JP2502452B2 - Stop position control device for electric trolley - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric trolley used in a transfer system for a safe deposit box in an automatic safe deposit box, and more particularly to a stop position control device for accurately stopping the electric trolley at a predetermined position. Regarding the improvement of.

[0002]

2. Description of the Related Art As is well known, in an automatic safe deposit box,
Carry out the safe deposit box specified by the user from the safe room containing a large number of safe deposit boxes to the safe deposit box work room, or conversely, transport the safe safe box from the safe deposit box work room to the safe room. In order to perform the return work, a transfer system using an electric carriage is used. This transfer system is used for returning boxes placed in a work station in a safe deposit box work chamber, or a safe deposit box removed by a stacker crane from a shelf on which a large number of safe deposit boxes are actually placed. The safe deposit box is mounted on an electric trolley, and the electric trolley is self-propelled along a specified rail by the power of a motor driven by a battery mounted inside the safe trolley to transport the safe deposit box. It is what you are doing.

[0003] Here, the electric carriage is automatically controlled so as to be accurately stopped at a target position by being automatically braked when reaching a predetermined distance from a position to be stopped. . However, when the distance from when the brake is applied to when the brake is actually stopped, that is, when the braking distance is increased due to wear of the brake shoe, the electric carriage will stop past the target position, and the target will be accurate. You will not be able to stop in position. Then, when the electric trolley is not stopped accurately at the target position, for example, the transfer work of the safe deposit box between the electric trolley and the stacker crane or the work station cannot be performed smoothly, and the automatic safe deposit box itself is used. The problem of being disabled occurs.

In this case, it is only necessary to replace the brake shoe with a new one. However, the automatic safe deposit box is used until the operator of the carrier system contacts the worker and the brake shoe is replaced. It is clear that the cancellation of the above is not preferable in actual operation. In particular, since the safe deposit box stores valuables that cannot be replaced by the user, if the safe deposit box becomes unusable, it will not be possible to take it out when necessary. It will not be possible to put it back inside and it will give the user anxiety.

Therefore, conventionally, a relief measure is provided so that the braking distance is extended at least until the brake shoe is replaced so that it is not necessary to stop using the automatic safe deposit box. The development of is strongly demanded.

[0006]

As described above, in the conventional transfer system using the electric carriage, when the braking distance of the electric carriage is increased due to abrasion of the brake element, etc. Until the measures such as replacing the child are taken, there is a problem that the entire loading / unloading system using the transport system cannot be used.

Therefore, the present invention has been made in consideration of the above circumstances, and even if the braking distance of the electric carriage changes, the electric carriage can be controlled so that it can be accurately stopped at a target position. An object of the present invention is to provide a good stop position control device for an electric carriage.

[0008]

A stop position control device for an electric truck according to the present invention is intended for a safe deposit box transport system for transporting an article to a target position by an electric cart that travels along a specified track. There is. Then, a pair of detectors installed in the electric carriage along the traveling direction thereof, and an object to be detected that is installed in a target position and detected by the pair of detectors while the electric carriage is stopped at the target position, With the carriage stopped at the target position and one of the pair of detectors not detecting the detected object, move the electric carriage at a low speed in the direction in which the pair of detectors both detect the detected object. , A pair of detectors stop the position correction means for repeating the correction operation to apply the braking at the time when the detection object is detected, and the number of times the correction operation by the stop position correction means is repeated reaches a predetermined number, The low speed at which the carriage is moved is determined by the distance between the braking of the electric carriage being moved at the low speed and the stop of the electric carriage when both the pair of detectors detect the detected object. By a pair of detectors Are both intended to electric cart while detecting the object to be detected has to include a pattern changing means for changing such that the distance to be stopped.

[0009]

According to the above construction, when the pair of detectors does not detect the object to be detected while the electric carriage is moved to the target position and stopped, the electric carriage is driven at a low speed. The stop position correction operation is repeatedly performed, and when the number of stop position correction operations reaches a predetermined number, a low speed for moving the electric carriage is set after the electric carriage being moved at the low speed is braked. The distance to stop is the distance at which the electric carriage is stopped when both the pair of detectors detect the detected object by applying braking when the pair of detectors detect the detected object. The pattern changing process is performed so that the stop position of the electric carriage is corrected at this new low speed, so even if the braking distance of the electric carriage changes Position to It is possible to accurately stop.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. 1 and 2 are a plan view and a side view, respectively, schematically showing the overall configuration of the automatic safe deposit box described in this embodiment. That is, reference numeral 11 in the drawing
Is a vault located on the second floor of a building such as a bank,
A plurality of safe deposit boxes 12 and 1 are provided in the safe 11, respectively.
The safe deposit box storage shelves 13, 13 for accommodating 2, ... Are arranged side by side in two rows.

Then, these safe deposit box storage shelves 13, 13
A stacker crane 14 is installed between them.
This stacker crane 14 includes a safe deposit box storage rack 13,
The desired safe deposit box 12 requested to be taken out from the machine 13 is taken out and mounted on the electric carriage 15 waiting at the stop position HP in the safe room 11. Then, this electric trolley 15
Rotating stand 1 of rotary elevator 17 that runs along rails 16
It is moved to the rail 19 laid on the vehicle 8 and stopped.

Here, the rotary elevator 17 is provided with a column 20 installed vertically from the first floor to the second floor, a lifter 21 that is elevated along the column 20, and rotatably mounted on the lifter 21. It is composed of a turntable 18.
The lifter 21 is raised to the second floor in a state where the electric carriage 15 is on standby at the stop position HP, and at this time, the rail 19 of the turntable 18 is laid in the laying direction of the rail 16 of the vault 11. The rails 16 and 19 are connected to each other after being rotated to a position along the rails.

Therefore, the electric carriage 15 on which the safe deposit box 12 is mounted can be moved from the stop position HP to the rail 19 of the rotary elevator 17 via the rail 16. Then, the electric carriage 15 turns the rotary elevator 1
When it reaches the rail 19 of 7 and is stopped, the turntable 18
Rotate about 90 ° to the position shown in FIG. 1, and then the lifter 21 is lowered to the first floor, so that the rail 19 moves to the 1st position.
It is connected to one end of the rail 22 laid on the floor. Then, the safe door 23 existing on the extension line on the other end side of the rail 22 in the laying direction rises, and the safe deposit box entry / exit opening 24 is opened.

At this time, inside the safe deposit box entrance / exit port 24,
That is, on the side where the rail 22 is attached, the rotating shaft 25
The connecting rail 26 is supported by the rail 2 so that it can be tilted up and down.
2 and rail 2 laid outside the safe deposit box entrance 24
And 7 are connected. Therefore, the electric carriage 15 on the rail 19 of the rotary lift 17 is moved to the rail 27 via the rail 22 and the connecting rail 26, that is, through the storage box 24 of the safe deposit box.

Here, the rail 27 is laid so as to straddle a plurality (two in the illustrated case) of safe deposit box working chambers 28 and 29. Work stations 30 and 31 are installed in the safe deposit box work rooms 28 and 29, respectively, and the safe deposit box 12 mounted on the electric carriage 15 on the rail 27 is transferred to the work stations 30 and 31. It is designed to be used.

For this reason, the electric cart 15 traveling on the rail 27 is placed at a position corresponding to the work station 30 or 31 of the safe deposit box working room 28 or 29 that requests the taking out of the safe deposit box 12 mounted by itself. It is stopped, the safe deposit box 12 is moved to the work station 30 or 31, and the operation of taking out the desired safe deposit box 12 is completed here.

When the safe deposit box 12 mounted on the electric cart 15 is moved to the work station 30 or 31, the electric cart 15 is returned to the stop position HP again through a route reverse to the above, and is put in a standby state. . In this case, when the electric trolley 15 passes through the safe deposit box entrance / exit opening 24 and is moved to the rail 22, the connecting rail 26 rises and the safe door 23 is lowered to close the safe deposit box entrance / exit opening 24. .

The work station 30 or 31
When returning the safe deposit box 12 placed in the safe deposit box storage rack 13 of the safe room 11, the electric cart 15 at the stop position HP is to be returned through the same route as above. Then, the safe deposit box 12 is moved from the work station 30 or 31 to the electric trolley 15 by moving the safe deposit box 12 to a position corresponding to the work station 30 or 31 in which 12 is placed.
After that, the electric trolley 15 is returned to the stop position HP via the reverse route to the above, and the safe deposit box 12 mounted on the electric trolley 15 is accommodated in the empty space of the safe deposit box accommodating shelf 13 by the stacker crane 14. The return operation of the safe deposit box 12 is completed.

Next, FIGS. 3A and 3B show the outline of the electric carriage 15. 3 (a) and 3 (b)
In the above, the case where the electric carriage 15 is at the stop position HP is shown, but the case where the electric carriage 15 is on the rotary table 18 of the rotary elevator 17 can be similarly described. That is, the electric carriage 15 is placed on the rail 16 by the wheels 32 installed in the lower part of the drawing, and is driven on the rail 16 by rotationally driving the wheels 32.

A pair of conveyors 35, 35 each having an annular belt 34 installed between a pair of rotating bodies 33, 33 are provided at the upper part of the electric cart 15 in the figure.
Are arranged side by side orthogonal to the traveling direction of. Then, by rotating the rotating body 33 and causing the belt 34 to travel in the direction of the arrow in the figure, the electric carriage 15 and the stacker crane 14 or the work stations 30 and 31 are connected to each other.
The safe deposit box 12 is transferred.

Further, a pair of charging shoes 36, 36 are exposed at the center of the bottom surface of the electric carriage 15 in the figure. On the other hand, at the stop position HP, the pair of charging shoes 36, 3 are
A power supply device 38 including a pair of power supply terminals 37, 37 for contacting 6 and charging a battery, which will be described later, contained in the electric carriage 15 is installed. Therefore, the electric cart 15 can charge the battery by reaching the stop position and the charging shoes 36, 36 contacting the power supply terminals 37, 37.

The power feeding device 38 is also installed on the rotary base 18 of the rotary elevator 17, and the electric carriage 15 is installed.
Is charged even during rotation by the rotary elevator 17 and during vertical movement.

It should be noted that, in the electric carriage 15 shown in FIG.
As shown in (a), (b) and (c), a motor 39 having a braking mechanism B for driving the wheels 32 to rotate, a motor 40 for driving the rotor 33 to rotate, and an electric carriage 15 are provided. A pair of stop position detectors 41, 42 for detecting a stop position, a pair of detectors 43, 43 used for deceleration control of the electric carriage 15, and a pair of position detectors used for position control of the safe deposit box 12 mounted. Detectors 44, 44, a control board 45 for comprehensively controlling all operations of the electric carriage 15, and an operation display unit 4 for setting and displaying the operation state of the electric carriage 15.
6, the motors 39 and 40, the stop position detector 4
1, 42, detectors 43 and 44, a control board 45, a battery 47 and the like for supplying electric power to the operation display unit 46 and the like.

Here, FIG. 5 shows a control system for the automatic safe deposit box. That is, the central control room 4 installed in addition to the safe room 11 and the safe box work rooms 28 and 29.
8, a center unit 49 equipped with a host computer (not shown) is installed in order to totally control the operation of the entire automatic safe deposit box. The center unit 49 is connected to a central control panel 50 for centrally controlling all the operations in the safe 11.

That is, the integrated control panel 50 is the stacker control panel 5 mounted on the stacker crane 14.
1 through the stacker crane 14 and each safe deposit box 1
Controls the bar code reader 52 for reading the bar codes attached to 2, 12, ... And the stacker crane 14 provided in the safe deposit box storage shelves 13, 13.
N serving as a temporary stand for the safe deposit box 12 during independent operation
o. It controls 9 stations 53.

The integrated control panel 50 controls each of the power supply devices 38 installed on the stop position HP and the rotary base 18 of the rotary elevator 17, and is connected to the control board 45 installed on the electric carriage 15. Thus, the operation of the electric carriage 15 is controlled. Further, the integrated control panel 50 controls the opening / closing operation of the safe door 23 via the safe door control board 54 in addition to controlling the lifting operation of the rotary elevator 17 and the rotating operation of the rotary base 18, and the connection. The raising / lowering operation of the rail 26 is controlled. In addition, the integrated control panel 50 is used in the safe deposit box working chambers 28 and 29 via the booth electromagnetic panels 55 and 56, respectively, for the work station 30,
31 is controlled.

Here, FIG. 6 shows a detailed structure of the control board 45 mounted on the electric carriage 15. That is, the pair of stop position detectors 41 and 42 for detecting the stop position of the electric carriage 15, the pair of detectors 43 and 43 used for deceleration control of the electric carriage 15, and the safe deposit box 12 mounted. Various detection signals respectively obtained from the pair of detectors 44, 44 used for position control are supplied to the arithmetic control circuit 58 via the input circuit 57.

The arithmetic control circuit 58 is a CP (not shown).
To centrally control all the operations of the electric carriage 15 while incorporating a U (central processing unit) and storing various data for calculation in the memory 59 based on a control program stored in the memory 59 Is being processed.

That is, the arithmetic control circuit 58 generates normal rotation and reverse rotation command pulses a and b for rotating the motor 39 for rotating the wheels 32 in the forward and reverse directions. The forward rotation and reverse rotation command pulses a and b are supplied to a drive circuit 61 for rotationally driving the motor 39 via an output circuit 60, where a pulse width modulation method using the forward rotation and reverse rotation command pulses a and b. The normal rotation and reverse rotation of the motor 39, that is, the forward and reverse traveling of the electric carriage 15 is realized.

In this case, the rotation speed of the motor 39 is D
It is measured by a C (direct current) tacho generator 62. The measurement result is converted into digital data by the A / D (analog / digital) conversion circuit 63 and supplied to the arithmetic control circuit 58 via the input circuit 64, thereby controlling the traveling speed of the electric carriage 15. Be used for. The drive circuit 61 also controls the braking mechanism B.

Further, the arithmetic control circuit 58 generates a control signal for rotationally driving the motor 40 for rotationally driving the rotating body 33 of the conveyor 35, and this control signal is output via the output circuit 65. Is supplied to a drive circuit 66 for rotationally driving the motor 40, where the conveyor 3
The traveling of the belt 34 of 5 is realized.

Further, the operation information set on the operation display section 46 is transferred to the arithmetic control circuit 58 via the input / output circuit 67.
Is supplied to the operation display section 46 via the input / output circuit 67 from the arithmetic and control circuit 58, and the control information is supplied and displayed. Further, the electric carriage 15 is provided with an optical communication unit 68 for receiving control information by light generated from the integrated control panel 50 when the electric carriage 15 is at the stop position HP or on the rotary base 18.

The control information received by the optical communication section 68 is transferred to the arithmetic control circuit 58 via the input / output circuit 69.
The electric carriage 15 is controlled based on the control information of the integrated control panel 50. The arithmetic control circuit 5
The output information from 8 is converted into an optical signal by the optical communication unit 68 via the input / output circuit 69 and sent to the integrated control panel 50.

Further, from the power feeding device 38 to the power feeding terminal 3
The electric power supplied to the charging shoes 36, 36 via the batteries 7, 37 is used for charging the battery 47 via the battery control circuit 70, and is also supplied as power supply power to each circuit section. In this case, the battery control circuit 70 is connected to the arithmetic control circuit 58 via the input / output circuit 71 and is controlled by the arithmetic control circuit 58.

Here, description will be made on stopping the electric carriage 15 at the stop position HP, on the rotary base 18 and at positions corresponding to the work stations 30 and 31, respectively. FIG. 7 shows a state in which the electric carriage 15 is stopped at the stop position HP, but the same description can be made when the electric carriage 15 is stopped at the position corresponding to the rotary table 18 and the work stations 30 and 31. Since it is possible, its description is omitted.

That is, the pair of stop position detectors 41 and 42 for detecting the stop position of the electric trolley 15 are provided in the laying direction of the rail 16 from the lower surface of the electric trolley 15, that is, the traveling direction of the electric trolley 15 indicated by an arrow in the figure. Is projected along. In addition, a pair of stop position detectors 4 are provided at the stop position HP.
An object to be detected 72 having such a length that both 1 and 42 can be detected is installed.

The pair of stop position detectors 41 and 42 are
Each of which detects the detected object 72 by optical means,
An ON signal is output when the detected body 72 is detected, and an OFF signal is output when the detected body 72 is not detected. Then, the arithmetic control circuit 58 is in a state where both the pair of stop position detectors 41 and 42 detect the detected body 72,
That is, when the electric carriage 15 is stopped while the pair of stop position detectors 41 and 42 both output the ON signals, it is determined that the electric carriage 15 is stopped at the regular stop position.

Now, the electric carriage 15 is now in the stop position HP.
In this state, it is assumed that control information for moving the electric carriage 15 onto the rotary base 18 is given from the integrated control panel 50 to the arithmetic control circuit 58 via the optical communication unit 68. Then, the arithmetic control circuit 58 generates a normal rotation command pulse a for rotating the motor 39 for rotating the wheels 32 in the normal direction,
As a result, the electric carriage 15 travels at a high speed VH in the forward direction, that is, in the direction toward the rotary base 18.

On the other hand, a detection piece (not shown) is installed in the vicinity of the turntable 18, and the detection piece is detected by a pair of detectors 43, 43 used for deceleration control of the electric carriage 15. The arithmetic control circuit 58 first decelerates the electric carriage 15 to a low speed VL with a constant deceleration by braking the rotation of the motor 39, and thereafter, the pair of stop position detectors 41 and 42 together cause the rotary base 18 to rotate. When the upper detection object 72 is detected, deceleration is further applied to stop the electric carriage 15.

The detection pieces are installed not only near the turntable 18 but also near the stop position HP and near the work stations 30 and 31, respectively. The traveling operation is similarly performed when the electric carriage 15 is moved from the rotary table 18 to the stop position HP or between the rotary table 18 and each of the work stations 30 and 31.

By the way, when the electric carriage 15 stops due to a change in the distance from when the brake is applied to when it is actually stopped, that is, when the electric carriage 15 stops due to wear of the brake shoe or changes in running conditions, a pair of stops is generated. At least one or both of the position detectors 41 and 42 may not be able to detect the detected object 72. In such a case, the arithmetic control circuit 58
Is moving the stopped electric cart 15 at the low speed VL so that the pair of stop position detectors 41 and 42 both detect the detected body 72 to correct the stop position.

In this case, the electric carriage 15 starts to move in the direction in which both the stop position detectors 41 and 42 can detect the detected body 72 with the acceleration α, and when the low speed VL is reached, the speed is maintained at that speed. Then, assuming that the electric carriage 15 is moving at a low speed in the forward direction shown by the arrow in FIG. 8A, for example, in a state where both the stop position detectors 41 and 42 detect the detected body 72, as shown in FIG. , Arithmetic control circuit 58
Applies braking to the rotation of the motor 39 to decelerate the electric carriage 15 at a constant deceleration β and stop the traveling thereof.

The relationship between the moving distance and the speed of the electric carriage 15 in such a stop position correcting operation is shown by a solid line in FIG. The low speed acceleration distance Sa from the start of the movement of the electric carriage 15 to the low speed VL is represented by Sa = VL ² / 2α, which is the low speed from the start of the movement of the electric carriage 15 to the low speed VL. The acceleration time ta is represented by ta = VL / α.

Further, from the time when both the stop position detectors 41 and 42 detect the detecting body 72 and the braking is started,
Braking distance SG until the electric carriage 15 is completely stopped
8B, the distance between the center line of the stop position detector 41 and one end of the detected body 72, the center line of the stop position detector 42 and the other side of the detected body 72, as shown in FIG. It is set so as to match the distance SG when the distance to the end of the is equal. Therefore, both stop position detectors 41,
When both 42 detect the detected body 72 and the braking is started, the electric carriage 15 detects the distance between the center line of the stop position detector 41 and one end of the detected body 72, and the stop position detector. Four
It will be stopped at an ideal position where the distance between the center line 2 and the other end of the detected body 72 is equal.

However, even in the correction operation of the stop position at such a low speed VL, the low speed braking distance SG changes due to wear of the brake shoe, changes in running conditions, etc., as shown in FIG. 8C, for example. , The center line of the stop position detector 42 is separated from the other end of the detected body 72 by a distance St,
The electric carriage 15 may be stopped. In this case, the distance St is St = Sa.t, where t is the low-speed braking time from the time when the center line of the stop position detector 42 is separated from the detected object 72 until the electric carriage 15 is completely stopped. / Ta, the low speed braking distance S is S = 2SG + St.

That is, the low speed braking distance is from SG to S (= 2
SG + St) that has changed to may be considered that the deceleration beta as indicated by the dotted line dropped to 9, deceleration beta in this ^{case, β = VL 2 / 2S =} VL 2/2 ( 2SG + St). Therefore, at this reduced deceleration β, in order to stop at the original low speed braking distance SG, the low speed V
The ^{L V = [SG · VL 2} / (2SG + St)] Change pattern to ^1/2, in the modified operation of the subsequent electric dolly 15, thereby low speeds the electric dolly 15 at a low speed V that have changed the pattern As a result, the electric carriage 15 can be stopped in the ideal state shown in FIG.

Here, FIG. 10 and FIG. 11 show a flow chart for explaining the stop position correcting operation of the electric carriage 15 including the pattern changing processing as described above. First, the operation is started (step S1) with the movement of the electric carriage 15 at the low speed VL stopped. Then, the arithmetic control circuit 58 determines in step S2 whether or not it is required to perform the above-described pattern changing process, and if it is required (YES), in step S3, the pattern changing, which will be described in detail later, is performed. The process moves to the processing routine and ends (step S4).

If it is not required to perform the pattern changing process in step S2 (NO), the arithmetic control circuit 58 determines both stop position detectors 4 in step S5.
It is determined whether or not both 1 and 42 detect the detected body 72, that is, whether both stop position detectors 41 and 42 both generate ON signals. If both ON signals are generated, (YES), it is determined that the stop position correction operation is not necessary, and the process ends (step S4).

In step S5, both stop position detectors 41 and 4 are detected.
If no ON signal is generated from both 2 (NO),
The arithmetic control circuit 58 determines in step S6 whether or not the ON signal is generated from the stop position detector 41, and if not generated (NO), in step S7, the ON signal is output from the stop position detector 42. Is generated. If the ON signal is not generated from the stop position detector 42 (NO), the arithmetic control circuit 58
It is determined that neither of the stop position detectors 41 and 42 has detected the detected body 72, and in step S8, a flag for moving to another process is set and the process ends (step S4).

At step S7, the stop position detector 42 outputs O.
If the N signal is generated (YES), the arithmetic control circuit 5
8 determines that only the stop position detector 42 detects the detected body 72, and in step S9, the electric cart 1
5 is run at a low speed in the forward direction indicated by the arrow in FIG. 8A, and the process returns to step S6.

In step S6, the stop position detector 41
If the ON signal is generated from (YES), the arithmetic control circuit 58 determines whether the ON signal is generated from the stop position detector 42 in step S10. If the ON signal is not generated from the stop position detector 42 (NO), the arithmetic control circuit 58 causes the stop position detector 4 to operate.
It is determined that only 1 is detecting the detected object 72, and in step S11, the electric carriage 15 is driven at a low speed in the direction opposite to the arrow shown in FIG. 8A, and the process returns to step S6. .

In this way, if the ON signal is generated from the stop position detector 42 in step S10 (YES),
The arithmetic control circuit 58 determines that the ON signals are generated from both the stop position detectors 41 and 42, and stops the low speed movement in the forward direction and the reverse direction in step S9 or step S11 in step S12. Step S
At 13, the number of correction operations is incremented by one.

After that, the arithmetic and control circuit 58 proceeds to step S
At 14, wait until a certain period of time elapses, and then repeat step S
In step 15, it is determined whether both stop position detectors 41 and 42 generate ON signals. If both ON signals are generated (YES), in step S16, the number of correction operations is comprehensively controlled. Transmit to board 50 and end (step S
4) Is done.

In step S15, both stop position detectors 41,
When it is determined from both 42 that the ON signals are not generated (NO), the arithmetic control circuit 58 causes the operation control circuit 58 to perform the step S17.
Then, it is determined whether or not the number of correction operations is “3”,
If it is not "3" (NO), the process returns to step S6. If it is determined in step S17 that the number of correction operations has become “3” (YES), the arithmetic control circuit 58 requests pattern change processing in step S18, and shifts to the pattern change processing routine in step S3. Then, the process ends (step S4).

Next, FIG. 12 and FIG. 13 are flowcharts showing the pattern change processing routine. First,
Start by shifting to the pattern change processing routine (step S
19), the operation control circuit 58 causes the operation control circuit 58 to perform step S20.
Then, it is judged whether or not the number of times of pattern change processing of the low speed V is "3", and if it is "3" (YE
S), in step S21, the abnormality signal is transmitted to the integrated control panel 50, and the process ends (step S22).

If the number of pattern changing processes is not "3" in step S20 (NO), the arithmetic control circuit 58 determines in step S23 whether the ON signal is generated from the stop position detector 41. If it is generated (YES), it is determined in step S24 whether or not an ON signal is generated from the stop position detector 42.
If the ON signal is also generated from the stop position detector 42 (YES), the arithmetic control circuit 58 determines that both the stop position detectors 41 and 42 detect the detected body 72, In step S25, the current number of pattern changing processes is transmitted to the integrated control panel 50 and the process is completed (step S22).
Is done.

When it is determined in step S23 that the ON signal is not generated from the stop position detector 41 (N
O), the arithmetic control circuit 58 determines in step S26 whether or not the ON signal is generated from the stop position detector 42, and if not (NO), the arithmetic control circuit 5
In step S27, a flag for shifting to another process is set in step S27, and the process ends (step S22).

If the ON signal is generated from the stop position detector 42 in step S26 (YES), the arithmetic and control circuit 58 determines that only the stop position detector 42 is detecting the object 72. Then, in step S28, the electric carriage 15 is run at a low speed in the forward direction indicated by the arrow in FIG. Then, the arithmetic control circuit 58, in step S29,
The time from when the electric carriage 15 is traveling at a low speed in the forward direction until the stop position detector 41 detects the detected body 72 and an ON signal is generated is measured.

After that, the arithmetic and control circuit 58 proceeds to step S
At 30, whether or not the OFF signals are generated from both the stop position detectors 41 and 42, that is, the both stop position detectors 41 and 42,
It is determined whether or not the electric carriage 15 is traveling at a low speed in the forward direction until both 42 detect no detected body 72. If both stop position detectors 41 and 42 do not generate an OFF signal (NO), Returning to the processing of step S28, the forward low-speed traveling of the electric carriage 15 is continued until both the stop position detectors 41 and 42 generate OFF signals.

In step S30, both stop position detectors 41,
When both OFF signals are generated from 42 (YES), the arithmetic control circuit 58 applies braking to the electric carriage 15 to stop the forward low speed traveling in step S31, and in step S32, the arithmetic processing described above is performed. Based on new low speed V
Is calculated. Then, the arithmetic and control circuit 58 performs the step S
At 33, the electric truck 15 is run at a low speed in the direction opposite to the arrow shown in FIG. 8A at the newly calculated low speed V.

After that, the arithmetic control circuit 58 determines in step S
At 34, it is determined whether or not the ON signals are generated from both the stop position detectors 41 and 42, that is, the both stop position detectors 41 and 4
2 determines whether the detected object 72 is detected, and if both stop position detectors 41 and 42 do not generate ON signals (NO), the process returns to step S33 to detect both stop positions. Until the ON signals are generated from both the children 41 and 42, the backward low speed traveling of the electric carriage 15 is continued.

In step S34, both stop position detectors 41,
When both ON signals are generated from 42 (YES), the arithmetic and control circuit 58 applies braking to the electric carriage 15 to stop the reverse low speed traveling in step S35, and then in step S35.
At 36, after waiting for a certain period of time, step S3
In step 7, the number of pattern change processes is incremented by 1, and step S20 is performed.
Returned to the processing of.

When it is determined in step S24 that the ON signal is not generated from the stop position detector 42 (NO), the arithmetic control circuit 58 detects only the stop position detector 41 detects the object 72 to be detected. Is determined to be
In step S38, the electric carriage 15 is run at a low speed in the direction opposite to the arrow shown in FIG. Then, the arithmetic control circuit 5
In step S39, 8 measures the time from when the electric carriage 15 travels in the reverse direction at low speed until the stop position detector 42 detects the detected body 72 and an ON signal is generated.

After that, the arithmetic control circuit 58 determines in step S
At 40, it is determined whether OFF signals are generated from both the stop position detectors 41 and 42, that is, both stop position detectors 41 and 42.
It is determined whether or not the electric carriage 15 is traveling at a low speed in the opposite direction until both 42 detect the object 72 to be detected, and if both stop position detectors 41 and 42 do not generate an OFF signal (NO), Returning to the processing of step S38, the backward low speed traveling of the electric carriage 15 is continued until both the stop position detectors 41 and 42 generate OFF signals.

In step S40, both stop position detectors 41,
When both OFF signals are generated from 42 (YES), the arithmetic control circuit 58 applies braking to the electric carriage 15 to stop the reverse low speed traveling in step S41, and in step S42, the arithmetic processing described above is performed. Based on new low speed V
Is calculated. Then, the arithmetic and control circuit 58 performs the step S
At 43, the electric bogie 15 is run at a low speed in the forward direction indicated by the arrow in FIG. 8A at the newly calculated low speed V.

After that, the arithmetic and control circuit 58 proceeds to step S
At 44, it is determined whether or not ON signals are generated from both the stop position detectors 41, 42, that is, both stop position detectors 41, 4
2 determines whether or not both of the detected objects 72 are detected, and if both stop position detectors 41 and 42 do not generate ON signals (NO), the process returns to step S43 to detect both stop positions. Until the ON signals are generated from both the children 41 and 42, the forward low speed traveling of the electric cart 15 is continued.

In step S44, both stop position detectors 41,
When both ON signals are generated from 42 (YES), the arithmetic and control circuit 58, in step S45, applies braking to the electric carriage 15 to stop its forward low speed traveling, and then in step S45.
Then, the processing shifts to 36.

That is, according to the configuration of the above embodiment, the pair of stop position detectors 41 and 42 are both placed in a state where the electric carriage 15 is moved to a desired position at a high speed and is switched to a low speed to be stopped. When the detected object 72 is not detected, the stop position correcting operation of the electric carriage 15 at the low speed VL is repeatedly performed, and when the number of the stop position correcting operations reaches a predetermined number, the electric carriage 15 is moved. The electric vehicle 1 that is moving at the low speed VL
The distance from when the braking force of 5 is applied to when the braking force is stopped is given when the pair of stop position detectors 41 and 42 both detect the detected body 72. A pattern changing process is performed to change the distance so that the electric carriage 15 is stopped while both 42 detect the detected object 72, and the changed new low speed V
Since the stop position correction operation of the electric carriage 15 is performed by the above, the electric carriage 15 can be accurately stopped at the target position even when the braking distance of the electric carriage 15 changes.

Next, FIG. 14 and FIG. 15 are a plan view and a side view schematically showing the overall construction of another automatic safe deposit box to which the present invention is applied. That is, the same parts as those in FIG. 1 and FIG. 2 will be designated by the same reference numerals and will be described.
The safe deposit box 12 taken out by the stacker crane 14 is the rail 7 laid on the lifter 74 of the elevator 73.
5 is transferred to the electric trolley 15 standing by above. Then, the lifter 74 of the elevator 73 descends to the first floor, and the rail 75 on the lifter 74 is connected to the rail 22 laid on the first floor.

As described above, after the safe door 23 is lifted and the safe deposit box entrance / exit opening 24 is opened, the connecting rail 26 is tilted down so that the rail 22 and the safe deposit box entrance / exit are carried out. The rails 27 laid outside the opening 24 are connected to each other, and the electric carriage 15 passes through the safe deposit box entry / exit opening 24 and is moved to the rail 27. Then, the safe deposit box 12 mounted on the electric cart 15 is transferred to the work station 30 of the safe deposit box working room 28, and the operation of taking out the desired safe deposit box 12 is completed here.

When the safe deposit box 12 placed in the work station 30 is returned to the safe deposit box storage shelf 13 of the safe 11, the safe deposit box 12 is placed in the work station 3.
Transfer from 0 to electric cart 15. And electric cart 1
5 is returned to the lifter 74 through a reverse route to the above and lifter 7
After raising 4 to the second floor, the safe deposit box 12 mounted on the electric cart 15 is accommodated in the empty space of the safe deposit box storage shelf 13 by the stacker crane 14, and the return operation of the safe deposit box 12 is performed here. Will be terminated. The present invention is not limited to the above-described embodiment, and can be variously modified and implemented without departing from the scope of the invention.

[0072]

As described above in detail, according to the present invention,
It is possible to provide a very good stop position control device for an electric carriage that can be controlled so that the electric carriage can be accurately stopped at a target position even when the braking distance of the electric carriage changes.

[Brief description of drawings]

FIG. 1 is a plan view schematically showing the overall configuration of an automatic safe deposit box, showing an embodiment of a stop position control device for an electric trolley according to the present invention.

FIG. 2 is a side view schematically showing the overall configuration of the automatic safe deposit box.

FIG. 3 is a diagram for explaining an outline of an electric carriage used in the automatic safe deposit box.

FIG. 4 is a diagram for explaining a detailed internal configuration of the electric cart.

FIG. 5 is a block diagram showing a control system of the automatic safe deposit box.

FIG. 6 is a block configuration diagram showing an integrated control panel mounted on the electric carriage.

FIG. 7 is a side view showing a positional relationship between a stop position detector of the electric cart and a detected object.

FIG. 8 is a diagram for explaining control of running and stopping of the electric vehicle in terms of a positional relationship between a stop position detector and a detected object.

FIG. 9 is a diagram showing a relationship between a moving distance and a speed in a stop position correction operation of the electric cart.

FIG. 10 is a flowchart shown for explaining a stop position correction operation of the electric cart.

FIG. 11 is a flowchart shown for explaining a stop position correcting operation of the electric cart.

FIG. 12 is a flowchart shown for explaining a pattern change processing operation in the stop position correction operation.

FIG. 13 is a flowchart shown for explaining a pattern change processing operation in the stop position correction operation.

FIG. 14 is a plan view schematically showing the overall configuration of another automatic safe deposit box to which the present invention is applied.

FIG. 15 is a side view schematically showing the overall configuration of another automatic safe deposit box.

[Explanation of symbols]

11 ... Vault, 12 ... Safe deposit box, 13 ... Safe deposit box storage rack, 14 ... Stacker crane, 15 ... Electric trolley, 16
... rails, 17 ... rotary elevators, 18 ... rotary bases, 19 ... rails, 20 ... columns, 21 ... lifters, 22 ... rails, 23
… Safe deposit box, 24… Safe deposit box entrance / exit, 25… Rotation axis, 2
6 ... Connection rail, 27 ... Rail, 28, 29 ... Safe box work room, 30, 31 ... Work station, 32 ... Wheels, 33 ... Rotating body, 34 ... Belt, 35 ... Conveyor, 3
6 ... Charging shoe, 37 ... Power supply terminal, 38 ... Power supply device,
39, 40 ... Motor, 41, 42 ... Stop position detector, 4
3, 44 ... Detector, 45 ... Control board, 46 ... Operation display section, 47 ... Battery, 48 ... Central control room, 49 ... Center unit, 50 ... General control panel, 51 ... Stacker control panel,
52 ... Bar code reader, 53 ... No. 9 stations, 54 ... Safe door control panel, 55, 56 ... Booth electromagnetic panel,
57 ... Input circuit, 58 ... Arithmetic control circuit, 59 ... Memory,
60 ... Output circuit, 61 ... Drive circuit, 62 ... DC type tacho-generator, 63 ... A / D conversion circuit, 64 ... Input circuit,
65 ... Output circuit, 66 ... Driving circuit, 67 ... Input / output circuit,
68 ... Optical communication part, 69 ... Input / output circuit, 70 ... Battery control circuit, 71 ... Input / output circuit, 72 ... Detected object, 73 ... Elevator, 74 ... Lifter, 75 ... Rail.

Claims (1)

(57) [Claims] 1. A transport system for a safe deposit box that transports an article to a target position by an electric carriage that travels along a specified track, comprising a pair of detectors installed on the electric carriage along the traveling direction. A detection target that is installed at the target position and that is detected by the pair of detectors while the electric carriage is stopped at the target position; and the electric carriage is stopped at the target position and the pair of detectors In a state where one of the pair of detectors does not detect the detected body, the pair of detectors moves the electric carriage at a low speed in a direction to detect the detected body, and the pair of detectors together Stop position correcting means for repeating a stop position correcting operation for applying braking when a detected object is detected, and the electric cart in a state where the number of times of repeating the correcting operation by the stop position correcting means reaches a predetermined number. The low speed to be moved is the distance from when the electric carriage being moved at the low speed is braked to when it is stopped, when the pair of detectors both detect the detected object. And a pattern changing means for changing the distance so that the electric carriage is stopped when both of the pair of detectors detect the detected body. Stop position control device.