JP2910794B2 - Traveling vehicle for automatic warehouse, its positioning control method and automatic warehouse control method using it - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling truck for an automatic warehouse such as a stacker crane which runs in an automatic warehouse and stores the luggage on a predetermined shelf. The present invention relates to a traveling vehicle, an automatic warehouse traveling vehicle positioning control system, and an automatic warehouse control system capable of accurately positioning a fork portion on a predetermined shelf using the automatic warehouse traveling vehicle.

[0002]

[Prior Art] FA (Factory Automation)
Along with the progress of storage, raw materials, parts, semi-finished products, products are stored, taken out and delivered in factories by a stacker crane (automatic warehouse traveling vehicle) traveling in an automatic warehouse. Hereinafter, in this specification, the traveling truck for an automatic warehouse is referred to as a traveling truck.

[0003] This traveling vehicle has a rotation detector for detecting the amount of rotation of a driving wheel of a wheel, and recognizes the current position of the traveling vehicle itself in a bay direction (horizontal direction) based on the rotation detector. ing. The traveling vehicle can also recognize the current position of the fork in the level (step) direction (vertical direction). Accordingly, when the host computer outputs a work command (work data indicating the loading or unloading of a package and shelf number data of the target shelf for the work) to the traveling carriage, the traveling carriage moves the fork in the level direction. In the meantime, the vehicle travels in the bay direction, stops the fork at the position of the target shelf corresponding to the shelf number data, and performs loading / unloading work of luggage. By controlling many of such traveling vehicles with a host computer, operations such as storage, removal, and delivery in a factory are unmanned.

Hereinafter, a schematic configuration of the traveling vehicle will be described with reference to FIG. In FIG. 15, the traveling trolley 6 includes a trolley unit 3, a fork unit 4 for carrying luggage to a target shelf and unloading from the target shelf, and a crane mast unit 5 for guiding the fork unit 4 in a level direction. Be composed. The traveling rail 25 is a guide rail for moving the traveling carriage 6 in the bay (sequence, address) direction, and is provided on a floor almost in between shelves (rack).

The bogie unit 3 has auxiliary wheels 30 and driving wheels 31 for moving on the traveling rail 25. The drive wheel 31 is connected to the traveling motor 3 via a shaft and a gear box 32.
4 and is driven and controlled by the traveling motor 34. An electromagnetic brake 33 for stopping the rotation of the drive wheels 31 is provided between the traveling motor 34 and the gear box 32.

The traveling motor 34 is provided with a tacho generator 35a for detecting the rotation speed and a pulse encoder 35b for detecting the traveling distance. A control loop and a position control loop are configured. The host controller 8 outputs a bay direction position command signal to the position and speed control unit 7 to stop the fork unit 4 at a position corresponding to a target shelf in the bay direction. The position and speed control unit 7 receives a bay direction position command signal from the host controller 8, moves the traveling vehicle 6 at a speed corresponding thereto, and drives the traveling vehicle so that the traveling vehicle 6 stops at a predetermined position in the bay direction. 34 is driven and controlled.

[0007] A crane mast unit 5 is attached to the bogie unit 3. A guide rail (not shown) is provided above the crane mast unit 5. The traveling truck for automatic warehouse is supported and moved between the guide rail and the traveling rail 25. The fork 4 is suspended at both ends by wires 51 and 52 and moves up and down in the level direction along the crane mast 5. Wires 51 and 52 are pulleys 53 and 5
4 around the winch drum 55. The amount of vertical movement of the fork 4 corresponds to the length of the wires 51, 52 to the winch drum 55. Therefore, by controlling the rotation of the winch drum 55, the wires 51,
The length of the fork 52, that is, the height of the fork portion 4 in the level direction can be controlled.

The winch drum 55 is driven and controlled by a lifting / lowering motor 58 connected via a gear box 56. An electromagnetic brake 57 for stopping rotation of the winch drum 55 is provided between the elevating motor 58 and the gear box 56. Accordingly, by stopping the rotation of the elevating motor 58 by the electromagnetic brake 57, the fork portion 4 stops at a predetermined position in the level direction.
The elevating motor 58 is provided with a tachogenerator 59a for detecting the rotation speed thereof and a pulse encoder 59b for measuring the length of the wires 51 and 52. Each forms a speed control loop and a position control loop.

Since the height of the fork portion 4 depends on the length of the wires 51 and 52, the traveling carriage 6 rotates the lifting / lowering motor 58 to attach the wires 51 and 52 to the winch drum 55.
By winding and unwinding the wire 52, the wires 51,
The length of the fork 52 is controlled to move the fork 4 in the level direction. That is, the fork 4 is positioned at a desired height by controlling the rotation of the elevating motor 58.

At this time, since it is difficult to actually measure the lengths of the wires 51 and 52, a rotation position detecting device or the like is provided in the elevating motor 55, and the lengths of the wires 51 and 52 are determined based on the position detection signals. Is indirectly measured, and the upper-level controller 8 which detects the height of the fork unit 4 outputs the level direction position command signal to stop the fork unit 4 at the position corresponding to the target shelf in the level direction. Output to the control unit 7. The position and speed control unit 7 receives a level direction position command signal from the host controller 8,
The fork unit 4 is moved up and down at a speed corresponding thereto, and the drive of the elevating motor 58 is controlled so that the fork unit 4 stops at a predetermined position in the level direction.

The fork portion 4 includes forks 44 and 45,
And a drive system for driving these. Forks 44, 4
5 is loaded with luggage and perpendicular to the plane of FIG.
Move in the direction. That is, if the traveling direction (bay direction) of the traveling vehicle 6 is defined as the X-axis direction, and the ascending / descending direction (level direction) of the fork portion is defined as the Y-axis direction, the forks 44 and 45 will have the Z-axis of the three-dimensional coordinates. Direction.

The forks 44, 45 move in accordance with the rotation of the pinions 46, 47 of the shaft 48. Fork 4
The lower portion of each of the pins 4 and 45 has a rack for forming a rack and pinion with the pinions 46 and 47. The shaft 48 is connected to a fork motor 38 via a gear box (reducer) 49, and is driven and controlled by the fork motor 38. An electromagnetic brake 3 for stopping rotation of the shaft 48 (movement of the forks 44 and 45) is provided between the fork motor 38 and the gear box 49.
9 are provided. After stopping the fork unit 4 at a position corresponding to the target shelf in the level direction, the host controller 10 controls the forks 44 and 45 according to the work data indicating the loading or unloading of the luggage, and performs loading or unloading of the luggage. Do.

[0013]

As shown in FIG. 15, a conventional traveling vehicle has a traveling motor 34 having a traveling distance detecting sensor, that is, a pulse encoder 35b. 6 is detected. However, at the time of acceleration / deceleration of the traveling motor 34, the auxiliary wheels 30 and the driving wheels 31 slide on the traveling rail 25,
Auxiliary wheel 30 and drive wheel 31 depending on the load of the load to be carried
Is distorted. Therefore, there is an error between the amount of rotation of the driving wheel 31 and the actual traveling distance of the traveling vehicle 6 due to slippage or distortion of the driving wheel 31, so that accurate positioning control could not be performed. The cart 3 is driven by the front wheels (F
F) or rear-wheel drive (FR), the running distance fluctuated depending on the traveling direction (forward and backward), and accurate positioning control could not be performed.

Therefore, conventionally, the rotation amount of the drive wheel 31 (output of the pulse encoder 35b) is used to detect the approximate traveling distance of the traveling vehicle 6, and is provided at a predetermined position along the traveling rail 25. The final positioning control is performed between the running count dog and the proximity switch or photoelectric switch that detects the dog.

However, according to this method, the travel counting dog must be previously installed at the stop position of the traveling vehicle 6, and there is a problem that the positioning accuracy of the traveling vehicle 6 depends on the installation accuracy. In addition, when it is desired to change the stop position, the installation position of the travel counting dog must be changed accordingly, and the change operation is complicated, and flexible positioning control cannot be performed.

On the other hand, even if the positioning control of the traveling vehicle can be performed with high accuracy, if the shelf itself for storing the load has a distortion or an installation error, the loading / unloading operation of the load cannot be performed accurately. . That is, the mechanical elements (stems, trusses, lattices, etc.) constituting the shelves are not necessarily uniform, have errors in manufacturing and installation, and the floor where the shelves and traveling rails are actually installed is , Not in the horizontal plane, but has an error of about several tens of mm between both ends in the bay direction. In addition, the weight of the loaded and unloaded luggage itself is not uniform, and there are loads of all kinds. Therefore, the distortion of the shelf itself differs depending on the location due to the difference in the load. As described above, conventionally, it is very difficult to install a shelf and a traveling rail on an uneven floor using uneven machine elements, and to accurately position the fork on the target shelf while loading various loads. Was difficult.

The present invention has been made in view of the above points, and provides a traveling truck for an automatic warehouse which can accurately stop positioning without providing a traveling count dog or the like at a predetermined position in the traveling direction in advance. The purpose is to:
Another object of the present invention is to provide a positioning control method for an automatic warehouse traveling vehicle that can accurately position a fork portion on a target shelf. Further, the present invention provides
It is an object of the present invention to provide an automatic warehouse control system capable of accurately positioning a fork portion on a target shelf even if there is a distortion, an installation error, or the like in a shelf for storing luggage itself.

[0018]

According to a first aspect of the present invention, there is provided a traveling truck for an automatic warehouse, which includes a fork portion for carrying in and out of a load, a crane mast portion for guiding the ascending and descending movement of the fork portion. A traveling vehicle having a crane mast portion and traveling in a predetermined direction; and a traveling vehicle provided on the traveling vehicle and receiving loads of the fork portion, the crane mast portion, the traveling vehicle, the luggage, and the like. , A drive motor that applies a rotational force to the drive wheel, a first position detector that detects a rotational position of the drive motor and outputs a first detection signal, A traveling distance detecting auxiliary wheel attached to the traveling vehicle so as to rotate in accordance with the traveling of the traveling vehicle, but to be in contact with the traveling route of the traveling vehicle with a constant load regardless of the load, A second position detector that detects a shift position and outputs a second detection signal; a lifting motor that moves the fork up and down; a rotation position of the lifting motor, and a third detection signal A third position detector for outputting a rotational position of the traveling motor in accordance with the first and second detection signals, and a rotational position of the elevating motor in response to the third detection signal. And a position / speed control means for controlling the speed.

According to a second aspect of the present invention, there is provided an automatic warehouse traveling vehicle positioning control system for measuring an actual vertical position of a fork portion according to the first aspect and outputting a fourth detection signal. Wherein the position and speed control means controls the rotational position of the elevating motor according to the third and fourth detection signals.

According to a third aspect of the present invention, there is provided a positioning control system for a traveling vehicle for an automatic warehouse, wherein the position / speed control means according to the first invention responds to a position command signal indicating a predetermined position to position the traveling vehicle. Position control means for negatively feeding back the first detection signal indicating the current position of the traveling motor, and outputting a speed command signal according to the position deviation; and a position corresponding to the first and second detection signals. A position correcting means for adding a correction signal to the position command signal; and a negative feedback of a feedback speed signal indicating a current speed of the traveling motor to the speed command signal, and outputting a current command signal corresponding to the speed deviation. Speed control means, and a current control means for supplying a drive current according to the current command signal to the traveling motor, wherein the position correction signal of the position correction means is transmitted to the automatic warehouse traveling vehicle. It is characterized in that the positioning control is added to the position command signal from the arbitrary time during deceleration control.

According to a fourth aspect of the present invention, there is provided a positioning control method for an automatic traveling vehicle, wherein the position and speed control means according to the first invention receives the first and second detection signals and selectively selects one of the signals. And a negative feedback of the first or second detection signal selected by the detection signal selection means with respect to a position command signal indicating a predetermined position to position the traveling vehicle, Position control means for outputting a speed command signal corresponding to the position deviation, and a feedback speed signal indicating the current speed of the traveling motor is negatively fed back to the speed command signal, and a current command signal corresponding to the speed deviation is provided. Speed control means for outputting the current detection signal, and current control means for supplying a drive current according to the current command signal to the traveling motor. For warehouse The vehicle is accelerated / decelerated, and at any time during the acceleration / deceleration control, the detection signal selecting means is switched to perform the positioning control by negatively feeding back the second detection signal to the position control means. Things.

According to a fifth aspect of the present invention, there is provided a positioning control system for a traveling vehicle for an automatic warehouse, wherein the position / speed control means according to the first invention responds to a position command signal indicating a predetermined position to position the traveling vehicle. The first detection signal indicating the current position of the traveling motor is negatively fed back, and a first detection signal corresponding to the position deviation is provided.
Position control means for outputting a speed command signal for the vehicle, constant speed signal generating means for outputting a second speed command signal for causing the automatic warehouse traveling vehicle to travel at a constant speed, and the first and second speeds A speed signal selecting means for inputting a command signal and selectively outputting either of the command signals; and a current speed of the traveling motor in response to the first or second speed command signal selected by the speed signal selecting means. A speed control means for negatively feeding back a feedback speed signal indicating the following, and outputting a current command signal according to the speed deviation; and a current control means for supplying a drive current corresponding to the current command signal to the traveling motor. The first speed command signal is input to the speed control means to perform acceleration / deceleration control of the automatic warehouse traveling vehicle. Speed of 2 At the time when the speed corresponding to the command signal is reached, the speed signal selecting means is switched to input the second speed command signal to the speed control means, and the time when the second detection signal matches the position command signal And the positioning control is performed by stopping the traveling motor.

According to a sixth aspect of the present invention, there is provided an automatic warehouse control system for detecting a position of a pillar and a shelf which constitute a warehouse, and outputting a pillar detection signal and a shelf detection signal. The second detection signal at the time when the pillar detection signal is output from the pillar detector by the traveling movement of the traveling bogie, and the shelf detection signal is output from the shelf detector by the ascending and descending movement of the fork portion. The actual shape of the pillars and shelves constituting the warehouse is recognized based on the fourth detection signal at the point in time, and the traveling position of the traveling vehicle and the The lift position is controlled.

[0024]

In order to move the automatic warehouse traveling cart and stop it at a predetermined position, the driving wheels are rotated at a predetermined speed and the amount of rotation is detected. The amount of rotation of the drive wheels can be easily measured by detecting the rotational position of the traveling motor that applies a rotational force to the drive wheels. Since the first position detector detects the rotational position of the traveling motor, the first position detector controls the rotational position of the traveling motor on the basis of the position command signal and the first detection signal. The movement of the traveling cart can be controlled at high speed. On the other hand, the drive wheel slips during acceleration or deceleration or is distorted due to load fluctuation, so that the rotational position of the traveling motor, that is, the rotation amount of the drive wheel, does not match the actual travel distance of the automatic warehouse traveling cart. Many,
It is not possible to accurately control the position of the automatic warehouse traveling cart at a predetermined position only by the rotational position of the traveling motor.

Therefore, the traveling truck for an automatic warehouse according to the first aspect of the present invention rotates in accordance with the traveling of the traveling truck, but the traveling distance that rotates in contact with the traveling route of the traveling truck with a constant load regardless of the load variation. A detection auxiliary wheel is attached, and a second position detector for detecting the rotational position thereof is provided separately from the first position detector. Since this traveling distance detection auxiliary wheel is not related to the load fluctuation of the luggage carried by the traveling cart, the external shape of the auxiliary wheel is not distorted, and
It always rotates with a constant load on the running path, so it does not slip during acceleration or deceleration. The second position detector detects the rotational position of the traveling distance detecting auxiliary wheel. Therefore, the actual moving distance of the automatic warehouse traveling cart can be accurately known based on the second detection signal. Therefore, by utilizing the second detection signal at the time of final positioning stop, the automatic warehouse can be used. The positioning vehicle can be accurately positioned and stopped at a predetermined position.

According to a second aspect of the present invention, in addition to the third position detector for detecting the rotational position of the elevating motor, an elevating position for measuring the actual elevating position of the fork portion and outputting a fourth detection signal. A detector is provided, and the position / speed control means is configured to control the rotational position of the lifting / lowering motor in accordance with the third and fourth detection signals. Thus, even when the height of the fork portion fluctuates due to the load of a load or the like, the fork portion can be accurately positioned on the target shelf.

The third, fourth and fifth aspects of the present invention relate to a control system for positioning a traveling vehicle for an automatic warehouse using the traveling distance detecting auxiliary wheels and the second position detector as described above. is there. In a third aspect of the present invention, the position control means adds a position correction signal corresponding to a difference value between the first and second detection signals to the position command signal. That is, when the first detection signal and the second detection signal do not match, the position correction unit adds a position correction signal corresponding to a difference value between the two to the position command signal. Then, the position control means outputs to the speed control means a speed command signal corresponding to a position deviation between the position command signal to which the position correction signal is added and the negatively fed first detection signal. The motor is driven so as to correct an error when the first and second detection signals do not match. As described above, according to the third aspect of the present invention, it is possible to control the position of the automatic warehouse traveling vehicle at an accurate position while correcting the error.

In a fourth aspect of the present invention, the detection signal selecting means comprises a first and second detection signal selecting means.
, And selectively outputs one of them. The position control means outputs to the speed control means a speed command signal corresponding to a position deviation between the position command signal and one of the negatively fed detection signals. Therefore, the position / speed control means performs negative feedback of the first detection signal to the position control means to perform acceleration / deceleration control of the automatic warehouse traveling vehicle, and switches the detection signal selection means at any time during the acceleration / deceleration control. Second
Is negatively fed back to the position control means to perform positioning control. That is, in the first part of the acceleration / deceleration control, the drive wheels slip well and can be regarded as a control system with low rigidity. Therefore, the position / speed control means performs acceleration / deceleration control in accordance with the first detection signal, and no slip occurs. The detection signal selecting means is switched from the time at which the control system appears to be a strong control system, and positioning control is performed according to the second detection signal. According to the fourth aspect of the present invention, since the control is performed by switching the detection signal in accordance with the occurrence state of the slip, accurate positioning control can be performed.

In the positioning control method for an automatic warehouse traveling vehicle according to the fifth aspect of the present invention, the position control means outputs a first speed command signal, and the constant speed signal generating means travels the automatic warehouse traveling vehicle at a constant speed. A second speed command signal for outputting the first and second speed command signals is output by the speed signal selecting means, and either one of the first and second speed command signals is selectively output to the speed control means. The speed control means negatively feeds back a feedback speed signal indicating the current speed of the traveling motor to the first or second speed command signal, and outputs a current command signal corresponding to the speed deviation. Therefore, the position / speed control means firstly inputs the first speed command signal to the speed control means, and controls the acceleration / deceleration of the automatic warehouse traveling vehicle. The position / speed control means switches the speed signal selection means at a time when the moving speed of the automatic warehouse traveling vehicle reaches a speed corresponding to the second speed command signal during the deceleration during the acceleration / deceleration control, and switches the speed signal selection means. Position control is performed by inputting a speed command signal to speed control means. That is,
At the time of acceleration / deceleration control, acceleration / deceleration control is performed in a normal feedback control loop corresponding to the first detection signal. Then, the motor control means controls the moving speed at which the automatic warehouse traveling vehicle is decelerated to the moving speed at which the vehicle can be safely stopped even when it is forcibly stopped by braking, that is, the moving speed corresponding to the second speed command signal. The signal selection means is switched to move the automatic warehouse traveling vehicle at a traveling speed corresponding to the second speed command signal, and the traveling motor is stopped at the time when the second detection signal matches the position command signal. . As described above, according to the fifth aspect of the present invention, the feedback control is switched to the feedforward control at the time when the traveling speed of the traveling vehicle for an automatic warehouse becomes such that the vehicle can safely stop even if it is suddenly stopped in the braking process. Determining whether the predetermined position has been reached based on the second detection signal,
Since the vehicle is stopped by braking, positioning control can be performed with high accuracy.

In the third, fourth and fifth aspects of the present invention, since the positioning control of the traveling vehicle is performed based on two position detectors, the same control is applied to the second aspect of the present invention. Thus, the positioning control of the fork portion at the elevation position can be performed with high accuracy.

In the automatic warehouse control system according to the sixth aspect of the present invention, the column detector and the shelf detector provided on the fork detect the positions of the columns and the shelves constituting the warehouse, and detect the column detection signal and the shelf detection. Output a signal. Accordingly, the traveling position of the fork portion is fixed and the traveling carriage is moved to move, so that the column detection signal is output from the column detector. Based on the second detection signal at the time of the output, the actual position of the column is detected. We can recognize position. Similarly, a shelf detection signal is output from the shelf detector by moving the fork portion up and down while fixing the traveling position of the traveling vehicle, and the actual detection is performed based on the fourth detection signal at the time of the output. The position of the shelf can be recognized. If the positions of the columns and the shelves can be recognized in this way, the shape of the entire warehouse can be grasped. Therefore, the running position of the traveling cart and the elevating position of the fork portion are controlled in accordance with the recognized shapes of the columns and the shelves. Thereby, even if there is a distortion or an installation error in the shelf itself for storing the luggage, the loading and unloading of the luggage can be performed accurately.

[0032]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a view showing one embodiment of a traveling truck for an automatic warehouse according to the present invention. In FIG. 1, components having the same configuration as in FIG. 15 are denoted by the same reference numerals, and description thereof will be omitted. FIG. 2 is a diagram showing a detailed configuration of the position / speed control system 1 and the current control system 2a, and shows only the traveling position control system of the bogie unit 3, and omits other lifting / lowering position control systems and fork position control systems. is there.

The traveling truck 6 for the automatic warehouse is composed of a truck unit 3 moving in the warehouse, a fork unit 4 for loading and unloading cargo, and a crane mast unit 5 for guiding the fork unit 4. The traveling rail 25 is a guide rail for moving the traveling carriage 6 in the bay (sequence, address) direction, and is provided on a floor almost in between shelves (rack). The bogie unit 3 has auxiliary wheels 30 and drive wheels 31 for moving on the traveling rail 25. The auxiliary wheel 30 and the drive wheel 31 are subjected to the load of the entire automatic warehouse traveling vehicle and the load of the carried luggage, and may be distorted depending on the magnitude of the load.

The drive wheels 31 are composed of a shaft and a gear box 3.
The drive motor 34 is coupled to the motor 34 via the drive motor 2 to control the drive. An electromagnetic brake 33 for stopping the rotation of the drive wheels 31 is provided between the traveling motor 34 and the gear box 32. The electromagnetic brake 33 is a brake control unit 1 of the position / speed control system 1.
5 is driven and controlled. The electromagnetic brake 33 acts to prevent the traveling vehicle 6 from starting moving while stopping, and also acts to stop the traveling vehicle.

The current control system 2a supplies a drive current to the traveling motor 34, and is connected to the position / speed control system 1 by a serial communication line. In FIG. 1, the current control systems 2 b and 2 c are connected to the position / speed control system 1. However, since these are connected by a multipoint connection, the current control system 2 a and the position / speed control system 1 are connected to each other. Since the transmission and reception of data during the period are performed without any problem, FIG. 2 shows such a case.

In this embodiment, the traveling motor 34 is constituted by, for example, a synchronous AC servomotor. The traveling motor 34 is provided with a rotational position sensor 36 for absolutely detecting the rotational position. The output P1a of the rotation position sensor 36 is output to the position sensor conversion means 15 of the position / speed control system 1. As the rotational position sensor 36, for example, an inductive type phase shift type position sensor as disclosed in JP-A-57-70406 or JP-A-58-106691 is used.

The main difference between the automatic warehouse traveling cart of FIG. 1 and that of FIG. 15 is that the auxiliary wheels 30 and the driving wheels 31 of the cart unit 3 are provided.
Is provided with a traveling distance detecting auxiliary wheel 40 with a constant load, and the rotational position of the auxiliary wheel 40 is always detected by a rotational position sensor 41.
In addition, a current control system 2a for supplying a drive current to the traveling motor 34 and a current control system 2b for supplying a drive current to the elevating motor 58 are provided in the bogie unit 3; Control system 2 for supplying drive current to
c is provided in the fork portion 3, the position / speed control system 1 is provided outside the automatic warehouse traveling cart,
The point that data transmission between the current control systems 3a, 3b, and 3c is performed by a serial communication line, and the rotation position sensor 37 that detects the rotation position of the fork motor 37
The present embodiment is characterized in that the crane mast unit 5 is provided with a height measuring device 50 for measuring the height of the fork unit 4.

The traveling distance detecting auxiliary wheel 40 is rotatably attached to the vehicle body of the bogie unit 3 via a pivot arm 42. The pivot arm 42 is always loaded downward by the repulsive force of the spring 43. This spring 4
Due to the repulsion force of 3, the traveling distance detecting auxiliary wheels 40 are always pressed against the traveling rail 25 with a constant load and come into contact therewith. Therefore, the auxiliary wheel 30 and the drive wheel 31
Even if the vehicle slips,
Never slip. Further, even if the load of the luggage loaded on the fork portion 4 fluctuates, the running distance detecting auxiliary wheel 40 is not affected by the load fluctuation due to the expansion and contraction of the spring 43, and its outer shape may be distorted. Absent.

The rotation axis of the traveling distance detecting auxiliary wheel 40 includes:
A rotation position sensor 41 for absolutely detecting the rotation position is provided. This rotation position sensor 4
1 has the same configuration as the rotational position sensor 36 provided on the traveling motor 34. The position signal P2a of the rotation position sensor 41 is taken into the position / speed control system 1. Note that the rotational position sensor 36 and the rotational position sensor 41 may not be the same, and the rotational position sensor 36 is not particularly an absolute sensor because it is used particularly for controlling the rotational speed of the traveling motor 34.

The traveling distance detecting auxiliary wheels 40 are
The upper controller 10 rotates on the traveling rail 25 in accordance with the movement (traveling) of the traveling vehicle 6 without slipping during acceleration or deceleration as in the case of the driving wheel 31 or the influence of load fluctuation. 41 position signal P2a
, The current position of the automatic warehouse traveling vehicle on the rail 25, that is, the actual traveling distance of the automatic warehouse traveling vehicle 6 can be accurately detected. In this embodiment, a constant load is applied to the traveling distance detecting auxiliary wheel 40 by the spring 23 and the pivot arm 42. However, it goes without saying that a vehicle suspension or a leaf spring may be used.

The fork portion 4 has wires 51 and 5 at both ends.
2 and moves up and down along the crane mast section 5 in the level direction. Wires 51 and 52 are pulleys 5
It is wound around the winch drum 55 via the third and the third. The amount of vertical movement of the fork 4 corresponds to the length of the wires 51, 52 to the winch drum 55. Therefore,
By rotating the winch drum 55, the length of the wires 51 and 52, that is, the height of the fork portion 4 in the level direction can be arbitrarily controlled.

The winch drum 55 is driven and controlled by a lifting motor 58 connected via a gear box 56. The elevating motor 58 is composed of, for example, a synchronous AC servomotor that is the same as the traveling motor 35. An electromagnetic brake 57 for stopping rotation of the winch drum 55 is provided between the elevating motor 58 and the gear box 56. Accordingly, by stopping the rotation of the elevating motor 58 by the electromagnetic brake 57, the fork portion 4 stops at a predetermined position in the level direction. The current control system 2b supplies a drive current to the lifting / lowering motor 58, and is connected to the position / speed control system 1 by a serial communication line.

The lifting motor 58 is provided with a rotation position sensor 60 for absolutely detecting the rotation speed. The position signal P1b of the rotation position sensor 60 is input to the position / speed control system 1. This rotation position sensor 60
Has the same configuration as the rotational position sensor 36 provided on the traveling motor 34. The rotation position sensor 3
6 and the rotational position sensor 60 need not be the same. Further, since the actual height of the fork portion 4 is measured by the height measuring device 50, the rotational position sensor 60 is provided with the winch drum 55.
It is not necessary to use an absolute sensor because it is used for controlling the rotation speed of the motor.

Since the height of the fork portion 4 depends on the lengths of the wires 51 and 52, the traveling truck 6 for an automatic warehouse uses
The length of the wires 51, 52 is controlled by rotating the lifting motor 58 to wind or unwind the wires 51, 52 around the winch drum 55, and the fork 4 is moved in the level direction. That is, by controlling the rotation of the elevating motor 58, the fork portion 4
Is controlled to a desired height.

At this time, since it is difficult to actually measure the lengths of the wires 51 and 52, the outline of the wires 51 and 52 is determined based on the position signal P1b from the rotation position sensor 60 provided on the elevating motor 58. Measure the length and fork 4
Height is detected. However, depending on the weight of the luggage loaded on the fork portion 4 and the secular use, the wires 51, 5
2, elongation occurs, and the elongation rate also changes due to a change in load. Therefore, even if the lengths of the wires 51 and 52 themselves change and the height of the fork portion 4 is measured based on the rotation position of the elevating motor 58, that is, the position signal P1b, the value includes an error. The fork portion 4 cannot be accurately positioned and stopped at a predetermined position.

Therefore, in this embodiment, a height measuring device 50 is provided at the uppermost portion of the crane mast portion 5, and the height measuring device 50 is configured so as to be able to detect the actual height of the fork portion 4. is there. The height measuring device 50 includes wires 51 and 5.
Even if the length of the fork portion 2 changes, the height of the fork portion 4 can always be detected accurately. Further, even when the fork portion 4 is moved in the level direction by a method other than the wire, the height fluctuation due to the load is unavoidable. That is important. The detailed configuration of the height measuring device 50 will be described later.

Since the structure of the fork portion 4 is almost the same as that of FIG. 15, only the differences will be described. The fork unit 4 of the present embodiment has a built-in current control system 2c for supplying a drive current to the fork motor 38. The current control system 2c is connected to the position / speed control system 1 via a serial communication line. In the present embodiment, the fork motor 3
8 is provided with a rotation position sensor 37 for absolutely detecting the rotation position. Rotational position sensor 3
7, the position signal P1c is input to the position sensor conversion means 15 of the position / speed control system 1. The rotation position sensor 37 has the same configuration as the rotation position sensor 36 provided on the traveling motor 34. Note that the rotational position sensor 37 and the rotational position sensor 36 do not necessarily have to be the same.

The fork portion 4 of this embodiment can detect the movement position of the forks 44, 45, that is, how much the forks 44, 45 have moved in the front-rear direction, based on the rotation position sensor 37. The position / speed control system 1 can freely control the amount of movement of the forks 44 and 45 based on the output P1c of the rotational position sensor 37.
By controlling the moving positions of the forks 44 and 45, it is possible to carry out control such that after the load is carried in the depth of the shelf, the load is further carried in front of the load, or a plurality of loads are arranged in the longitudinal direction of the shelf.

In the traveling vehicle 6 for an automatic warehouse shown in FIG. 1, a rotational position sensor 36 is used as a sensor for a speed control loop for controlling the rotation of the traveling motor 34 (moving speed of the traveling vehicle) (conventional tacho generator 35a). By using the rotational position sensor 41 as a position control loop sensor (conventional pulse generator 35b) for controlling the position of the traveling vehicle 6, the traveling vehicle 6 is accurately positioned and stopped at a predetermined position. It is possible.

Similarly, the rotational position sensor 60 is used as a sensor for a speed control loop for controlling the rotation of the motor 58 (the moving speed of the fork unit 4 up and down), and the height measuring device 50 is used as the sensor for the fork unit 4. By using the sensor as a sensor for a position control loop for controlling the height of the fork portion 4, the fork portion 4 can be accurately positioned and stopped at a predetermined position.

However, the traveling distance detecting auxiliary wheels 40
Is always stable, but the auxiliary wheel 30 and the drive wheel 31
Is slippery at the time of acceleration / deceleration or is distorted in accordance with load fluctuation, and the rotation itself is unstable. Therefore, the driving wheel 31
The rigidity between the vehicle and the traveling distance detection auxiliary wheel 40 can be regarded as a very weak control system. In such a rigid control system, if the sensors are separately controlled for the speed control loop and the position control loop, the control system becomes unstable, which is not desirable. The same can be said for controlling the height (elevation position) of the fork portion 4 including the mechanical elements of the wires 51 and 52 having low rigidity.

Therefore, the traveling truck 6 for the automatic warehouse according to the present embodiment.
Are two position sensors (rotational position sensors 36 and 41)
A new two-sensor type positioning control system is used in which the traveling position is controlled by the controller and the elevation position is controlled by two position sensors (the rotation position sensor 60 and the height measuring device 50). Hereinafter, a schematic configuration of the two-sensor type positioning control system will be described with reference to FIG.

The driving wheels 31 and the gear box 32, which constitute the traveling position control system of the traveling vehicle 6 for the automatic warehouse,
The respective components of the brake means 33, the traveling motor 34, the rotational position sensor 37, and the rotational position sensor 41
A winch drum 55, a gear box 56, a brake means 57,
2 corresponds to the elevation motor 58, the rotation position sensor 60, and the height measuring device 50. FIG. 2 shows only the components of the traveling position control system of the traveling vehicle 6, and FIG.
The components of the lifting / lowering position control system described above are omitted. Similarly, in FIG. 2, the configuration of the movement position control system of the forks 44 and 45 is also omitted.

The current control systems 2b and 2c are provided with a current control system 2a constituting a positioning control system for the traveling vehicle 6.
Since the configuration is the same as that described above, only the detailed configuration of the current control system 2a is shown, and the current control systems 2b and 2c are described by adding b or c to the reference numerals of the respective components. When a is added after each signal, a signal used when controlling the traveling position of the traveling vehicle 6 is used. When b is added, a signal used when controlling the ascent / descent position of the fork unit 4 is added. When c is added, it means a signal used at the time of controlling the movement position of the forks 44, 45.

The host controller 10 is connected to the adding means 11 and controls the target position of the traveling motor 34 (stop position of the traveling vehicle 6) and the target position of the elevating motor 58 (fork unit 4).
Command data F indicating the stop position of the fork motor 38 or the target position of the fork motor 38 (the stop position of the forks 44 and 45).
0a, F0b, and F0c are output to the adding means 11. Further, the host controller 10 is connected to the serial communication interface 14 and stores various data D1a, D1b, D
1c is output to the serial communication interface 14.

The position / speed control system 1 includes an adder 11, a position controller 12, a speed controller 13, a serial communication interface 14, and position sensor converters 15 and 16.
, A speed calculation unit 17, a subtraction unit 18, a correction data generation unit 19, and a brake control unit 20. The adder 11 adds the correction data P8a, P8b of the correction data generator 19 to the position command data F0a, F0b of the host controller 10, and uses the added value as corrected position command data F1a, F1b.
Output to 2. In the case of controlling the positioning of the forks 44 and 45, no correction data is output from the correction data generating means 19, and the position command data F
0c is directly input to the position control unit 12. Fork 44,
Since the control system of 45 has high rigidity, one rotation position sensor 3
This is because accurate positioning control can be performed on the basis of.

The position controller 12 is connected to the adding means 11 and the position sensor converting means 15. Position control unit 12
When controlling the traveling position of the traveling vehicle 6 or controlling the elevating position of the fork part 4, the corrected position command data F1a or F1b indicating the target position of the traveling motor 34 or the elevating motor 58 , The position data P3a or P3 indicating the current position of the traveling motor 34 or the elevating motor 58.
Enter 3b. When the traveling position of the traveling vehicle 6 is controlled, the position data P3a indicates the slip of the driving wheel 31 or the driving wheel 3
When the elevation position of the fork portion 4 is controlled, the position data P3b includes an error caused by elongation of the wires 51 and 52. The position control unit 12 is connected to the speed control unit 13, and outputs the corrected position command data F1a or F1b and the position data P3
a or P3b, and outputs a speed command signal F2a or F2b corresponding to the position deviation to the speed control unit 13.

The position control unit 12 includes forks 44,
To control the movement position of the fork motor 38, the position command data F1c (F0c) indicating the target position of the fork motor 38
And position data P indicating the current position of the fork motor 38
Enter 3c. The position control unit 12 outputs the position command data F
Enter 0c directly. Further, the position control unit 12 is connected to the speed control unit 13, and the position command data F1c (F
0c) and the position data P3c, and outputs a speed command signal F2c corresponding to the position deviation to the speed control unit 13.

The position sensor conversion means 15 receives the outputs P1a, P1b, P1c of the rotational position sensors 36, 60 and 37 in parallel and indicates the current positions of the traveling motor 34, the lifting motor 58 and the fork motor 38. Position data P
3a, P3b, and P3c, respectively. The position sensor conversion means 15 outputs any one of the position data P3a, P3b or P3c to the position control unit 12 and the subtraction means 18, and outputs phase signals P6a, P6b, P6c, and any one of them is connected to the serial communication interface 14
Output to The position sensor conversion means 15 calculates the position data P
3a, P3b, and P3c are output to the speed calculation unit 17 in parallel. The position sensor converting means 15 determines which position data among the converted outputs P3a, P3b, P3c is to be output to the position control unit 12 and the subtracting means 18, and which of the phase signals P6a, P6b, P6c. Whether to output the phase signal to the serial communication interface 14 is selected according to an instruction signal (not shown) from the host controller 10.

The position sensor conversion means 15 is connected to the host control 10, and outputs the current position data P4a, P4
4b, coincidence signals B1a, B1 output from the host controller 10 at the time of coincidence with the position command data F0a, F0b.
b and the position data DPa, DPb. These position data DPa, DPb are position data P4a, P4b output from the position sensor conversion means 16. Therefore, when the match signals B1a and B1b are output from the host controller 10, the position sensor converting means 15 is corrected to output the same position data as the position data P4a and P4b.

When the traveling position of the traveling vehicle 6 is controlled, the position sensor converting means 16 controls the traveling distance detecting auxiliary wheels 40.
The sensor output P2a of the rotational position sensor 41 provided in the fork unit 4 is converted into position data P4a indicating the true current position of the traveling vehicle 6 on the traveling rail 25.
In order to control the elevation position of the fork 4, the sensor output P2b of the height measuring device 50 is input, and the position data P4 indicating the new height of the fork 4 moving up and down along the crane mast 5
b, and outputs the position data P4a or P4b to the subtraction means 18 and the host controller 10. The current position data P4a and P4b are supplied from the host controller 10 at the same time as the coincidence signals B1a and B1b.
5 is output as correction position data DPa and DPb. The position sensor converting means 16 outputs the outputs P2a and P2
b may be input in parallel, and the converted position data P4a or P4b may be selectively output.

The subtracting means 18 is provided with the position sensor converting means 15
Is subtracted from the current position data P4a or P4b of the position sensor conversion means 16 from the position data P3a or P3b, and the resulting value is output to the correction data generation means 19 as error data P5a or P5b. That is, when controlling the traveling position of the traveling vehicle 6, the error data P5a or P5b output from the subtracting means 18 is used for the traveling motor 34 driven and controlled by the position command data F0a output from the host controller 10. This is data indicating an error between the rotational position of the fork unit 4 and the position where the traveling carriage 6 actually travels. When the elevation position of the fork unit 4 is controlled, the elevation motor driven and controlled by the position command data F0b This is data indicating an error between the rotation position 58 and the height position where the fork unit 4 has actually moved. That is, the error data P5a corresponds to the distance that the drive wheel 31 did not actually travel due to slipping or distortion, and the error data P5b corresponds to the height that did not actually move up and down due to the extension of the wires 44 and 45. Is equivalent to

The correction data generation means 19 includes a subtraction means 18
And outputs correction data P8a or P8b corresponding to the error data P5a or P5b to the adding means 11 at predetermined time intervals. The output at a predetermined time interval is for the purpose of stably operating the control system having a very weak rigidity between the drive wheel 31 and the traveling distance detecting auxiliary wheel 40 and the control system including the extension of the wires 51 and 52. is there. The operation of the correction data generating means 19 is controlled by a correction control signal DC from the host controller 10. That is, the correction data generating means 19 does not output the correction data or changes the output interval of the correction data P8a or P8b according to the correction control signal DC. When controlling the movement positions of the forks 44 and 45, the host controller 10 outputs a correction control signal DCc so that the correction data generator 19 does not output correction data. Therefore, the position control unit 12 outputs the position command data F0a
Alternatively, position control is performed based on position command data F1a or F1b obtained by adding correction data P8a or P8b to F0b, and position control is performed based on position command data F1c (F0c) obtained by not adding correction data. There is.

The speed control unit 13 is connected to the position control unit 12 and the speed calculation unit 17, and receives speed command signals F2a, F2b, F2c from the position control unit 12 and the traveling motor 3
4. Input speed signals F3a, F3b, F3c indicating the rotation speed of the lifting motor 58 or the fork motor 38. The speed signals F3a, F3b, F3c are obtained by converting the position data P3a, P3b, P3c of the position sensor converting means 15 by the speed calculating unit 17. Speed calculator 17
Are the position data P3a, P3 of the position sensor converting means 15.
b, P3c are input in parallel, and based on the amount of change in the position data P3a, P3b, P3c per predetermined unit time,
Traveling motor 34, lifting motor 5 by digital operation
8 or the rotation speed of the fork motor 38, and uses it as speed signals F3a, F3b, F3c.
Output to 3. Further, the speed control unit 13 is connected to the serial communication interface 14, and receives the speed command signal F2
a, F2b, F2c and speed signals F3a, P3b, P3c
Then, torque signals (current command signals) T1a, T1b, T1c of the traveling motor 34, the elevating motor 58 or the fork motor 38 corresponding to the speed deviation are output to the serial communication interface 14.

The serial communication interface 14 is connected to the host controller 10, the speed controller 13 and the position sensor converter 15, and various data D1a, D1b, D1c from the host controller 10, the torque signal T1a from the speed controller, T1b, T1c and the phase signals P6a, P6b, P6c from the position sensor conversion means 15 are transmitted to the serial communication interfaces 21a, 21b, 21c of the current control systems 2a, 2b, 2c via communication lines. The serial communication interface 14 and the serial communication interfaces 21a, 21b, 21c are connected by a bidirectional communication line.
Data D1a, D1b, and D1c, and data D2a and D2 generated in the current control systems 2a, 2b, and 2c.
b and D2c are the host controller 10 and the current control system 2
a, 2b, and 2c.

The current control system 2a includes a serial communication interface 21a and a current control unit 22a. Although the current control systems 2b and 2c are not shown in FIG. 2, since the configuration is the same as that of the current control system 2a, a description thereof will be omitted.
In FIG. 1, the current control system 2a is connected to the serial communication interface 14 via the current control systems 2b and 2c, but in FIG. 2, the current control systems 2b and 2c are omitted. The serial communication interface 21a is connected to the serial communication interface 14 of the position / velocity control system 1 and the current control unit 22a, and the torque signal T1a
And the phase signal P6a to the serial communication interface 1.
4 and outputs to the current control unit 22a as a torque signal T2a and a phase signal P7a, and transmits various data D2a such as a status signal indicating a control state in the current control unit 22a to the serial communication interface 14.

The current control unit 22a is connected to the serial communication interface 21a and the traveling motor 34, receives the torque signal T2a and the phase signal P7a, generates a three-phase PWM signal based on the input signal, and drives the power transistor. Then, each phase (U phase, V
Phase, W phase). At this time, a current feedback signal T3a of the U-phase and V-phase current values is fed back to the current control unit 22a by the current detection isolator CTa. The current control unit 22a amplifies the deviation between the torque signal (current command signal) T2a of each phase and the current feedback signal T3a of each phase, and supplies a driving current to the traveling motor 34. Similarly, the current control units 22b and 22c also use the drive motor 58 and the fork motor 3
8

The serial communication interface 21
a and the current control unit 22a are connected by a data line, and various data D2a can be exchanged between them. The current control unit 22a has a function of detecting control states such as overload, power supply voltage drop, overcurrent, overvoltage and overheating of the servomotor, and a servo status signal indicating these control states,
It has a memory for storing various data such as an ID code indicating the rating of the current amplifier and a motor rating code indicating the rating of the servomotor to be controlled.

The data stored in the memory in the current control section 22a is replaced with the data D2a as needed.
The data is transmitted to the host controller 10 via the data lines and the serial communication interfaces 21a and 21. The motor rating code is stored as a table in the memory. Therefore, by selecting a table number corresponding to the rating of the servo motor connected via the communication line, the current control unit 22a can control servo motors having different ratings. As a result, even when the servo motor is replaced, the current control unit can be changed to a control system corresponding to the servo motor simply by changing the table number.

The brake control means 20 is connected to the host controller 10 and the brake means 33, 57 and 39. The host controller 10 determines the current position data P4a,
When P4b matches the position command data F0a, F0b, match signals B1a, B1b are output to the brake control means 20. In addition, the host controller 10 includes the fork 4
The coincidence signal B1c even at the end of the positioning control of 4, 45
Is output to the brake control means 20. The output of the coincidence signals B1a, B1b, B1c from the host controller 10 means that the positioning control of the traveling vehicle 6, the fork portion 4, and the forks 44, 45 has been completed.
At the time when the coincidence signals B1a, B1b, B1c are input, the brake control means 20 controls the brake means 33, 57 and 39.
Is operated to brake the drive wheel 31, the winch drum 55 or the forks 44, 45. The execution of the braking by the brake means 33, 57, and 39 completes the final positioning control of the traveling vehicle 6, the fork portion 4, or the forks 44, 45.

A position correction sensor 23 is connected to the position sensor conversion means 16. The position correction sensor 23 detects a position code plate provided at a predetermined position along the traveling rail 25 in advance. This is a case where the floor is an ideal plane, the traveling rail 25 provided thereon is an ideal straight line, and the traveling distance detecting auxiliary wheel 40 moves on the traveling rail 25 without slipping at all. Is unnecessary. However, in practice, the traveling distance of the traveling vehicle for an automatic warehouse extends over several tens of meters, so that the traveling rail 25 has a bend or an inclination, and the floor surface has irregularities. Therefore, the traveling distance detecting auxiliary wheel 40 does not slip at all, and a slight slip error occurs.

Therefore, in this embodiment, the position code plate is provided at a predetermined position along the traveling rail 25 and the position correction sensor 2 is provided.
3, the position code plate is detected. Therefore, the position sensor conversion means 16 is provided with the position correction sensor 23.
Detects the position code plate, the rotation position sensor 36
Is corrected to the position data of the position code plate, and the current position data P4a in which the slip error of the traveling distance detecting auxiliary wheel 40 is corrected is output.

Here, the position code plate does not need to be provided at a predetermined position with high accuracy. That is, the traveling vehicle for automatic warehouse shown in FIG. 1 is moved at a low speed such that no slippage or the like occurs on the auxiliary wheels 40 for traveling distance detection, and the position data of the position code plate detected at that time is learned and stored in advance. By
This is because the position data learned and stored may be read and used as the position data of the position code plate during the next and subsequent positioning control.

Next, the operation of the embodiment of the positioning control method for the traveling truck for the automatic warehouse shown in FIG. 1 will be described. First, the host controller 10 transmits the data D1a, D1b, and D1c of the table numbers indicating the respective ratings of the traveling motor 34, the lifting motor 58, and the fork motor 38 via the serial communication interface 14 to the current control system 2a, 2
b, 2c side serial communication interface 21a, 2
1b and 21c. The transmitted table number data is stored in the serial communication interfaces 21a and 21a.
b, 21c, the current control units 22a, 22b, 22c
Sent to. Thereby, the current control unit 22a specifies the rating of the traveling motor 34 and functions as the current control unit 21a according to the rating of the traveling motor 34. Similarly, the current control units 22b and 22c also function according to the ratings of the elevating motor 58 and the fork motor 38.

The host controller 10 includes the traveling motor 3
The fork unit 4 is moved to the position where the target shelf is located by controlling the drive of the motor 4 and the lifting motor 58. Although there are various methods of this movement, in the present embodiment, a case where the traveling position of the traveling vehicle 6 and the elevation position of the fork unit 4 are simultaneously controlled will be described. Other control methods include controlling the traveling position of the traveling vehicle 6 first, and then controlling the elevating position of the fork unit 4, or conversely, controlling the elevating position of the fork unit 4, 6 and the like. The simultaneous control as in the present embodiment has an advantage that loading and unloading of luggage can be speeded up.

Hereinafter, a case where the traveling position of the traveling vehicle 6 and the elevation position of the fork portion 4 are controlled simultaneously will be described. First, the host controller 10 outputs position command data F0a indicating the target position of the traveling motor 34 to the adding means 11. The adder 11 adds the correction data P8a to the position command data F0a and outputs the result to the position controller 12.
The position control unit 12 outputs a speed command signal F2a based on the position command data F1a and the position data P3a to the speed control unit 13.
Output to The speed control unit 13 generates a torque signal (current command signal) T corresponding to the speed command signal F2a and the speed signal F3a.
1a is output to the serial communication interface 14.

Transmission is performed between the serial communication interface 14 and the serial communication interface 21a, and the torque signal T2a and the phase signal P6a are transmitted from the serial communication interface 21a to the current controller 22a.
Is output. The current control unit 22a outputs the torque signal T2a,
The drive current of the traveling motor 34 is controlled based on the current feedback signal T3a and the phase signal P6a. Output P1 of a rotational position sensor 37 coupled to the traveling motor 34
a and the rotational position sensor 41 of the traveling distance detecting auxiliary wheel 40
Is output to the position / speed control system 1 as feedback.

The output P1a of the rotational position sensors 37 and 41
And P2a are respectively converted into position data P3a, P3b and P4a, by position sensor converting means 15 and 16.
Converted to P4b. The position data P3a indicates the current position of the traveling motor 34 (the amount of rotation of the drive wheel 31) controlled by the position command data F0a output from the host controller 10, and the position data P4a indicates the current position of the traveling vehicle 6 that has actually traveled. Shows the position (the amount of rotation of the traveling distance detection auxiliary wheel 40). At this time, if the position correction sensor 23 detects the position code plate, the position sensor conversion means 16
Corrects the position data P4a based on the position data corresponding to the position code plate. Accordingly, the position data P4a in which the slippage of the traveling distance detecting auxiliary wheel 40 is corrected is always output from the position sensor converting means 16.

The error data P output from the subtraction means 18
Reference numeral 5a denotes a position error in which the traveling vehicle 6 could not actually move due to slippage or distortion of the driving wheels 31 resulting from the rotation control of the traveling motor 34. The correction data generating means 19 outputs correction data P8a corresponding to the error data P5a to the position command data F0a at predetermined time intervals. As a result, the position command data F1a for compensating for the error caused by the slip or distortion of the drive wheel 31 is input to the position control unit 12, and the positioning control with the error corrected is executed.

When the above-described series of controls is completed, the host controller 10 controls the position at which the fork unit 4 is raised and lowered. That is, after transmitting the torque signal (current command signal) T1a of the traveling motor 34 to the current control system 2a, the host controller 10 adds the position command data F0b indicating the target position (height) of the elevating motor 58 to the adding means 11 Output to Then, the position / speed control system 1 is controlled by the elevating motor 5
The calculation of the torque signal (current command signal) T1b of No. 8 is started.

Transmission is performed between the serial communication interface 14 and the serial communication interface 21b, and the torque signal T2b and the phase signal P6b are transmitted from the serial communication interface 21b to the current controller 22b.
Is output. The current control unit 22b outputs the torque signal T2b,
The drive current of the elevating motor 58 is controlled based on the current feedback signal T3b and the phase signal P6b. Output P1 of the rotational position sensor 60 coupled to the lifting motor 58
b and the output P2b of the height measuring device 50 are the position / speed control system 1
Will be fed back.

The outputs P1b and P2b of the rotation position sensor 58 and the height measuring device 50 are used as the position sensor conversion means 15 and 1
6 are converted into respective position data P3b and P4b. The position data P3b is stored in the host controller 10
The position data P4b indicates the current position of the fork 4 that has actually been moved up and down (the wires 51 and 52). (The actual height of the fork portion 4 suspended by the fork).

Error data P output from subtraction means 18
Reference numeral 5b denotes a height error in which the forks 4 could not actually move up and down due to the elongation of the wires 51 and 52 taken up by the rotation of the elevating motor 58. The correction data generating means 19 outputs the correction data P corresponding to the error data P5b.
8b as position command data F0b at predetermined time intervals. Thus, the wires 51 and 5 are provided to the position control unit 12.
The position command data F1b that compensates for the error caused by the extension of 2 is input, and the height positioning control with the corrected error is executed.

The host controller 10 alternately and repeatedly executes the traveling control of the traveling vehicle 6 and the elevation control of the fork unit 4 on the order of several msec, and moves the fork unit 4 to a position where a target shelf is present. When the fork unit 4 moves to the target shelf, the host controller 10 outputs a correction control signal DCc to the correction data generation unit 19,
After the correction data is not output from the correction data generating means 19, the movement positions of the forks 44 and 45 are controlled. That is, when the host controller 10 outputs the position command data F0c indicating the target movement amount of the fork motor 38 to the adding means 11, the position / speed control system 1 executes the fork motor control based on the position command data F0c and the position data P3c. The calculation of the torque signal (current command signal) T1c of 38 is started. When moving the fork unit 4 to a target shelf, the host controller 10 moves the fork unit 4 to a position larger (plus) or smaller (minus) than the reference surface of the shelf, that is, a forking position, in accordance with loading and unloading of the load. Is controlled to stop positioning.

Transmission is performed between the serial communication interface 14 and the serial communication interface 21c. The torque signal T2c and the phase signal P6c are transmitted from the serial communication interface 21c to the current controller 22c.
Is output. The current control unit 22c outputs the torque signal T2c,
The drive current of the fork motor 38 is controlled based on the current feedback signal T3c and the phase signal P6c. The output P1c of the rotational position sensor 37 coupled to the fork motor 38 is fed back to the position / speed control system 1.

The output P1c of the rotational position sensor 37 is converted by the position sensor converting means 15 into the respective position data P3.
c. The position data P3c indicates the current position of the fork motor 38 controlled by the position command data F0c output from the host controller 10. Thus, the position control unit 12 controls the movement of the forks 44, 45 to a predetermined position.

Next, an example of a positioning control method of the traveling position and the elevating position of the traveling vehicle for an automatic warehouse shown in FIG. 2 will be described with reference to FIG. FIG. 6 is a diagram showing the state of the positioning control of the traveling position and the elevating position of the traveling vehicle for the automatic warehouse by the moving speed pattern of the traveling vehicle 6 and the elevating speed pattern of the fork unit 4. In the moving speed pattern and the elevating speed pattern of FIG. 6, the horizontal axis represents time t [sec], and the vertical axis represents the moving speed of the traveling vehicle 6 and the elevating speed V [m / min] of the fork unit 4.

The trapezoid (a1-a2) of the solid line Aa in FIG.
The area of -a3-a4) corresponds to the actual moving distance of the traveling vehicle 6 and the actual ascent / descent distance of the fork unit 4. Therefore,
The upper controller 10 determines the trapezoid (a1-a2-a3
-A4) the traveling carriage 6 so that the area of the
The positioning of the fork 4 is stopped at a predetermined position by controlling the acceleration and deceleration.

A dotted line Ba (a5-a6) in FIG. 6 (a) is a moving (elevating) speed pattern of the traveling vehicle 6 and the fork portion 4 in the conventional automatic warehouse traveling vehicle. That is,
The area of the trapezoid (a1-a2-a5-a6) corresponds to the moving (elevating) distance of the conventional traveling vehicle 6 and the fork portion 4.
In the conventional traveling vehicle for an automatic warehouse, the position sensor (pulse generator) 35b provided on the drive wheel 31 and the position sensor (pulse generator) 59b provided on the winch drum 55 are used to control the positioning of the fork unit 4, so that Slip and distortion of the drive wheels 31 and wires 51 and 52
Of the host controller 10
It was not possible to accurately stop the fork part 4 at the position of the command position data F0a and F0b from the fork. That is, the fork portion 4 of the conventional automatic warehouse traveling carriage 6
Is a parallelogram (a3−3) surrounded by a dotted line Ba and a solid line Aa.
The vehicle could not travel for a distance corresponding to the area ΔL of a4-a6-a5), and could not ascend or descend and stopped.

On the other hand, in this embodiment, the host controller 10 sequentially outputs the position command signals F0a and F0b to the adding means 11. On the other hand, since the correction data P8a and P8b corresponding to the error data P5a and P5b from the correction data generation means 19 are input to the addition means 11 at predetermined time intervals, the position control unit 12 determines whether the slip or distortion of the drive wheels 31 Position command data F1a, F1b compensated for the error caused by the extension of 51, 52 are input, and the traveling vehicle 6 and the fork unit 4 are subjected to acceleration / deceleration control according to the position command data, and the position command signals F0a and F0b. The traveling carriage 6 and the fork portion 4 are positioned and stopped at the predetermined positions designated by. That is, the fork portion 4 of the traveling truck for an automatic warehouse has a trapezoidal shape (a1-a2-a3) indicated by a solid line Aa in FIG.
The movement is controlled as in -a4), and the positioning is finally stopped at the target shelf position by the braking process of the brake means 33.

As described above, according to the present embodiment, in addition to the position sensor 37 for detecting the rotational position of the traveling motor 34, the rotation sensor 41 for detecting the rotation amount of the traveling distance detecting auxiliary wheel 40. And a height measuring device 50 for measuring the actual height of the fork portion 4 in addition to the position sensor 60 for detecting the rotational position of the elevating motor 58,
Position data P3 output from position sensor conversion means 15
a and P3b and the difference between the position data P4a and P4b output from the position sensor conversion means 16 are obtained, and the correction data P8a and P8b corresponding to the difference value are added to the position command data F0a and F0b, and the positions of both are calculated. By correcting the error when the data do not match, the positioning of the fork unit 4 at the position commanded by the position command data F0a and F0b can be accurately stopped.

At the time of normal positioning control, the rotational positions of the traveling motor 34 and the elevating motor 58 are controlled based on the position data P3a and P3b from the position sensor converting means 15, and the traveling carriage 6 and the fork unit 4 are moved. Since positioning control is performed at a predetermined position, the loop gain can be made sufficiently large, and positioning can be performed at high speed. In FIG.
Such a positioning control method is indicated as “P3-P4”.

If any abnormality such as overload, power supply voltage drop, overcurrent, overvoltage and overheating occurs during this control, data of status signals indicating these control states are transmitted from the current control units 22a and 22b to the serial communication unit. The data is transmitted to the interfaces 21 a and 21 b and transmitted to the host controller 10 via the serial communication interface 14. The host controller 10 receives the status signal data and performs processing according to the type of the status signal. Running motor 34, lifting motor 5
When the motor 8 and the fork motor 38 are changed to servo motors having different ratings, the table numbers indicating the ratings of the changed servo motors are simply transmitted to the current control units 22a, 22b, 22c, and the current control units 22a, 22b are changed. , 22
c can perform current control according to the changed servomotor.

FIG. 3 is a view showing another embodiment of the traveling truck for an automatic warehouse according to the present invention. 3, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof will be omitted. The difference between the embodiment of FIG. 3 and that of FIG. 1 is that the traveling distance detecting auxiliary wheel 44 is formed of a pinion, and the pinion travels while being in contact with a rack 26 provided along the traveling rail 25. . Although the running distance detecting auxiliary wheel 40 shown in FIG. 1 has a slight slippage error, the use of the running distance detecting auxiliary wheel 44 having the rack-and-pinion configuration as in the present embodiment causes slippage. In addition, there is no need to provide the position correction sensor and the position code plate shown in FIG. In the present embodiment, the rack is shown as a guide for the traveling distance detecting auxiliary wheels 44, but it goes without saying that a chain may be used.

FIG. 4 is a diagram showing another embodiment of the positioning control method of the traveling truck for an automatic warehouse according to the present invention. 4, the same components as those in FIG. 2 are denoted by the same reference numerals, and the description thereof will be omitted. The present embodiment is different from that of FIG. 2 in that the adding means 11, the subtracting means 18 and the correction data generating means 19 in FIG. And
The point is that the position data P3 and P4 of the position sensor conversion means 15 and 16 are selectively input as feedback signals by the selection means 27.

That is, when controlling the traveling position of the traveling vehicle 6, the position control unit 12 directly inputs the position command signal F0a from the host controller 10 and
Of the position data P3a indicating the current position of the vehicle or the position data P4a indicating the current position of the traveling distance detecting auxiliary wheel 40 via the selection means 27. Position control unit 1
2 calculates a deviation between the two (F0a and P3a, F0a and P4a), and outputs a speed command signal F2a corresponding to the position deviation to the speed control unit 13. Similarly, when controlling the ascending / descending position of the fork unit 4, the position control unit 12 directly inputs the position command signal F 0 b from the host controller 10 and outputs the position data P 3 b indicating the current position of the elevating motor 58 or the fork unit 4. One of the position data P4b indicating the actual height is input via the selection means 27. Position control unit 12
Calculates the deviation between the two (F0b and P3b, F0b and P4b), and outputs a speed command signal F2b corresponding to the position deviation to the speed control unit 13. At this time, the selection means 27 is switched in response to the selection instruction signal S1 from the host controller 10.

An example of positioning control based on this position data switching method will be described with reference to FIG. FIG. 6 (b)
Of a trapezoid (b1-
The area of b2-b3-b4) corresponds to the moving distance of the traveling vehicle 6 for accurately stopping the traveling vehicle 6 at a predetermined position. This corresponds to the trapezoid (a1-a2-a3-a) in FIG.
It is equal to 4).

First, the host controller 10 outputs the selection signal S
1 is output to the selection means 27, and the position data P3a, P3b
Is set to be input to the position control unit 12. In FIG. 6, the state of the selection means 27 is displayed as "P3". Thereafter, the host controller 10 outputs the position command signal F
0a and F0b are sequentially output to the position control unit 12, and the traveling vehicle 6 and the fork unit 4 are subjected to acceleration / deceleration control to stop at the command position. The traveling vehicle 6 and the fork unit 4 move by this series of processing.
Stop before reaching the position indicated by. That is,
The traveling carriage 6 and the fork section 4 can move only by the area of the trapezoid (b1-b2-b5-b6) of the solid line Ab, and the parallelogram (b3- It cannot move by the distance corresponding to the area ΔL surrounded by b4-b6-b5) and stops at time t2.

Therefore, the host controller 10 outputs the selection signal S1 to the selection means 27, and outputs the position data P4a, P4
4b is set to be input to the position control unit 12. FIG.
Then, the state of the selection means 27 is changed to “P” after time t2.
4 ". The host controller 10 receives the position data P4a and P4b of the position sensor conversion means 16 and does not move due to an error between the position command data F0a and F0b, that is, the slip or distortion of the drive wheel 31 and the wipers 51 and 52. Minute distance (parallelogram (b3-b4
An area ΔL) surrounded by −b6-b5) is calculated, and new command position signals F0a and F0b corresponding to the distance are generated.

The host controller 10 sequentially outputs new position command signals F0a and F0b to the position control unit 12, controls the acceleration and deceleration of the traveling vehicle 6 and the fork unit 4, stops the traveling vehicle 6 and the fork unit 4 at the command position, and brakes 33 and 57. And the final positioning control ends at time t3. As a result, the traveling vehicle 6 and the fork portion 4 are trapezoidal (b6
-B7-b8-b9). Since the area of the trapezoid (b6-b7-b8-b9) is equal to the area of the parallelogram (b3-b4-b6-b5), the traveling vehicle 6 and the fork portion 4 stop exactly at predetermined positions.

In FIG. 4, when the traveling distance detecting auxiliary wheels 40 are formed by the rack and pinion shown in FIG. 3, it goes without saying that the position correction sensor 23 can be omitted. In the above-described embodiment, the case where the position data is switched from P3a, P3b to P4a, P4b by the selection unit 27 has been described. However, as shown in FIG.
Thereafter, the position data P3a and P3b may be used. In this case, at time t2, the host controller 10 outputs the position data DPa, DPb to the position sensor conversion means 15, and outputs the position data P3a, P3 of the position sensor conversion means 15.
3b is used as the position data P4a, P
4b, the position data P3a, P
The acceleration / deceleration processing is executed based on 3b. In the acceleration / deceleration processing after time t2 in this case, since the traveling speed of the traveling vehicle 6 and the fork portion 4 is not so high, the influence of the sliding of the drive wheels 31 and the extension of the wires 51 and 52 is small, and accurate positioning is performed. Can be. In FIG. 6B, this control state is indicated as “P3” after time t2.

Further, in the positioning control method of the traveling truck for an automatic warehouse shown in FIG. 2, the operation of the correction data generating means 19 is stopped until time t2 as shown in FIG.
Positioning control is performed based on only the position data P3a and P3b. After time t2, the host controller 10 may output the correction control signals DCa and DCb to the correction data generation means 19 and operate the correction data generation means 19. In FIG. 6B, this control state changes to “P3-
P4 ". Also in this case, the upper controller 10 presets the position data P3a and P3b of the position sensor conversion unit 15 to the position data P4a and P4b of the position sensor change unit 16 at time t2. Note that it is not necessary to preset, but it is desirable to preset since acceleration / deceleration processing after time t2 fluctuates sharply.

In FIG. 6B, the selection means 27 is switched at time 2; however, as shown in FIG. You may. In FIG. 6C, this control state is "P
4 ". At time t4, the host controller 10 determines the position data P3a,
P3b is used as the position data P4a,
P4b is preset, and the position data P3a, P3b
The deceleration process may be executed based on In FIG. 6C, this control state is indicated by “P3” after time t4. Further, until the time t4, the correction data generating means 19
May be stopped, the positioning control is performed using the position data P3a, P3b, and the correction data generating means 19 may be operated after time t4. In FIG. 6C, this control state is indicated by “P3-P4” after time t4.

As a result, the traveling carriage 6 and the fork part 4 move like a trapezoid (c1-c2-c5-c6),
Stop at a predetermined position. The dotted line Bc is an ideal moving (elevating) speed pattern. By these positioning controls, the time required for deceleration processing is ideal movement (elevation)
Although it is slightly longer than the speed pattern (c1-c2-c3-c4), there is an effect that the traveling vehicle 6 and the fork portion 4 can be accurately positioned and stopped at predetermined positions.

FIG. 5 is a diagram showing still another embodiment of the positioning control method of the traveling truck for an automatic warehouse according to the present invention. FIG.
In FIG. 2, the same components as those in FIG. This embodiment is different from that of FIG. 2 in that the adder 11, the subtractor 18 and the correction data generator 19 of FIG. 2 are omitted, and the position control unit 12 directly inputs the position command signal F0 from the host controller 10. However, the point is that the speed control unit 13 is configured to input one of the speed command signal F2 of the position control unit 12 and the constant speed command signal F4 of the constant speed signal generation unit 25 as a speed command signal.

That is, when controlling the traveling position of the traveling vehicle 4 or controlling the elevating position of the fork unit 4,
The position control unit 12 receives the position command signals F0a and F0b from the host controller 10 and the position data P3a and P3b indicating the current position of the traveling motor 34, and receives both (F0
a and P3a, F0b and P3B), and outputs speed command signals F2a and F2b corresponding to the position error to the speed command selecting means 29. The constant speed signal generating means 28
Are command signals DFa and DF from the host controller 10.
b, and the constant speed command signals F4a, F4 corresponding thereto.
b is output to the speed command selecting means 29. The speed command selecting means 29 is provided with speed command signals F1a, F1b of the position control unit 12.
And the constant speed command signal F4a of the constant speed signal generating means 28,
F4b, and either one of the speed command signals F2a,
Output to the speed control unit 13 instead of F2b. At this time, the speed command selecting means 29 is switched according to the selection command signal S2 from the host controller 10. Therefore, when controlling the moving positions of the forks 44 and 45, the speed command selecting means 29 outputs the speed command signal F1c of the position control unit 12.
Is output to the speed control unit 13.

An example of the positioning control by the speed command switching method will be described with reference to FIG. The trapezoid (d1-d) formed by the solid line Ad and the dotted line Bd in FIG.
2-b3-b4) is the area of the part surrounded by the traveling vehicle 6
Corresponds to the distance that must be moved to stop accurately at a predetermined position. This corresponds to the trapezoid (a1) in FIG.
-A2-a3-a4).

First, the host controller 10 outputs a selection command signal S2 to the speed command selecting means 29, and the speed command signals F1a and F1b of the position / speed control unit 12
Set to input to. This speed command selecting means 29
Is held until time t6. In FIG. 6D, the state of the speed command selecting means 29 is displayed as "F1". Thereafter, the host controller 10 sequentially outputs the position command signals F0a and F0b to the position control unit 12, and controls the traveling vehicle 6 to accelerate or decelerate. Then, the self-propelled trolley 3 is shown in FIG.
It moves as d1-d2-d5-d6 according to the solid line Ad in (d).

When positioning control is performed as it is,
The traveling vehicle 6 and the fork portion 4 move while having an error due to the slip or distortion of the driving wheel 31 and the extension of the wires 51 and 52, and cannot stop at an accurate position. In other words, the traveling vehicle 6 and the fork portion 4 are trapezoidal (b1-b) formed by a solid line Ab in FIG.
2-b5-b6), and moves by a distance corresponding to an area ΔL surrounded by a parallelogram (b3-b4-b6-b5) composed of a solid line Ab and a dotted line Bb. It will not be possible to stop at time t1.

Therefore, in this embodiment, at time t6 when the traveling vehicle 6 and the fork unit 4 reach a predetermined speed (here, the speed corresponding to the constant speed command signals F4a and F4b) during the deceleration control, the host controller 10 Outputs the selection instruction signal S2 to the speed command selection means 29, and sets the constant speed command signals F4a and F4b of the constant speed generation means 28 to be input to the speed control unit 13. Then, the traveling vehicle 6 and the fork unit 4 are released from the deceleration control, and start moving at a constant speed corresponding to the constant speed command signals F4a, F4b as indicated by d6-d7 of the solid line Ad. In FIG. 6D, the state of the speed command selecting means 29 is displayed as "F4".

While the traveling carriage 6 and the fork unit 4 are moving at a constant speed, the host controller 10 inputs the position data P4a and P4b of the position sensor conversion means 16, and the position data P4a and P4b are used as the command position signals F0a and F0a. F0b
At a time t7 when the vehicle reaches the time t1, the brake instruction signals B1a and B1b are output to the brake control means 15 to operate the traveling vehicle 6 and the brake means 33 and 57 of the fork unit 4 to forcibly stop them. As a result, the traveling vehicle 6 and the fork portion 4 can be accurately positioned and stopped at predetermined positions. The traveling vehicle 6 and the fork portion 4 are indicated by a solid line Ad (d1-d
2-d5-d6-d7-d8). This area is trapezoidal (d1-d2-d3-d
4), the traveling carriage 6 and the fork portion 4
Can stop exactly at a predetermined position.

Next, the configuration of the height measuring device 50 for measuring the actual height of the fork portion 4 will be described. FIG. 7 is a diagram showing an internal structure of the height measuring device 50, and FIG. 8 is a side view showing a part of a holding member of the height measuring device 50 removed. The holding member 70 has a plurality of holes for holding each component constituting the height measuring device 50. The main shaft 62 and the sub-shaft 63 are attached to the shaft holding holes of the holding member 70. A spring take-up drum 65a and a wire drum 65 are fixed to the main shaft 62 so as to rotate simultaneously. One end of the main shaft 62 is rotatable by a holding member 70 via a bearing, and the other end is rotatable by a position sensor 64. Is held in. A wire guide drum 68 and a spring drum 69 are rotatably attached to the sub shaft 63.

The position sensor 64 is attached to the outside of the holding member 70 and absolutely detects the rotational position of the main shaft 62, and uses the same inductive phase shift type position sensor as the position sensor 41. The wire drum 65 is a drum for winding the height measuring wire 66, and has a wire guide groove along the circumferential direction in order to prevent the height measuring wires 66 from overlapping each other when winding the wire. The drum 61 is provided on the upper side. The wire pressing drum 61 presses the wire against the wire drum 65 to eliminate uneven winding. This is because if the height measuring wires 66 are overlapped and wound, the diameter of the wire drum 65 becomes the same as that of the wire drum 65, and the height cannot be measured accurately. Further, the spring take-up drum 65a is
The spring 67 that applies a constant rotational force to the coil is wound up.

The wire guide drum 68 has a sub shaft 63
The height measuring wire 66 is rotatably mounted on the wire drum 65 from outside the measuring instrument. In the drawing, the wire guide drum 68 is shown as having a diameter different from that of the wire drum 65, but is actually the same diameter and has a wire guide groove like the wire drum 65. When the wire drum 65 is arranged at a position protruding from the outside of the measuring instrument like the wire guide drum 68, it goes without saying that the wire guide drum 68 is unnecessary.

The spring 67 is made of a heat-treated thin strip-shaped material, is closely wound around the spring drum 69, and has one end fixed to the spring winding drum 65a with a screw. The main shaft 62 rotates, and the belt-like spring 6
The constant winding force is always applied to the spring take-up drum 65a, that is, the main shaft 62, because the 7 is wound around the spring take-up drum 65a or the spring drum 69 in close contact with each other.

The rotational force of the band spring 67 is applied to the height measuring wire 66 as it is.
Becomes the pulling force. Since the tensile force applied to the height measuring wire 66 serves to ensure the linearity of the height measuring wire 66, it is necessary to apply a tensile force corresponding to the diameter of the height measuring wire 66. It is. For example,
A tensile force of about 500 g to 2 kg may be applied to a wire diameter of 1.5 mm.

The height measuring device 50 is used for the fork portion 4.
When the height is actually measured, the end of the height measuring wire 66 is fixed to the fork 4 as shown in FIG. The feature of this height measuring device 50 is that an inductive phase shift type position sensor is used as the position sensor 64 for detecting the rotational position of the wire drum 65 that winds up the height measuring wire 66. Is that a belt-shaped spring 67 is used to apply a constant rotational force to the spring.

The operation of the height measuring device 50 will be described. The fork part 4 moves up and down according to the length of the wires 51 and 52. When the fork portion 4 moves up, the height measuring wire 66 is wound around the wire drum 65 in accordance with the rotational force of the band spring 67, and its length gradually decreases.
Accordingly, the absolute value of the position sensor 64 also gradually decreases. Conversely, when the fork 4 descends, the height measuring wire 66 is unwound from the wire drum 65, its length gradually increases, and the absolute value of the position sensor 64 also gradually increases.

Next, the configuration of the rotational position sensors 36, 37, 41, 60, 64 used in this embodiment will be described. FIG. 9 is a diagram showing an absolute type position sensor including an inductive type phase shift type position sensor which is an example of a rotational position sensor used in the present embodiment. The details of this position sensor are known in Japanese Patent Application Laid-Open No. 57-70406 or Japanese Patent Application Laid-Open No. 58-106691, and will be briefly described here.

The rotational position sensor includes a stator 71a in which a plurality of poles A to D are provided at a predetermined interval (for example, 90 degrees) in the circumferential direction, and a stator 7a surrounded by the poles A to D.
And a rotor 71b inserted into the space 1a. The rotor 71b is made of a shape and a material that changes the reluctance of each of the poles A to D according to the rotation angle, and is, for example, an eccentric cylindrical shape. Primary coils 1A to 1D and secondary coils 2A to 2D are wound around the respective poles A to D of the stator 71a. A first pair of two poles A and C, which are radially opposed, and a second pair of poles B and D are coiled so as to operate differentially, and It is configured to cause a reluctance change.

The primary coils 1A and 1C wound on the first pair of poles A and C are excited by the sine signal sinωt, and the primary coils 1A and 1C are wound on the second pair of poles B and D.
B and 1C are excited by the cosine signal cosωt. As a result, the combined output signal Y is obtained from the secondary coils 2A to 2D. This synthesized output signal Y is a primary AC signal (primary coil excitation signal) sinω which is a reference signal.
t or cosωt, the rotation angle θ of the rotor 71b
Y = s phase-shifted by an electrical phase angle corresponding to
in (ωt−θ).

Therefore, when the above-described inductive phase shift type position sensor is used, the primary AC signal sinω
It is necessary to include a reference signal generator that generates t or cosωt, and a phase difference detector that measures the electrical phase shift θ of the combined output signal Y and calculates the position data of the rotor. The reference signal generator and the phase difference detector are provided in the position sensor converters 15 and 16.

FIG. 10 shows position sensor converting means 15 and 16.
It is a figure showing an example of. In FIG. 10, the position sensor conversion means includes a reference signal generator for generating reference AC signals sinωt and cosωt, and a phase difference (a phase shift amount) between the mutual induction voltages of the secondary coils 2A to 2D and the reference AC signal sinωt. And a phase difference detecting unit for detecting Dθ.

The reference signal generator comprises a clock oscillator 72, a synchronous counter 73, ROMs 74a and 74b, D / A converters 75a and 75b, and amplifiers 76a and 76b. Consists of 79. The clock oscillator 72 generates a high-speed and accurate clock signal, and other circuits operate based on the clock signal. The synchronous counter 73 counts the clock signal of the clock oscillator 72, and outputs the count value as an address signal to the ROM 74a and the latch circuit 79 of the phase difference detector.

The ROMs 74a and 74b store amplitude data corresponding to the reference AC signal.
Generates the amplitude data of the reference AC signal in accordance with the address signal (count value) from the CPU. ROM 74a is cosωt
And the ROM 74b stores the amplitude data of sinωt. Accordingly, the ROMs 74a and 74b receive the same address signal from the synchronous counter 73, and thereby the two types of reference AC signals sinωt and cos
ωt is output. Note that even if the ROM with the same amplitude data is read out using address signals having different phases, the same
Different reference AC signals can be obtained.

The D / A converters 75a and 75b are connected to the ROM 7
The digital amplitude data from 4a and 74b are converted into analog signals and output to amplifiers 76a and 76b. Amplifiers 76a and 76b amplify the analog signal from the D / A converter and convert it to reference AC signals sinωt and cos
ωt is applied to each of the primary coils 1A, 1C and 1B to 1D. Assuming that the frequency division number of the synchronous counter 73 is M, the M count value is the maximum phase angle 2 of the reference AC signal.
It corresponds to π radians (360 degrees). That is, one count value of the synchronous counter 73 indicates a phase angle of 2π / M radian.

The amplifier 77 amplifies the composite value of the secondary voltages induced in the secondary coils 2A to 2D, and amplifies the resultant value.
8 is output. The zero cross circuit 78 is a rotation position sensor 3
The zero cross point from the negative voltage to the positive voltage is detected based on the mutual induction voltage (secondary voltage) induced in the secondary coils 2 </ b> A to 2 </ b> D of 7 and 41, and a detection signal is output to the latch circuit 79.

The latch circuit 79 latches the count value of the synchronous counter started with the rising clock signal of the reference AC signal at the time of output of the detection signal of the zero cross circuit 78 (zero cross point). Therefore, the value latched by the latch circuit 79 is exactly the phase difference (phase shift amount) Dθ between the reference AC signal and the mutual induction voltage (synthetic secondary output).

That is, the combined output signal Y = sin (ωt−θ) of the secondary coils 2A to 2D is supplied to the zero-cross detecting means 78. The zero-cross detecting means 78 outputs a pulse L in synchronization with the timing when the electric phase angle of the composite output signal Y is zero. The pulse L is used as a latch pulse of the latch circuit 79. Therefore, the latch circuit 79 latches the count value of the synchronous counter 73 in response to the rise of the pulse L. A period in which the count value of the synchronization counter 73 makes one cycle is synchronized with one cycle of the sine wave signal sinωt. Then, the reference AC signal sinω
phase difference θ between t and the synthesized output signal Y = sin (ωt−θ)
Is latched. Therefore, the latched value is output as digital position data Dθ. Note that the latch pulse L can be appropriately used as a timing pulse. Also, the latch circuit 79
The value indicating the absolute position within one rotation of the servo motor among the values latched by the controller is output as digital phase data P6 and is used for field switching position control.

Since the combined output signal of the phase shift type position sensor as shown in FIGS. 9 and 10 outputs the absolute rotational position as a phase difference signal, it has a feature that it is hardly affected by noise. Therefore, when the combined output signal is fed back from the rotational position sensors 36, 37, 41, 60, 64 to the position / speed control system 1 as in the present embodiment, the feedback is made directly without using a communication line. Is not affected by noise or the like.
However, the combined output signal may be fed back using a communication line such as a serial communication interface. In addition,
FIGS. 9 and 10 show a case in which the range of one rotation is absolutely detected. However, a plurality of such absolute sensors may be combined to detect the absolute position over multiple rotations.

Next, a description will be given of an automatic warehouse control system for carrying in / out a load using the above-described automatic warehouse traveling cart 6. FIG. 11 is a diagram showing the entire configuration of the automatic warehouse control system of the present embodiment. In FIG. 11, the traveling vehicle 6 has the same configuration as that shown in FIG. 1, but is simplified here.

The crane mast unit 5 of the traveling vehicle 6 has a lifting origin dog 81 indicating the origin of the lifting position of the fork unit 4 and a lifting end dog 82 indicating the end position thereof. The fork unit 4 has a lifting origin sensor 83 and a lifting end sensor 84 for detecting the dogs 81 and 82,
It has a shelf detection sensor 85 and a column detection sensor 86 for detecting the entire configuration of the warehouse (such as the arrangement of shelves). The shelf detection sensor 85 detects the height position of the shelf in the level direction, and the column detection sensor 86 detects the position of the column in the bay direction. These sensors 83, 84,
85 and 86 are proximity sensors. Since the shelves and columns are made of metal, their positions can be easily detected without providing a special code plate such as the dogs 81 and 82. As the proximity sensor, various types such as a high-frequency oscillation type, a capacitance type, a magnetic type, a photoelectric type, and an ultrasonic type can be applied.

A traveling origin dog 87 indicating the origin of the traveling position of the traveling vehicle 6 and a traveling end dog 88 indicating the end thereof are provided along the traveling rail 25. These dogs 8
7, 88 are provided on the traveling route of the traveling vehicle 6,
It may be provided on the side of the traveling rail 25 below the warehouse as shown. The traveling carriage 6 is provided with these dogs 87, 8
8 has a traveling origin sensor 89 and a traveling end sensor 90 for detecting the position 8. Further, between the travel origin dog 87 and the travel end dog 88, the position code plates C are provided at substantially equal intervals.
0, C1, C2, C3,... Are provided. Trolley 6
Has a position correction sensor 23 for detecting the position code plates C0, C1, C2, C3. These sensors 23, 89, 90 are also constituted by proximity sensors.

The detection signals from the elevation origin sensor 83, the elevation end sensor 84, the shelf detection sensor 85, the column detection sensor 86, the traveling origin sensor 89, the traveling end sensor 90, and the position correction sensor 23 are not shown. All are input to the controller 10. Accordingly, the traveling range of the traveling vehicle 6 is defined by the dogs 87 and 88, and the lifting range of the fork portion 4 is defined by the dogs 81 and 82.

The warehouse 9 is composed of pillars (trusses) T0 to T4 and a plurality of crosspieces provided in the level direction of the pillars.
Between column T0 and column T1 (run R0), 6
Each arm is provided, and these arms constitute a six-stage shelf as a whole. Similarly, there are five shelves between pillar T1 and pillar T2 (strand R1), four shelves between pillar T2 and pillar T3 (strand R2), and between pillar T3 and pillar T4. (R series R3) has three stages of shelves.

Each shelf has buckets B00 to B05 and B10.
To B14, B20 to B23, and B30 to B32. The heights of the buckets of the series R0 to R3 are different from each other, and the heights of the buckets B00 to B05 are the smallest, and the heights of the buckets B30 to B32 are the largest. In FIG. 11, the warehouse 9 having an ideal shape is shown. However, in practice, the entire column is inclined, or the crosspieces have different heights. Therefore, in the present embodiment, first, the shape (arrangement) of the actual columns and shelves of the warehouse 9 is measured using the traveling vehicle 6.
That is, the positions of the shelves and columns constituting the warehouse 9 are detected by the shelf detection sensor 85 and the column detection sensor 86 of the fork unit 4, and the actual shape of the warehouse 9 is calculated based on the detected positions. Then, based on the calculated shape of the warehouse 9, the work of loading and unloading the luggage is executed.

First, the host controller 10 stops the traveling carriage 6 at the traveling origin dog 87, and stores the position data P4aS output from the position sensor conversion means 16 as origin position data in the memory. Then, the host controller 10 moves the traveling carriage 6 at a low speed such that the traveling distance detecting auxiliary wheels 40 do not slip or the like, and the traveling end dog 8
8 is detected, and the position data P4 at that time is stopped.
aE is stored in the memory as end position data.

The position sensor conversion means 16 stores in the memory the position data P4aC0 to P4aC3 at the time when the position correction sensor 23 detects the position code plates C0 to C3 during the movement, and performs position correction during traveling. When the sensor 23 detects the position code plates C0 to C3, it outputs the stored position data P4aC0 to P4aC3 to the host controller 10. Then, the host controller 10 calculates absolute value position data from the traveling origin dog 87 of the position code plates C0 to C3 based on a preset actual distance between the traveling origin dog 87 and the traveling end dog 88. Then, it is stored in association with the position data P4aC0 to P4aC3 on the memory.

[0139] Thereafter, the movement of the traveling carriage 6 causes
Even if slippage or the like occurs in the traveling distance detection auxiliary wheel 40 and an error occurs between the position data P4a and the actual moving distance, the position sensor conversion means 16 detects the position code plates C0 to C3 at the time of detection. Then, the position data P4aC0 to P4aC3 corresponding to the absolute value distance data of the position code plates C0 to C3 from the travel origin dog 87 are output, and the error is corrected. Therefore, the upper controller 10
Based on the position data P4a from the position sensor conversion means 16, the accurate moving distance of the traveling vehicle 6 can always be recognized.

In the case where the position code plates C0 to C3 are detected by the position correction sensor 23, their detection positions (at the time of rising of the detection signal) depend on the traveling direction of the traveling vehicle 6.
Therefore, it is necessary to store two types of position data P4aC0 to P4aC3 according to the traveling direction of the traveling vehicle 6. That is, when the traveling vehicle 6 travels from the traveling origin dog 87 toward the traveling end dog 88, the position sensor conversion means 16 outputs the forward position data P4aC0F to P4aC0F.
P4aC3F is stored, and when traveling in the reverse direction, the position data P4aC0B to P4aC3B in the reverse direction is stored. The position sensor conversion sensor 16 outputs forward position data P4aC0F to P4aC3F or reverse position data P4aC0B to P4aC3B according to the traveling direction.

When the above-described initialization processing is completed,
The upper-level controller 10 moves the fork part 4 of the traveling vehicle 6 up and down in the level direction to position it at the level L0. Then, the traveling carriage 6 is caused to travel in the forward and backward directions, and the positions of the columns T0 to T4 are detected by the column detection sensor 86. At this time, since the positions of both ends of the columns T0 to T4 are detected, the host controller 10
The width of T4 can be recognized. Next, the upper-level controller 10 stops the positioning of the fork unit 4 in order to the levels L1 to L9, similarly moves the traveling vehicle 6 forward and backward, and detects the positions of the columns T0 to T4 at the respective level positions L0 to L9. . FIG. 12 shows the position data of the columns T0 to T4 detected in this way. In FIG. 12, only the center positions T00 to T49 of the columns T0 to T4 are shown, and the forward position data and the reverse position data are omitted.

On the basis of the position data of the columns T0 to T4 in FIG. 12, the upper controller 10 detects the height position in the level direction of the arm tree forming the shelf. First, the host controller 10 controls the fork unit 4 to move up and down on the left side of the column T0. Then, since there is no arm bar on the left side of the pillar T0, the upper controller 10 recognizes that there is no shelf on the left side of the pillar T0. Next, the host controller 10 controls the fork unit 4 to move up and down on the right side of the column T0. Then, this time, the levels L00 to L05
Is detected at the position, the level position L00
To L05 are stored in the memory. Hereinafter, similarly, pillar T1
The level positions of the arms are detected on both the left and right sides of T4.
Level L00 indicates the height of the shelf where the bucket B00 is stored, and level L32 indicates the height of the shelf where the bucket B32 is stored. FIG. 12 shows the level data L00 to L42 of the arm tree thus detected. In FIG. 12, the level data L00 to L32 of the arm tree is approximately the level L.
Although shown to correspond to the heights of 0 to L9, they are actually stored in the memory in order from the top.

The upper controller 10 determines the position data T00 to T4 of the columns T0 to T4 in FIG.
The shape of the warehouse 9 in FIG. 11 is specified based on the data 49 and the level data L00 to L32. Then, the host controller 10 calculates the position of the shelf in the bay direction and the level direction from the position data of FIG. 12, and stores the calculated position in association with the shelf number. Thus, the operator simply inputs the shelf number to the upper controller 10, and the upper controller 10 controls the traveling of the traveling vehicle 6 and the elevation of the fork unit 4 based on the position data of the shelf in the bay direction and the level direction. Then, the positioning of the fork unit 4 on the target shelf can be stopped. Even if the pillars constituting the warehouse 9 are tilted, the upper controller stores the position data of the shelves in the bay direction and the level direction in the tilted warehouse, so that the luggage and the like can be accurately loaded and unloaded. it can.

FIG. 13 is a diagram showing an embodiment in which a plurality of traveling vehicles for automatic warehouses are controlled simultaneously. 13, the same components as those in FIG. 2 are denoted by the same reference numerals, and the description thereof will be omitted. The components of the positioning control system for the traveling position of the bogie unit 3 include a positioning control system for the elevation position of the fork unit 4 and the forks 44, 4.
13 corresponds to each component of the positioning control system of the movement position of FIG. 5, only the traveling position control system of the bogies 3X, 3Y, 3Z is simplified in FIG. System and fork 4
The configurations of the movement position control systems 4 and 45 are omitted.

In this embodiment, the current control systems 2aX, 2aY, and 2aZ of the bogie units 3X, 3Y, and 3Z are connected at a multipoint by a serial communication line.
X, 6Y, 6Z, forks 4X, 4Y, 4Z and forks 44X, 45X, 44Y, 45Y, 44Z, 45Z
At the same time. In this embodiment,
Output P1a of rotational position sensors 36X, 36Y and 36Z
X, P1aY and P1aZ are respectively taken in parallel by the position sensor conversion means 15, and the rotation position sensors 41X,
Outputs P2aX, P2aY and P2a of 41Y and 41Z
Z is taken into the position sensor conversion means 16 in parallel. Rotational position sensors 60X, 60 not shown
Y, 60Z, 64X, 64Y, 64Z, 37X, 37
Y and 37Z are also connected in parallel to the position sensor conversion means 15 and 16, respectively.

The position / speed control system 1 performs a position control operation and a speed control operation for each of the traveling vehicles 6X, 6Y, 6Z, and uses a serial communication line to operate the traveling vehicles 6X, 6Y, 6Z.
Send and receive data. The brake control means 20 includes brake means 33X, 33Y, 3
3Z is connected in parallel with the brake signal BaX. B
aY. The braking operation is executed independently according to BaZ. Brake means 57X, 57Y, 57Z,
39X, 39Y, 39Z are also connected to the brake control means 20 in parallel.

The serial communication interface 14 of the position / speed control system 1 provides a torque signal T1a, phase data P6a and various data D1a to the serial communication interfaces 21aX, 21aY, 21aZ of each current control system.
At the same time, the traveling motors 34X, 3
4Y and 34Z can be controlled simultaneously. Each of the current control units 22aX, 22aY, and 22aZ determines whether the transmitted data is data for the own station, reads the data for the own station, and performs control according to the data. For example, in the case of data relating to driving of a servomotor, a driving current is supplied to the servomotor based on the data. Further, when a table number indicating the rating of the servomotor is transmitted, the drive current of the current control unit is changed to one according to the rating of the servomotor according to the table number.

As in the present embodiment, a plurality of sets each including a servomotor and a current control system are provided, the position / speed control system is shared, and a communication line between them is multipoint-connected. Automatic warehouse traveling carts can be controlled simultaneously.

FIG. 14 is a diagram showing an embodiment in which a plurality of automatic warehouse traveling vehicles are switched and controlled. 14, the same components as those in FIGS. 2 and 13 are denoted by the same reference numerals, and the description thereof will be omitted. In addition, each component of the positioning control system of the traveling position of the bogie unit 3 includes:
Since it corresponds to each component of the positioning control system for the elevation position of the fork unit 4 and the positioning control system for the movement position of the forks 44 and 45, the bogie unit 3 is also shown in FIG.
Only the traveling position control systems of X, 3Y, and 3Z are shown in a simplified manner, and the configurations of the lifting position control system of the fork unit 4 and the movement position control systems of the forks 44 and 45 are omitted.

This embodiment is different from the one shown in FIG. 13 in that truck units 3X, 3Y, 3Z of a plurality of automatic warehouse traveling trucks are connected to a shaft switching unit 80, and three phases (U phase, V phase, W phase) are connected. Sine signal, cosine signal for the drive current and rotational position sensor,
The combined output signal and the brake signal are transferred to the axis switching unit 80.
And alternately drive the drive.

The axis switching unit 80 includes the host controller 10, the serial communication interface 14, the position sensor conversion means 15 and 16, the brake control means 20, the current control systems 2aX, 2aY, 2aZ, and the brake means 33X, 3.
3Y, 33Z and rotational position sensors 36X, 36Y, 36
Z, 41X, 41Y, and 41Z. Similarly, current control systems 2bX, 2b (not shown)
Y, 2bZ, 2cX, 2cY, 2cZ, brake means 5
7X, 57Y, 57Z, 39X, 39Y, 39Z and rotational position sensors 60X, 60Y, 60Z, 64X, 64
Y, 64Z, 37X, 37Y, and 37Z are also connected to the axis switching unit 80. Then, the shaft switching unit 80
The drive current is controlled by each of the traveling motors 34X, 34Y, 34Z according to the axis switching signal Ch from the host controller 10.
In addition, the signals for the position sensors are transmitted to the respective rotation position sensors 36X, 3
The brake signals are switched and supplied to 6Y, 36Z, 41X, 41Y, and 41Z, respectively, to the brake means 33X, 33Y, and 33Z. Therefore, according to the axis switching signal Ch of the host controller 10, the automatic warehouse traveling vehicles 6X, 6
One set of Y and 6Z is selectively connected to the position / speed control system 1 to form independent servo control loops.

That is, the axis switching unit 80 has switching elements provided corresponding to the respective components, and selectively conducts only the switching elements corresponding to one set of traveling vehicles for an automatic warehouse. By doing, 1
Only the set of traveling vehicles for automatic warehouse is selectively connected to the position / speed control system 1. At this time, the traveling motors 34X, 34Y,
When all the ratings of 34Z are the same, only the switching control needs to be performed while the table number indicating the rating of the servomotor is constant. Further, when the ratings of the traveling motors 34X, 34Y, and 34Z are different from each other, if a table number indicating the rating of the servo motor is transmitted via a communication line before controlling the servo motor, one current can be obtained. The control system 2 can control the servomotors having different capacities by sequentially switching the servomotors.

The serial communication system employed in this embodiment is constituted by simple hardware which is inexpensive in cost and adopts a new communication system capable of transmitting and receiving data at high speed. For details on this serial communication method,
Since this is described in Japanese Patent Application No. 2-49640 previously filed by the present applicant, the description thereof is omitted. Further, the servomotor is not limited to a synchronous servomotor, but may be an induction AC servomotor. In that case, there is no need to generate the phase signal P6. Also, not limited to AC servomotors,
It goes without saying that other types such as a DC servomotor may be used. In addition, the position sensor is not limited to the inductive type phase shift type sensor, and an optical absolute encoder, an incremental encoder, or another type of sensor may be used. Further, the communication line is not limited to the electric cable, but may be an optical cable.

In the above-described embodiment, the case where the height measuring device 50 is always installed on the crane mast unit 5 and the positioning control is performed while measuring the height of the fork unit 4 has been described.
The height of the fork unit 4 is changed in a state where a load of which weight is known in advance (for example, every 10 kg) is loaded on the fork unit 4, and the height measuring device 50, the detection data, and the detection of the rotation position sensor 60 at that time. A table that associates data with each other is created for each weight of the package, and the table is stored in the position sensor conversion unit 1.
5 is stored in the memory. After that, even if the height measuring device 50 is not provided, the table corresponding to the weight of the load is read out according to the detection data of the rotation position sensor 60, so that the accurate height of the fork portion 4 can be detected.

[0155]

According to the first aspect of the present invention, it is possible to detect the accurate moving distance of the traveling vehicle for an automatic warehouse and to control the positioning of the traveling vehicle for an automatic warehouse at a predetermined position. . According to the second aspect of the present invention, it is possible to accurately control the positioning of the fork portion on the target shelf.

[Brief description of the drawings]

FIG. 1 is a view showing an entire configuration of an embodiment of a traveling vehicle for an automatic warehouse according to the present invention.

FIG. 2 is a diagram showing an embodiment of a positioning control method for a traveling vehicle for an automatic warehouse according to the present invention.

FIG. 3 is a view showing another embodiment of the traveling vehicle for an automatic warehouse according to the present invention.

FIG. 4 is a view showing another embodiment of the positioning control method of the traveling truck for an automatic warehouse according to the present invention.

FIG. 5 is a view showing still another embodiment of the positioning control method of the traveling truck for an automatic warehouse according to the present invention.

FIG. 6 is a diagram illustrating a state of positioning control of the traveling vehicle for an automatic warehouse by a moving speed pattern of the traveling vehicle for an automatic warehouse and a lifting / lowering speed pattern of a fork unit 4;

FIG. 7 is a diagram showing an internal structure of the height measuring device of FIG.

FIG. 8 is a side view of the height measuring device of FIG. 1 with a part of a holding member removed.

FIG. 9 is a diagram showing an absolute type position sensor including an inductive type phase shift type position sensor which is an example of the rotational position sensor shown in FIGS. 1, 2, 3, 4, 5, and 7;

FIG. 10 is a diagram showing an example of the position sensor conversion means of FIGS. 2, 4 and 5;

FIG. 11 is a diagram showing an entire configuration of an automatic warehouse control system.

FIG. 12 is a diagram showing position data of columns and shelves detected by a traveling vehicle for an automatic warehouse.

FIG. 13 is a diagram showing an embodiment in a case where a plurality of traveling vehicles for an automatic warehouse are controlled simultaneously.

FIG. 14 is a diagram showing an embodiment in a case where a plurality of automatic warehouse traveling vehicles are switched and controlled.

FIG. 15 is a view showing a schematic configuration of a conventional traveling truck for an automatic warehouse.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Position speed control system, 2, 2a, 2b, 2c ... Current control system, 3 ... Traveling trolley, 4 ... Fork part, 5 ... Crane mast part, 6 ... Automatic warehouse traveling trolley, 7 ... Position and speed control unit , 8, 10 ... host controller, 11 ... addition means, 12 ... position control unit, 13 ... speed control unit, 14, 21
a: serial communication interface, 15, 16: position sensor conversion means, 17: speed calculation unit, 18: subtraction means,
19: correction data generation means, 20: brake control means,
22a: current control unit, 23: position correction sensor, 25: running rail, 26: rack, 27: detection signal selection means, 2
8: constant speed signal generating means, 29: speed signal selecting means, 30
... Auxiliary wheels, 31 ... Drive wheels, 32,49,56 ... Gear boxes, 33,39,57 ... Electromagnetic brakes, 34 ... Traveling motors, 35a, 59a ... Tachogenerators, 35b,
59b pulse encoder, 36, 37, 41, 60,
64: rotational position sensor, 38: fork motor, 40
... Auxiliary wheels for detecting travel distance, 42 ... Pivot arm, 43
... springs, 44, 45 ... forks, 46, 47 ... pinions, 48 ... shafts, 50 ... height measuring instruments, 51, 52 ...
Wire, 53, 54 ... pulley, 55 ... winch drum, 5
Reference numeral 8: lifting motor, 61: wire holding drum, 62: main shaft, 63: sub shaft, 65: wire drum, 6
5a: Spring winding drum, 66: Height measuring wire,
67: spring, 68: wire guide drum, 69: spring drum, 70: stator, 71: rotor, 72: clock oscillator, 73: synchronous counter, 74a, 74b: RO
M, 75a, 75b ... D / A converters, 76a, 76b,
77: an amplifier, 78: a zero-cross circuit, 79: a latch circuit, 81: a lifting / lowering origin dog, 82: a lifting / lowering end dog, 83 ...
Elevation origin sensor, 84 Elevation end sensor, 85 Shelf detection sensor, 86 Column detection sensor, 87 Running origin dog, 8
8 travel end dog, 89 travel origin sensor, 90 travel end sensor, C0 to C3 position code plate, T0 to T4 ...
Pillars, R0-R3 ... consecutive, B00-B32 ... bucket

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B66F 9/00-11/04

Claims (6)

(57) [Claims] 1. A fork section for carrying in and out a load, a crane mast section for guiding the ascending and descending movement of the fork section, and a traveling carriage having the crane mast section and traveling in a predetermined direction. A drive wheel provided on the traveling vehicle, for driving the traveling vehicle in a predetermined direction while receiving loads of the fork portion, the crane mast portion, the traveling vehicle, the luggage, and the like; A traveling motor to be applied, a first position detector that detects a rotational position of the traveling motor and outputs a first detection signal, and rotates in accordance with traveling of the traveling vehicle, but is independent of the load. A traveling distance detecting auxiliary wheel attached to the traveling vehicle so as to contact the traveling route of the traveling vehicle with a constant load; and a second detecting signal for detecting a rotational position of the auxiliary wheel and outputting a second detection signal. A position detector; an elevating motor that moves the fork unit up and down; a third position detector that detects a rotational position of the elevating motor and outputs a third detection signal; Position / speed control means for controlling the rotational position of the traveling motor in accordance with the detection signal of the above, and controlling the rotational position of the elevating motor in accordance with the third detection signal. Warehouse traveling cart. 2. A vertical position detector for measuring an actual vertical position of the fork portion and outputting a fourth detection signal, wherein the position / speed control means responds to the third and fourth detection signals. The traveling truck for an automatic warehouse according to claim 1, wherein a rotation position of the lifting / lowering motor is controlled by a controller. 3. A positioning control system for an automatic warehouse traveling vehicle according to claim 1, wherein said position / speed control means responds to a position command signal indicating a predetermined position to position said traveling vehicle. Position control means for negatively feeding back the first detection signal indicating the current position of the traveling motor and outputting a speed command signal corresponding to the position deviation; and a position corresponding to the first and second detection signals. Position correction means for adding a correction signal to the position command signal; a feedback speed signal indicating the current speed of the traveling motor is negatively fed back to the speed command signal, and a current command signal corresponding to the speed deviation is output. Speed control means, and a current control means for supplying a drive current according to the current command signal to the motor for traveling, wherein the position correction signal of the position correction means is traveled for the automatic warehouse. Positioning control system and controls the positioning of any time during vehicle acceleration and deceleration control is added to the position command signal. 4. A positioning control method for an automatic warehouse traveling vehicle according to claim 1, wherein said position / speed control means receives said first and second detection signals, and outputs one of said signals. And a negative feedback of the first or second detection signal selected by the detection signal selecting means in response to a position command signal indicating a predetermined position at which the traveling vehicle should be positioned. Position control means for outputting a speed command signal according to the position deviation, and a feedback speed signal indicating the current speed of the traveling motor is negatively fed back to the speed command signal, and a current corresponding to the speed deviation is provided. A speed control unit that outputs a command signal; and a current control unit that supplies a drive current according to the current command signal to the traveling motor. Returned Control the acceleration and deceleration of the traveling vehicle for automatic warehouse, switch the detection signal selection means at an arbitrary time during the acceleration / deceleration control, and perform positioning control by negatively feeding back the second detection signal to the position control means. A positioning control method characterized by the following. 5. A positioning control system for an automatic warehouse traveling vehicle according to claim 1, wherein said position / speed control means responds to a position command signal indicating a predetermined position at which said traveling vehicle is to be positioned. Position control means for negatively feeding back the first detection signal indicating the current position of the traveling motor and outputting a first speed command signal according to the position deviation; Constant speed signal generating means for outputting a second speed command signal for running; speed signal selecting means for inputting the first and second speed command signals and selectively outputting either one; A feedback speed signal indicating the current speed of the traveling motor is negatively fed back to the first or second speed command signal selected by the speed signal selecting means, and a current command signal corresponding to the speed deviation is output. Speed control And a current control means for supplying a drive current in accordance with the current command signal to the traveling motor, and the first speed command signal is input to the speed control means for the automatic warehouse. Acceleration / deceleration control of the traveling vehicle, and at the time when the moving speed of the automatic warehouse traveling vehicle reaches a speed corresponding to the second speed command signal at the time of deceleration during the acceleration / deceleration control, the speed signal selecting means is switched. Positioning control by inputting the second speed command signal to the speed control means and stopping the traveling motor at a time when the second detection signal coincides with the position command signal; method. 6. A positioning control method for an automatic warehouse traveling cart according to claim 2, wherein the position of a pillar and the position of a shelf constituting the warehouse are detected, and a pillar detection signal and a shelf detection signal are detected. A column detector and a shelf detector to be output are provided on the fork portion, and the second detection signal and the ascent / descent movement of the fork portion at the time when the column detection signal is output from the column detector by the traveling movement of the traveling vehicle The actual shape of the pillars and shelves constituting the warehouse is recognized based on the fourth detection signal at the time when the shelf detection signal is output from the shelf detector, and according to the recognized shapes of the pillars and shelves. And controlling the traveling position of the traveling vehicle and the elevation position of the fork portion.