicle PLC; 10, the first straight-moving vehicle; 11, the second straight-moving vehicle; 12, the diverging and merging vehicles. DETAILED DESCRIPTION

[0018] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example 1 See also Figure 1 and Figure 2 The embodiment of the present invention provides a divergence and merging control system for a rail-type transport vehicle, comprising a first travel track 1, a second travel track 2 and a divergence and merging track 3; a divergence section entrance 4 is formed at the intersection of the first travel track 1 and the divergence and merging track 3, and a merging section exit 5 is formed at the intersection of the second travel track 2 and the divergence and merging track 3; A photoelectric sensor S1 is provided at the position of the diverging section entrance 4, a photoelectric sensor S2 and a photoelectric sensor S3 are provided at the diverging merging track 3, and a photoelectric sensor S4 is provided at the position of the merging section exit 5; a photoelectric sensor S5 is provided at the entrance side of the merging section exit 5 of the second running track 2, and a photoelectric sensor S6 is provided at the exit side of the merging section exit 5 of the second running track 2; It also includes a main control PLC6, an optoelectronic communication module B1 and an optoelectronic communication module B2; a first straight vehicle 10 is running on the first driving track 1, a second straight vehicle 11 is running on the second driving track 2, and a divergent merging vehicle 12 is running on the divergent merging track 3, which enters from the first driving track 1 and then merges into the second driving track 2; the first straight vehicle 10 is equipped with a first vehicle PLC7 and an optoelectronic communication module B5, and the second straight vehicle 11 is equipped with a second vehicle PLC8 and an optoelectronic communication module B6; The photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, the photoelectric sensor S5, and the photoelectric sensor S6 are all connected to the main control PLC6; the main control PLC6 is connected to the first vehicle PLC7 through the photoelectric communication module B1 and the photoelectric communication module B5; the main control PLC6 is connected to the second vehicle PLC8 through the photoelectric communication module B2 and the photoelectric communication module B6; The master control PLC6 issues a driving control instruction for the first straight-moving vehicle 10 to the first vehicle PLC7 according to the states of the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6; The main control PLC6 issues a driving control instruction for the second straight-moving vehicle 11 to the second vehicle PLC8 according to the states of the photoelectric sensor S1 , the photoelectric sensor S2 , the photoelectric sensor S3 , the photoelectric sensor S4 , and the photoelectric sensor S6 .

[0020] In this embodiment, it also includes a photoelectric communication module B3, and the divergent merging vehicle 12 is equipped with a third vehicle PLC9 and a photoelectric communication module B4; the main control PLC6 establishes a connection through the photoelectric communication module B3, the photoelectric communication module B4 and the third vehicle PLC9; the main control PLC6 controls the rear divergent merging vehicle 12 to stop entering the divergent merging track 3 before the divergent section entrance 4 according to the signal that there is a leading divergent merging vehicle 12 running on the divergent merging track 3; the main control PLC6 controls the rear divergent merging vehicle 12 to enter the divergent merging track 3 according to the signal that there is no leading divergent merging vehicle 12 running on the divergent merging track 3.

[0021] Specifically, before the diverging and merging vehicle 12 at the rear enters the diverging and merging track 3 from the first driving track 1, the main control PLC6 determines whether there is a diverging and merging vehicle 12 at the front running on the diverging and merging track 3. If there is a diverging and merging vehicle 12 at the front running on the diverging and merging track 3, the main control PLC6 communicates with the third vehicle PLC9 through the photoelectric communication module B3, the photoelectric communication module B4, and issues a stop operation instruction to the diverging and merging vehicle 12 at the rear, and the diverging and merging vehicle 12 at the rear stops running before the diverging section entrance 4. If there is no diverging and merging vehicle 12 at the rear running on the diverging and merging track 3, the main control PLC6 When the diverging merging vehicle 12 in front is running, the main control PLC6 communicates through the optoelectronic communication module B3, the optoelectronic communication module B4 and the third vehicle PLC9, and issues an operation instruction to the diverging merging vehicle 12 behind. At this time, the diverging merging vehicle 12 behind enters the diverging merging track 3. There is a diverging merging vehicle 12 on the diverging merging track 3. The diverging merging vehicle 12 drives from the diverging merging track 3 into the second driving track 2 and then goes straight along the second driving track 2. At this time, there is no diverging merging vehicle 12 on the diverging merging track 3, and the diverging merging vehicle 12 behind is allowed to enter the diverging merging track 3.

[0022] In this embodiment, when the photoelectric sensor S2 is in the sensing off state, and at least one of the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing on state, the main control PLC6 sends an instruction to the first vehicle PLC7 to allow the first straight-moving vehicle 10 to continue moving straight through the divergent section entrance 4.

[0023] Specifically, when the photoelectric sensor S2 is in the sensing off state, it indicates that the divergent merging vehicle 12 has entered the divergent merging track 3 or has entered the second driving track 2. The driving position of the divergent merging vehicle 12 can be judged according to the opening state of the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6. At this time, the first straight-moving vehicle 10 can continue to move straight safely through the divergent section entrance 4.

[0024] In this embodiment, when the photoelectric sensor S2 is in the sensing on state, and at least one of the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing off state, the main control PLC6 sends an instruction to the first vehicle PLC7 to prohibit the first straight-moving vehicle 10 from continuing to move straight through the divergent section entrance 4.

[0025] Specifically, when the photoelectric sensor S2 is in the sensing on state, it indicates that the diverging merging vehicle 12 has just started to enter the diverging merging track 3. At this time, the photoelectric sensor S3, the photoelectric sensor S4 or the photoelectric sensor S6 may be in the on state. For example, there is a diverging merging vehicle 12 in front that has traveled to the position of the photoelectric sensor S4, and the photoelectric sensor S4 is in the sensing on state. Since the diverging merging vehicle 12 has just started to enter the diverging merging track 3, at this time, the first straight vehicle 10 will collide with the diverging merging vehicle 12 in front if it continues to go straight through the diverging section entrance 4. Therefore, the main control PLC6 sends an instruction to the first vehicle PLC7 to prohibit the first straight vehicle 10 from continuing to go straight through the diverging section entrance 4 to avoid vehicle collision.

[0026] In this embodiment, when the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 are all in the sensing off state, the master control PLC6 sends an instruction to the second vehicle PLC8 to allow the second straight-moving vehicle 11 to continue to move straight through the merging section exit 5. When at least one of the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing on state, the master control PLC6 sends an instruction to the second vehicle PLC8 to prohibit the second straight-moving vehicle 11 from continuing to move straight through the merging section exit 5.

[0027] Specifically, when the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 are all in the sensing closed state, it indicates that there are no vehicles on the divergent merging track 3 and the second driving track 2 from the merging section exit 5 of the divergent merging track 3 to the photoelectric sensor S6. At this time, the second straight-moving vehicle 11 on the second driving track 2 before the merging section exit 5 is allowed to pass through the merging section exit 5 and continue to go straight along the second driving track 2. If at least one of the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing open state, it indicates that there are vehicles on the divergent merging track 3 and the second driving track 2. At this time, the second straight-moving vehicle 11 on the second driving track 2 before the merging section exit 5 is prohibited from passing through the merging section exit 5 and continuing to go straight along the second driving track 2 to avoid collision. Among them, the sensing open or closed state of the photoelectric sensor S5 is used to determine whether the second straight-moving vehicle 11 is heading towards the merging section exit 5.

[0028] In summary, the present invention is provided with a first running track 1, a second running track 2 and a diverging merging track 3; a diverging section entrance 4 is formed at the intersection of the first running track 1 and the diverging merging track 3, and a merging section exit 5 is formed at the intersection of the second running track 2 and the diverging merging track 3; a photoelectric sensor S1 is provided at the position of the diverging section entrance 4, a photoelectric sensor S2 and a photoelectric sensor S3 are provided at the diverging merging track 3, and a photoelectric sensor S4 is provided at the position of the merging section exit 5; a photoelectric sensor S5 is provided at the entrance side of the merging section exit 5 of the second running track 2, and a photoelectric sensor S6 is provided at the exit side of the merging section exit 5 of the second running track 2; it also includes a main control PLC6, a photoelectric communication module B1 and a photoelectric communication module B2; a first straight vehicle 10 is running on the first running track 1, a second straight vehicle 11 is running on the second running track 2, and a diverging merging vehicle 12 is running on the diverging merging track 3, which enters from the first running track 1 through the diverging merging track 3 and then merges into the second running track 2; the first straight vehicle 1 0 is configured with a first vehicle PLC7 and an optoelectronic communication module B5, and the second straight-moving vehicle 11 is configured with a second vehicle PLC8 and an optoelectronic communication module B6; photoelectric sensors S1, S2, S3, S4, S5 and S6 are all connected to the main control PLC6; the main control PLC6 is connected to the first vehicle PLC7 through the optoelectronic communication module B1 and the optoelectronic communication module B5; the main control PLC6 is connected to the second vehicle PLC8 through the optoelectronic communication module B2 and the optoelectronic communication module B6; the main control PLC6 issues a driving control instruction for the first straight-moving vehicle 10 to the first vehicle PLC7 according to the states of the photoelectric sensors S2, S3, S4 and S6; the main control PLC6 issues a driving control instruction for the second straight-moving vehicle 11 to the second vehicle PLC8 according to the states of the photoelectric sensors S1, S2, S3, S4 and S6. The present invention can realize non-contact communication control, effectively reduce the influence of the outside world on the communication, and ensure the safety and reliability of the operation of the rail transport vehicle.

[0029] Example 2 See also Figure 3 Embodiment 2 of the present invention further provides a diverging and merging control method for a rail-mounted transport vehicle, which adopts the diverging and merging control system for the rail-mounted transport vehicle of embodiment 1 above, and includes the following steps: S1, the main control PLC6 controls whether the following divergent merging vehicle 12 enters the divergent merging track 3 according to the signal of whether there is a divergent merging vehicle 12 running in front on the divergent merging track 3; S2, the main control PLC6 controls whether the first running vehicle on the first running track 1 passes through the diverging section entrance 4 and continues to go straight according to the signal of whether there is a diverging merging vehicle 12 running on the diverging merging track 3; S3, the main control PLC6 controls whether the second vehicle on the second driving track 2 continues to go straight through the merging section exit 5 according to the signal of whether there is a diverging merging vehicle 12 running on the diverging merging track 3.

[0030] In this embodiment, the master control PLC6 controls the rear divergent merging vehicle 12 to stop entering the divergent merging track 3 before the divergent section entrance 4 based on the signal that there is a leading divergent merging vehicle 12 running on the divergent merging track 3; the master control PLC6 controls the rear divergent merging vehicle 12 to enter the divergent merging track 3 based on the signal that there is no leading divergent merging vehicle 12 running on the divergent merging track 3.

[0031] Among them, before the diverging and merging vehicle 12 at the rear enters the diverging and merging track 3 from the first driving track 1, the main control PLC6 determines whether there is a diverging and merging vehicle 12 in front running on the diverging and merging track 3. If there is a diverging and merging vehicle 12 in front running on the diverging and merging track 3, the main control PLC6 communicates with the third vehicle PLC9 through the photoelectric communication module B3, the photoelectric communication module B4, and issues a stop operation instruction to the diverging and merging vehicle 12 at the rear, and the diverging and merging vehicle 12 at the rear stops running before the diverging section entrance 4; if there is no diverging and merging vehicle 12 in front running on the diverging and merging track 3, the main control PLC6 When the diverging merging vehicle 12 in front is running, the main control PLC6 communicates through the optoelectronic communication module B3, the optoelectronic communication module B4 and the third vehicle PLC9, and issues an operation instruction to the diverging merging vehicle 12 behind. At this time, the diverging merging vehicle 12 behind enters the diverging merging track 3. There is a diverging merging vehicle 12 on the diverging merging track 3. The diverging merging vehicle 12 drives from the diverging merging track 3 into the second driving track 2 and then goes straight along the second driving track 2. At this time, there is no diverging merging vehicle 12 on the diverging merging track 3, and the diverging merging vehicle 12 behind is allowed to enter the diverging merging track 3.

[0032] In this embodiment, when the photoelectric sensor S2 is in the sensing closed state, it indicates that the diverging merging vehicle 12 has entered the diverging merging track 3 or has entered the second driving track 2. The driving position of the diverging merging vehicle 12 can be determined according to the opening state of the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6. At this time, the first straight vehicle 10 can continue to drive straight safely through the diverging section entrance 4. When the photoelectric sensor S2 is in the sensing open state, it indicates that the diverging merging vehicle 12 has just entered the diverging merging track 3. At this time, the photoelectric sensor S3, the photoelectric sensor S4, or the photoelectric sensor S6 may be in the open state. For example, there is a diverging merging vehicle 12 in front that drives to the position of the photoelectric sensor S4, and the photoelectric sensor S4 is in the sensing open state. Since the diverging merging vehicle 12 has just entered the diverging merging track 3, at this time, the first straight vehicle 10 continues to drive straight through the diverging section entrance 4 and will collide with the diverging merging vehicle 12 in front. Therefore, the main control PLC6 sends an instruction to the first vehicle PLC7 to prohibit the first straight vehicle 10 from continuing to drive straight through the diverging section entrance 4 to avoid vehicle collision.

[0033] In this embodiment, when the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 are all in the sensing closed state, it indicates that there are no vehicles on the divergent merging track 3 and the second driving track 2 from the merging section exit 5 of the divergent merging track 3 to the photoelectric sensor S6. At this time, the second straight-moving vehicle 11 on the second driving track 2 before the merging section exit 5 is allowed to continue to go straight along the second driving track 2 through the merging section exit 5. If at least one of the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing open state, it indicates that there are vehicles on the divergent merging track 3 and the second driving track 2. At this time, the second straight-moving vehicle 11 on the second driving track 2 before the merging section exit 5 is prohibited from continuing to go straight along the second driving track 2 through the merging section exit 5 to avoid collision. Among them, the sensing open or closed state of the photoelectric sensor S5 is used to determine whether the second straight-moving vehicle 11 is heading towards the merging section exit 5.

[0034] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A divergence and merging control system for a rail-mounted transport vehicle, characterized in that: The vehicle comprises a first running track (1), a second running track (2) and a diverging and merging track (3); a diverging section entrance (4) is formed at the intersection of the first running track (1) and the diverging and merging track (3), and a merging section exit (5) is formed at the intersection of the second running track (2) and the diverging and merging track (3); A photoelectric sensor S1 is provided at the position of the diverging section entrance (4), a photoelectric sensor S2 and a photoelectric sensor S3 are provided on the diverging merging track (3), and a photoelectric sensor S4 is provided at the position of the merging section exit (5); a photoelectric sensor S5 is provided on the entrance side of the merging section exit (5) of the second running track (2), and a photoelectric sensor S6 is provided on the exit side of the merging section exit (5) of the second running track (2); It also includes a main control PLC (6), an optoelectronic communication module B1 and an optoelectronic communication module B2; a first straight-moving vehicle (10) is running on the first running track (1), a second straight-moving vehicle (11) is running on the second running track (2), and a diverging and merging vehicle (12) is running on the diverging and merging track (3), which enters from the first running track (1), passes through the diverging and merging track (3) and then merges into the second running track (2); the first straight-moving vehicle (10) is equipped with a first vehicle PLC (7) and an optoelectronic communication module B5, and the second straight-moving vehicle (11) is equipped with a second vehicle PLC (8) and an optoelectronic communication module B6; The photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, the photoelectric sensor S5, and the photoelectric sensor S6 are all connected to the main control PLC (6); the main control PLC (6) is connected to the first vehicle PLC (7) through the photoelectric communication module B1 and the photoelectric communication module B5; the main control PLC (6) is connected to the second vehicle PLC (8) through the photoelectric communication module B2 and the photoelectric communication module B6; The main control PLC (6) sends a driving control instruction for the first straight-moving vehicle (10) to the first vehicle PLC (7) according to the states of the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4 and the photoelectric sensor S6; The main control PLC (6) issues a driving control instruction for the second straight-moving vehicle (11) to the second vehicle PLC (8) according to the states of the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4 and the photoelectric sensor S6.

2. A divergence and merging control system for a rail-mounted transport vehicle according to claim 1, characterized in that: It also includes an optoelectronic communication module B3, the diverging and merging vehicle (12) is equipped with a third vehicle PLC (9) and an optoelectronic communication module B4; the main control PLC (6) establishes a connection through the optoelectronic communication module B3, the optoelectronic communication module B4 and the third vehicle PLC (9); The master control PLC (6) controls the following diverging and merging vehicle (12) to stop entering the diverging and merging track (3) before the diverging section entrance (4) according to a signal indicating that a leading diverging and merging vehicle (12) is running on the diverging and merging track (3); The master control PLC (6) controls the following diverging and merging vehicle (12) to enter the diverging and merging track (3) based on a signal indicating that there is no preceding diverging and merging vehicle (12) running on the diverging and merging track (3).

3. A divergence and merging control system for a rail-mounted transport vehicle according to claim 1, characterized in that: When the photoelectric sensor S2 is in a sensing off state, and at least one of the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in a sensing on state, the main control PLC (6) sends an instruction to the first vehicle PLC (7) to allow the first straight-moving vehicle (10) to continue to move straight through the diverging section entrance (4).

4. A divergence and merging control system for a rail-mounted transport vehicle according to claim 1, characterized in that: When the photoelectric sensor S2 is in the sensing on state, and at least one of the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing off state, the main control PLC (6) sends an instruction to the first vehicle PLC (7) to prohibit the first straight-moving vehicle (10) from continuing to move straight through the diverging section entrance (4).

5. A divergence and merging control system for a rail-mounted transport vehicle according to claim 1, characterized in that: When the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4 and the photoelectric sensor S6 are all in the sensing off state, the main control PLC (6) sends an instruction to the second vehicle PLC (8) to allow the second straight-moving vehicle (11) to continue to move straight through the merging section exit (5).

6. A divergence and merging control system for a rail-mounted transport vehicle according to claim 1, characterized in that: When at least one of the photoelectric sensor S1, the photoelectric sensor S2, the photoelectric sensor S3, the photoelectric sensor S4, and the photoelectric sensor S6 is in the sensing on state, the main control PLC (6) sends an instruction to the second vehicle PLC (8) to prohibit the second straight-moving vehicle (11) from continuing to move straight through the merging section exit (5).

7. A divergence and merging control system for a rail-mounted transport vehicle according to claim 6, characterized in that: By means of the sensing on or off state of the photoelectric sensor S5, it is determined whether the second straight-moving vehicle (11) is heading towards the merging section exit (5).

8. A method for controlling divergence and merging of a rail-mounted transport vehicle, characterized in that: The following steps are involved: The main control PLC (6) controls whether the following diverging and merging vehicle (12) enters the diverging and merging track (3) according to the signal of whether there is a diverging and merging vehicle (12) running in front on the diverging and merging track (3); The main control PLC (6) controls whether the first running vehicle on the first running track (1) passes through the diverging section entrance (4) and continues to go straight according to the signal of whether there is a diverging merging vehicle (12) running on the diverging merging track (3); The main control PLC (6) controls whether the second running vehicle on the second running track (2) passes through the merging section exit (5) and continues to go straight according to the signal of whether there is a diverging merging vehicle (12) running on the diverging merging track (3).

9. A method for controlling divergence and merging of a rail-mounted transport vehicle according to claim 8, characterized in that: The master control PLC (6) controls the following diverging and merging vehicle (12) to stop entering the diverging and merging track (3) before the diverging section entrance (4) according to a signal indicating that a leading diverging and merging vehicle (12) is running on the diverging and merging track (3); The master control PLC (6) controls the following diverging and merging vehicle (12) to enter the diverging and merging track (3) based on a signal indicating that there is no preceding diverging and merging vehicle (12) running on the diverging and merging track (3).

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