JP2501967B2 - Synchronous operation method for mobile devices - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for synchronously operating devices of a moving device such as a stage mechanism.

[0002]

2. Description of the Related Art Stage mechanisms include those for which the stage moves or rotates and rises, those for which the background rises horizontally or vertically, and those for which the lighting moves. May be moved from the original position to the position of the next scene at the same time. This is called synchronous operation. When performing the synchronous operation, when the positioning end time of the scene is set, each device will start moving simultaneously according to the moving distance, but when the positioning end time is reached, each device will stop at the same time. , Those with a short travel distance are operated at low speed, and those with a long travel distance are operated at high speed.

Conventionally, as shown in FIG. 4, acceleration (m / sec ² ) and deceleration (m
/ Sec ² ) is constant, so when multiple devices are operated synchronously, the ones with shorter moving distances will continue to run at a constant speed during acceleration, and the ones with longer moving distances will be used during deceleration. I was in deceleration one after another.

[0004]

In such a conventional synchronous operation, what should be at a position proportional to the moving distance of the mutual equipment at each moment from the start of movement to the stop,
You will move while changing the ratio, and there are the following problems. The timing of changing from speed change to constant speed running is different for each device, and the operation is unsightly to the audience. For example, the timings are shifted like a, a ', f, f'in FIG. The operator of the theater may change gears in the middle of the speed of each device during constant speed, but the timing of changing from speed change to constant speed running will be different for each device, which will be unsightly to the audience. . For example, they are displaced like c, c ', e, e'in FIG.
Since the mutual position of each device from the start to the stop does not move at a constant rate, it is impossible to accurately detect an abnormality in the mutual position of each device during movement. At the time of start, the start is misaligned due to variations in the scan time of the controller used. For example, it becomes s, s'in FIG. Therefore, in the present invention, in the synchronous operation of a plurality of moving devices such as a stage mechanism, the plurality of devices are simultaneously activated, and the timings of changing gears and constant speeds are set to be the same including the case of the gear changing by the operator. It is an object of the present invention to detect a synchronization abnormality between the two with a constant accuracy regardless of the moving distance.

[0005]

Means for Solving the Problems] To solve this problem, the synchronous operation method of a mobile apparatus of the present invention is a method of synchronizing the operation of the plurality of mobile devices among the plurality of mobile devices, one representative apparatus The moving time, moving speed, acceleration time, deceleration time of the
The moving time, the moving speed, the acceleration time, and the deceleration time are calculated by the ratio of the moving distance of the device and the moving distance of the representative device, and when the synchronous operation command is issued to each device, It is characterized in that each device is driven so as to be driven at a moving speed, a moving time, and a deceleration time.

[0006]

By this means, a plurality of mobile devices are operated at the same ratio not only at the time of starting and stopping but also at the same time while moving.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below based on the embodiment shown in FIG. For the devices that operate in synchronization, first, the moving distance L _a is set by the synchronous operation data setter 1. Next, the moving time T ₁ is set. The moving speed V _l , the acceleration time T _acc , and the deceleration time T _dec are set to an arbitrary device (device A in FIG. 2) among the synchronized devices. The device synchronization data calculator 2 receives this data and creates data for operating the device. Data creation in the device synchronization data calculator 2 is performed such that the moving speed, the acceleration time, and the deceleration time of each device B to Z with respect to the device A are the moving distance of each device B to Z and the moving distance of the device A. It is sequentially calculated and set according to the ratio with. The operation execution device 3 moves each device AZ by the device driver 32 according to the operation data 31 of each device, and detects the moving speed by the detector 34 by the pulse generator 33 and the like. In the moving distance abnormality detection unit 35, the difference between the calculated command value V _l and the speed V _a detected by the detector 34 is integrated to constantly check the accuracy of the moving distance, and an error of a certain value or more occurs. If so, a warning is issued. The simultaneous start function is a method in which a clock generator 36 for start is provided and simultaneous start is performed by the first clock pulse after the start signal. The device configuration can be various forms such as one instrument including a synchronized operation data setting device, an instrument synchronization data calculator, and an operation execution device. Although the pulse generator 33 is described as the device, any device that can detect the speed may be used. FIG. 1 is a time chart showing an example of a velocity trajectory of a device according to the present invention.

In the embodiment shown in FIG. 2, an arbitrary device is set as the representative device, but it can be set for the device having the largest load torque. Further, in the embodiment of FIG. 2, the synchronization data is calculated for all the moving devices, but as shown in FIG. 3, the speed of any device is detected, and other measured speeds and positions are used to detect other speeds. It is also possible to drive a synchronization device. That is, in FIG. 3, the device synchronization data calculator 4 obtains the moving distance ratio of another device to the representative device A (ratio = 1 in the case of A device),
The data is input to the device operation data section 51 of the operation execution device 5, and each device is operated at that ratio. The detection unit 54 detects the moving speed Va and the moving distance la based on the data from the pulse generator 33 of each device. In the B-device to the Z-device, the operation data is obtained by the arithmetic unit 55 and the operation data is output to the device driver. When calculating this operation data, block 5
In step 3, the fluctuation amount Vα for one clock of the device A is calculated, and this value is used as a factor of the operation data of other devices. The abnormality detection unit 56 monitors whether or not the absolute value of the deviation of the speed or distance with respect to the device A is larger than the reference values Vr, 1r, and issues an alarm when the deviation becomes larger than the reference value. Reference numeral 52 in the figure denotes a clock pulse generator for generating clock pulses for synchronous start and synchronous calculation. It should be noted that, when the devices to be operated in synchronization are instructed to shift by the operator during traveling at a constant speed, it is possible to shift gears all at once and shift to the traveling at a constant speed at the same time.

[0009]

As described above, by carrying out the synchronous operation of a plurality of mobile devices such as a stage mechanism according to the present invention, the following effects can be obtained. (A) A plurality of devices that operate synchronously are accelerating, at constant speed,
Operate at the same speed ratio during deceleration .
This gives the theater audience a smooth and beautiful feel for the movement of the stage or equipment on the stage. (B) Out-of-synchronization of a plurality of devices that operate in synchronization can be accurately detected. As a result, it becomes possible to contribute to safety and the like, because the synchronization is stopped and a measure such as braking the device that has lost synchronization can be taken. (C) Even if the operator gives a speed instruction during synchronization, the speed ratio is not destroyed so that the appearance is beautiful. (D) Since multiple synchronous motors are activated at the same time, the moving equipment on the stage does not shake unnecessarily,
It looks beautiful to the audience.

[Brief description of drawings]

FIG. 1 is a time chart showing a velocity trajectory of a device according to the present invention.

FIG. 2 is a block diagram showing an embodiment of the present invention.

FIG. 3 is a block diagram showing another embodiment of the present invention.

FIG. 4 is a time chart showing a velocity trajectory of a device according to a conventional synchronous operation method.

[Explanation of symbols]

 1 Synchronous operation data setter 2,4 Equipment synchronization data calculator 3,5 Operation execution equipment

Claims (1)

(57) [Claims] 1. A method of synchronously operating a plurality of mobile devices, wherein the travel time, the travel speed, the acceleration time, and the deceleration time of one representative device among the plurality of mobile devices are obtained in advance. Every
For other devices, the moving time, the moving speed, the acceleration time, and the deceleration time are calculated based on the ratio of the moving distance of the device to the moving distance of the representative device, and when the synchronous operation command is issued to each device, A method of synchronously operating a mobile device, wherein each device is driven so that the device is operated in the acceleration time, the moving speed, the moving time, and the deceleration time.