JP3263285B2 - Speed control device and speed control method for traveling vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device and a speed control method for detecting a running speed of a traveling vehicle on which sorting luggage is placed and controlling the traveling speed.

[0002]

2. Description of the Related Art A plurality of traveling vehicles provided with belts for placing sorted cargoes are arranged on traveling rails laid along a fixed path, and the traveling vehicles are connected to each other to form an endless train-like cargo transportation. Equipment exists. In such a luggage transport facility, the connected traveling vehicles travel on traveling rails, and the belts of the traveling vehicles are rotated when the load placed on each traveling vehicle reaches a predetermined sorting position. The baggage is sorted by discharging the baggage on the belt to the sorting chute. In such a luggage transfer facility, it is necessary to control the traveling speed of the traveling vehicle for the purpose of maintaining the traveling speed of the traveling vehicle constant, and to detect the traveling speed of the traveling vehicle. . As means for that purpose, the following speed detecting devices have been proposed. As shown in FIG. 8, a detection plate 2 having a predetermined length (for example, the same length as the traveling vehicle 1) is attached to the traveling vehicle 1 along the traveling direction of the traveling vehicle 1. On the other hand, a photoelectric switch 3 for detecting the detection plate 2 is installed on the ground side along the traveling rail. With such a configuration, the speed detection device calculates the traveling speed of the traveling vehicle 1 based on the on-time during which the photoelectric switch 3 continues to detect the detection plate 2 and the predetermined length of the detection plate 2. I do.

[0003]

However, in such a speed detecting device, the on-time is essential information for calculating the speed of the traveling vehicle 1, and the measurement of the on-time has been completed. Unless later, there is a problem that the traveling speed of the traveling vehicle 1 cannot be calculated, and thus the speed of the traveling vehicle 1 cannot be controlled. It seems that such a problem can be solved at first glance by shortening the length of the detection plate 2, but actually, when the length of the detection plate 2 is shortened, the measurement error of the on-time increases, and conversely, the speed A new problem arises in that the control accuracy deteriorates. In addition, while the detection plate 2 is not detected by the photoelectric switch 3, it is a time during which the speed is not detected. Therefore, it is better that the length of the detection plate 2 is as long as possible. Regarding the problem that the traveling speed cannot be calculated unless the measurement of the on-time is completed,
This will be specifically described. For example, the length of the detection plate 2 is 600 m
m, and the design speed of the traveling vehicle 1 is 100 m / min, the time required for speed measurement is 0.36 sec. On the other hand, when the traveling vehicle 1 arrives at the predetermined payout position and pays out the load, if the payout operation of the load is shifted due to the above 0.36 sec for speed measurement, the payout position is calculated based on the design speed. Gap is 600
mm. The luggage transport facility is actually limited in its installation area, and it is intended to provide as many sorting ports as possible in this limited installation area. Narrows. Therefore, a shift of the luggage payout position by as much as 600 mm does not allow for correct luggage sorting, which is not at all acceptable.

In order to sort various types of luggage, it is necessary to pay out the luggage according to the loading position of the luggage placed on the traveling vehicle 1 and the size of the luggage.
It is necessary to finely adjust the timing for activating the belt. For such a request, the measurement time of 0.36 sec is too long. Further, as shown in FIG. 8, the ON time is a time from the ON time when the photoelectric switch 3 detects the detection plate 2 to the OFF time when the photoelectric switch 3 is disengaged from the detection plate 2, and Even if the speed of the traveling vehicle 1 fluctuates during the period from to the off-time, there is a problem that the speed detecting device cannot perform the speed control following the speed fluctuation. That is, the speed detection device merely performs speed control from the average speed of the traveling vehicle 1 during the period from the on-time to the off-time, and has a problem that control accuracy is poor.
This problem causes the following problems. That is, the loading conveyor for loading the luggage into the traveling trolley 1 is activated after comparing the traveling speed of the traveling trolley 1 with the luggage transfer speed of the loading conveyor. Therefore, when the traveling speed of the traveling vehicle 1 fluctuates, the load is placed on the belt at a position shifted in the traveling direction from the center line of the belt orthogonal to the traveling direction of the traveling vehicle. Such a displacement is
This causes a case where the package is not normally paid out at the payout position. The present invention has been made to solve such a problem, and an object of the present invention is to provide a speed control device and a speed control method capable of accurately and quickly controlling the speed of a traveling vehicle.

[0005]

According to one embodiment of the present invention, there is provided a speed control apparatus for controlling speed of a plurality of traveling vehicles connected to each other.
A plurality of analog voltage signals are generated by detecting travel of one traveling vehicle, and each of the analog voltage signals has a rising portion, a detected portion, and a falling portion in this order, and the detected voltage in each analog voltage signal is detected. The speed control voltage portion is formed by connecting the portions continuously, and the speed of the traveling vehicle is controlled based on the voltage value in the speed control voltage portion.

According to another aspect of the present invention, there is provided a speed control device arranged at intervals T along a traveling direction of a plurality of traveling vehicles, for detecting passage of the traveling vehicles and transmitting a pulse signal. , An F / V converter provided corresponding to each of the sensors and converting the pulse signal transmitted by the sensor into an analog voltage signal, and the analog voltage transmitted by each of the F / V converters A maximum voltage extractor that outputs a maximum voltage value at the same time among the signals,
A control device for controlling the speed of the traveling vehicle based on a deviation between a maximum voltage value obtained from the maximum voltage extractor and a set voltage value corresponding to the set speed, wherein the arrangement interval T of the sensor is The detected portion, which is a period for obtaining an internal speed control voltage of the analog voltage signal sent from each of the F / V converters, is connected to the analog voltage signal sent from each of the F / V converters. And continuous intervals.

Each sensor detects the passage of the traveling vehicle and sends a pulse signal to the F / V converter. When a pulse signal sent from one sensor is subjected to F / V conversion, a rising portion corresponding to a supply start portion immediately after the supply of the pulse signal to the F / V converter and a supply end portion corresponding to the supply end are provided. The corresponding falling section means that the voltage sent from the F / V converter has an unstable value. Therefore, the respective F / V converters are formed so that the detected parts excluding the rising and falling parts are continuously formed without interruption from the respective F / V converters provided corresponding to the respective sensors.
The arrangement interval of the sensors was set so that an analog voltage signal was transmitted from the V converter. The portion where the detected portion is formed continuously is a speed control voltage portion. The speed control of the traveling vehicle is performed based on the maximum voltage value in the speed controlling voltage portion.Also, since the speed controlling voltage portion is formed as described above, the traveling speed of the traveling vehicle is continuously controlled. The speed of the traveling vehicle can be controlled accurately and quickly. As described above, the sensor, the F / V converter, the maximum voltage extractor, and the control device operate to accurately and quickly control the speed of the traveling vehicle.

According to a speed control method according to another aspect of the present invention, there is provided a speed control method for controlling the speed of a plurality of traveling vehicles connected to each other. An analog voltage signal is generated, and each analog voltage signal has a rising portion, a detected portion, and a falling portion in this order, and the detected portion in each analog voltage signal is connected to form a speed control voltage portion. The speed of the traveling vehicle is controlled based on the voltage value in the speed control voltage section.

According to still another aspect of the present invention, a speed control method includes transmitting a pulse signal by detecting passage of a traveling vehicle from a plurality of sensors arranged along a traveling direction of the traveling vehicles, A plurality of F / V converters convert the pulse signals transmitted by the respective sensors into analog voltage signals, and the maximum voltage value obtained by comparing the analog voltage signals transmitted by the respective F / V converters And controlling the speed of the traveling vehicle based on a deviation between the set voltage and a set voltage corresponding to the set speed. In the method of controlling the speed of the traveling vehicle, the analog voltage signal transmitted from each of the F / V converters is controlled. Each detected part has a F /
The sensor is arranged at a continuous interval between the analog voltage signals sent from the V converter.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A speed control device according to an embodiment of the present invention will be described below with reference to the drawings.
The speed control method according to one embodiment of the present invention is a control method executed by the speed control device. In each drawing, the same components are denoted by the same reference numerals.
As shown in FIG. 2, the speed control device according to the present embodiment includes a plurality of traveling vehicles 10-1, 10-2,... Are arranged on the traveling rail 13, and the traveling trolleys 10 are connected to each other by the coupler 14 to be provided in an endless train-like luggage transfer facility. Such a luggage transport facility operates in the same manner as the above-described conventional luggage transport facility, and has a loop-like traveling route having a shape as shown in FIG. 3, for example, and is connected to each other to form an endless train. Travels in the direction indicated by the arrow 15, for example. Belt 1 of each traveling carriage 10 that is traveling
1, when the load 12 to be sorted is placed on the loading conveyor 20, and when the load 12 reaches a position to be sorted, the belt 11 of the traveling vehicle 10 is perpendicular to the traveling direction of the traveling vehicle 10. Luggage 1 on belt 11
2 is paid out to a predetermined sorting chute 30. The speed control device in such a luggage transfer facility includes a detection object 40 attached to each traveling vehicle 10 and the detection object 40
, A control device 60, and an inverter unit 70. These will be described below.

Each traveling vehicle 10 is shown in FIG.
In FIG. 1, a detection target 40 schematically shown is attached. As shown in the figure, the detection target 40 is a plate-like body in which comb-shaped irregularities 41 are formed in a row along the traveling direction of the traveling vehicle 10 along the traveling direction.
On the other hand, a plurality of sensors 50 that detect the comb-shaped irregularities 41 on the detection target 40 and transmit a pulse signal corresponding to the irregularities 41 on the ground side without contact with the traveling vehicle 10.
-1,50-2, ..., 50-n (collectively, sensor 50
Are sometimes provided along the traveling direction of the traveling vehicle at an installation interval T (corresponding to L4 described later). In the present embodiment, the sensor 50 uses a photoelectric tube. However, the present invention is not limited to this. For example, the object to be detected does not have the unevenness 41 as described above, and for example, alternates between white and black along the traveling direction of the traveling vehicle 10. In the case of providing a pattern painted in different colors, a sensor capable of transmitting a signal according to the reflection intensity of light can be used. As described above, various sensors can be used depending on the object to be detected. Also, the sensor 50
Preferably, the traveling cart 10 is
After the luggage 12 is loaded into the
It is preferably installed in, for example, a straight section 35 shown in FIG. This is because the sensors 50-1, 50-2,..., 50-n can be easily arranged at the same interval. still,
The relationship between the arrangement interval T between the detected object 40 and each sensor 50, and the relationship between the pitch between the adjacent traveling vehicles 10 and the length from the first sensor 50-1 to the n-th sensor 50-n are as follows. This is an important point in the present speed control device. These will be described later.

As shown in FIG. 4, the output side of each sensor 50 is provided with F / V converters 61-1, 61-2,...
(Sometimes referred to collectively as F / V converter 61). The F / V converter 61 converts frequency information composed of a pulse signal supplied from the sensor 50 into an analog voltage signal in proportion to the magnitude of the frequency information. Each F
The output side of the / V converter 61 outputs each F at a certain time.
It is electrically connected to a maximum voltage extractor 63 that extracts a maximum value from analog voltage signals sent from the / V converter 61. The output side of the maximum voltage extractor 63 is electrically connected to the arithmetic circuit 64. The signal sent from the maximum voltage extractor 63 is a continuous voltage signal, and the voltage signal β is supplied to the arithmetic circuit 64 as the detection speed of the traveling vehicle 10.
The voltage signal γ corresponding to the set speed set by the speed setting volume 67 for setting the traveling speed of the traveling vehicle 10 is supplied to the arithmetic circuit 64 via the buffer amplifier 62. The arithmetic circuit 64 calculates the difference between the voltage signal β corresponding to the detected speed and the voltage signal γ corresponding to the set speed by PID.
Feedback is performed by the PID control in the device 65, and the calculation result is sent to the inverter unit 70. If the difference between the voltage signal β and the voltage signal γ is large, the signal sent from the arithmetic circuit 64 to the inverter unit 70 is large, and if the difference is small, the signal sent is small.
The output side of the maximum voltage extractor 63 is also connected to a digital panel meter (DP) 66, and the detected speed of the traveling vehicle 10 is displayed based on the voltage signal β. Also, F / V
Converter 61, maximum voltage extractor 63, arithmetic circuit 64, PI
The D device 65 and the buffer amplifier 62 are incorporated in the control device 60.

In this embodiment, each sensor 50 and each F
Although it is provided separately from the / V converter 61, the present invention is not limited to this, and a traveling detection device that is integrally formed and directly transmits an analog voltage signal by detecting the detection target 40 is provided. May be provided in a row on the ground side along the traveling direction of the vehicle.

Next, the relationship between the arrangement interval T between the detection object 40 and the sensor 50 will be described. When the detection target 40 having the comb-shaped irregularities 41 passes through the sensor 50, a pulse signal 80 as shown in FIG.
Is transmitted, and the frequency information composed of the pulse signal 80 is F /
The analog voltage signal 8 as shown in FIG.
Converted to 1. However, at the time of this conversion, the analog voltage signal 81 does not reach the specified value simultaneously with the start of the conversion, and as shown in FIG.
Rising portion 8 corresponding to a period during which supply to converter 61 is started
In 3 (corresponding to the Pd portion shown in FIG. 6), the analog voltage signal gradually increases in voltage, and thereafter reaches a specified value. It should be noted that the voltage once reaching the specified value normally maintains a substantially constant voltage value until just before the supply of the pulse signal 80 stops, and is stable. A period during which the analog voltage signal 81 is substantially constant is defined as a detected portion 82. If the traveling speed of the traveling vehicle 10 changes in a very short time, the voltage at the detected portion 82 may not be constant. Further, the voltage value of the analog voltage signal 81 does not become 0 at the same time as the end of the supply of the pulse signal 80, but the voltage becomes 0 in the falling section 84 corresponding to the end of the supply as shown in FIG. . From the characteristics of the F / V converter 61, when the traveling speed of the traveling vehicle 10 is detected during an unstable period in which the voltage values of the analog voltage signal 81 at the rising portion 83 and the falling portion 84 are unstable. The wrong running speed will be output. FIG.
"85" indicates an analog voltage signal transmitted by the F / V converter 61-1 based on the pulse signal transmitted by the sensor 50-1, and "86" indicates a pulse signal transmitted by the sensor 50-2. Indicates an analog voltage signal transmitted from the F / V converter 61-2 based on the analog signal transmitted from the F / V converter 61-2 based on the pulse signal transmitted from the sensor 50-n. Indicates a signal. Therefore, in order to accurately detect the traveling speed of the traveling vehicle 10, as shown in FIG. 6, the detected portion 82 of the analog voltage signal 81 sent from each F / V converter 61 is continuous. The arrangement interval T between adjacent sensors 50, that is, L4
It was set. The portion where the detected portions 82 are continuous in this way is referred to as a speed control voltage portion 87. The arrangement interval L4 will be further described with reference to FIGS. 1 and 5 using the number of pulses of the pulse signal 80 transmitted when the sensor 50 detects the detection target 40. As described above, the analog voltage signal 81 sent from each F / V converter 61
The degree of overlap between the analog voltage signals 81 is not limited to that shown in FIG. 6, but varies depending on the arrangement interval L4 of each sensor 50.
For example, as shown in FIG. 7, the detected portions 82 in each analog voltage signal 81 may overlap.

An object to be detected 40 provided with comb-shaped irregularities 41
The number of pulses Ps generated while the sensor 40-1 passes through the sensor 50-1 is determined by the fact that the detection target 40 has the following sensors 50-2 and 50-.
3,..., 50-n. Also, as described above, the F / V converter 61
The falling portion 84 of the analog voltage signal 85 sent from the -1 and the rising portion 83 of the analog voltage signal 86 sent from the F / V converter 61-2 overlap and the detected portion of the analog voltage signal 85 is detected. Before sending the number of Pd pulses from the point at which the detection target 40 has passed through the sensor 50-1, the next sensor 50-2 such that the detection unit 82 in the analog voltage signal 86 is continuous with the detection unit 82. Must begin to generate a pulse signal 80. Note that the Pd pulse is the number of pulses corresponding to the rising portion 83, and from the operating characteristics of the F / V converter 61,
7 to 10 pulses are required as the number of d pulses.
Further, since the speed control voltage section must be formed as described above, it is necessary to form the detected section 82. Therefore, it corresponds to the detected part 82 (Ps-P
d) A pulse is required. In addition, one pulse is transmitted from the sensor 50 by one convex part 41a and one concave part 41b which constitute the unevenness 41. Further, the width dimension of the sensor 50 used in the embodiment, that is, L7 shown in FIG.
It is. Therefore, for example, if the lengths L1 and L2 of the convex portions 41a along the traveling direction of the traveling vehicle 10 are both 5 mm, one pulse is generated at 1 cm. When the sensors of the example are arranged along the traveling direction, for example, closely, the number of pulses of (Ps-Pd) is two. Therefore, while the detection target 40 passes through one sensor 50,
Considering safety as the number of pulses corresponding to the above Ps, (10+
α) It is necessary to have a structure capable of generating a pulse, and at the same time, as described above, it is necessary to generate the detected part 82 and to make the detected part 82 continuous. Pd) must be less than or equal to the pulse. Note that “10” in the above (10 + α) is the above P
The d pulse number is “10” in the “7 to 10” pulses, and α is the number of pulses that will occur in the dimension of L4. Specifically, for convenience of the mounting work of the sensor 50, the L4 is desirably 5 cm or more, and if a margin is added, the dimension of the L4 is 10 cm. Therefore, for example, in the detection target 40 of the comb tooth 41 in which L1 and L2 are both 5 mm as described above, the α is 10 pulses. If α = 10 pulses, Ps is 20 (=
10 + 10) pulses, and Ps−Pd is 10 (= 20)
-10) It becomes a pulse.

Based on the above description, the object to be detected 40
Specific numerical values such as the size of the sensor and the distance between adjacent sensors 50 will be described. As described above, the number of pulses generated by the sensor 50 when the detection target 40 passes through one sensor 50 is determined by the number of irregularities in the comb-like irregularities 41 of the detection target 40. In the irregularities 41, the convex portions 4
1a, the length L1 along the traveling direction of the traveling vehicle 10
The length L2 along the traveling direction of the traveling vehicle 10 in the concave portion 41b is easy to manufacture the detection target 40, and the total length of the detection target 40 is not so large.
The width is preferably about 2 mm to 6 mm. Therefore, L1 and L2 are set to 6 mm from the above 2 mm,
For example, to generate the above (10 + α) pulse,
The overall length L3 of the detection target 40 ranges from 138 mm to 214 mm. However, in this calculation, L1 and L2 have the same dimensions. In the embodiment, the above L1 and L2
Are both 5 mm, and the total length L3 of the detection target 40 is 1
95 mm. It is to be noted that the detection object 4 having both L1 and L2 of 5 mm and the total length L3 of 195 mm.
If it is 0, there is almost no hindrance in selecting a commercially available transmission type photoelectric switch as the sensor 50 for the following reason. That is, in order to detect the comb-shaped unevenness 41 of the detection target 40 as described above, the sensor 50 has a U-shape as shown in FIG. 2 and detects the U-shaped opening portion 50a. It is common to select a transmissive photoelectric sensor through which the body 40 passes because it does not require the trouble of aligning the optical axes and is inexpensive. In such a sensor,
It is necessary to select a sensor that does not hinder the operation when the detection object 40 having the width L1 and L2 of 5 mm passes at a speed of 2 m / sec. Is available at

As described above, in the object to be detected 40 having L1 and L2 of 5 mm and a total length of 195 mm, as described above, α is 10 pulses and the distance L4 between the adjacent sensors 50 is L4.
Is 10 cm. On the other hand, as described above, L4 is 1
Although it is necessary to be 0 cm or less, L4 cannot be less than 2 cm in the present embodiment due to the shape and size of the sensor 50 as described above. On the other hand, it is correlated with the total length L3 of the detection target 40 and the above L1 and L2. For example, if the sensors 50 are arranged close to the traveling direction of the traveling vehicle 10, the number of the sensors 50 becomes unnecessary and the cost increases Not realistic. Therefore, as described above, L4 is (Ps-P
d) It must be less than the length corresponding to the pulse. In other words, it is cost-effective to take L4 as large as possible within the length corresponding to the (Ps-Pd) pulse. Therefore, in the embodiment, L4 is set to 7 to 7 so that the detected portions 82 sent from the respective F / V converters 61 slightly overlap.
The length is set to the length at which eight pulses are generated.
If L2 is 5 mm, L4 is 7 to 8 cm.

Next, the arrangement pitch of the adjacent traveling vehicles 10 (L6 shown in FIG. 1) and the length from the first sensor 50-1 to the n-th sensor 50-n (L5 shown in FIG. 1).
Will be described. For example, after the detection object 40 of the traveling vehicle 10-1 reaches the sensor 50-1 disposed at the first position, and the sensor 50-1 starts transmitting the pulse signal 80, the detection object 40 becomes the nth position. Sensor 5 to be arranged
The distances between passing through 0-n are Ps, P
When expressed by the number of pulses of d, Ps + (Ps−Pd) + (Ps
−Pd) +... To the n-th sensor 50-n. Therefore, the total number of pulses is Ps + (n−1) ·
(Ps-Pd). On the other hand, in order to accurately detect the traveling speed in any traveling vehicle 10, an analog voltage signal must be transmitted from the maximum voltage extractor 63. For this purpose, when the detection object 40 of the traveling vehicle 10-1 has passed the sensor 50-n, the detection of the subsequent traveling vehicle 10-2 connected at an interval of the pulse number corresponding to the distance L6 is performed. The body 40 must have already reached the sensor 50-1, and the sensor 50-1 must have transmitted more pulses than the number of (Ps-Pd) pulses described above. Therefore, the following equation holds. Ps + (n-1). (Ps-Pd) = L6- (Ps-P
d) Assuming that the number of the sensors 50 is eight, that is, n = 8, for example, when the above-described case of Ps = 20 and Ps−Pd = 10 is considered, 20 + 7 × 10 ≧ L6-10, so that L6 ≦ 100 pulses. . As described above, when L1 and L2 in the uneven portion 41 are each set to 5 mm, L6 ≦ 1000 mm. Also, n = 5
In the case of 6, 7 pieces, L6 = 700 mm and 800 m, respectively.
m, 900 mm. In the embodiment, the above L1, L
2 is 5 mm, and L3 is 195 mm, n
= 8, L4 = 57.5 mm, L5 = 402.5 m
m, L6 = 460 mm, and when n = 10, L4 = 70 mm, L5 = 630 mm, L6 = 700
mm.

The operation of the thus configured speed control device will be described below. As described above, the traveling vehicle 10 travels, for example, along a route as shown in FIG.
The detection target 40 attached to each traveling vehicle 10 is detected by each sensor 50 installed in the straight section 35.
Therefore, each sensor 50 sends a pulse signal to the F / V converter 61 corresponding to each sensor 50 as described above. As described above, each F / V converter 61 converts the frequency represented by the pulse signal into an analog voltage signal 81 and sends it to the maximum voltage extractor 63. Maximum voltage extractor 63
Then, as shown in FIG. 6, for example, at time ts, F / V
The maximum value of the analog voltage signal supplied from the converter 61 is extracted. As shown in FIG. 6, for example, at time ts, the voltage V1, the voltage V2, and the voltage V3 are extracted, and the maximum voltage extractor 63 outputs the voltage V3 which is the maximum voltage among them.
Is selectively extracted and sent to the arithmetic circuit 64. Arithmetic circuit 64
In the PID device, a difference between a voltage signal γ corresponding to a preset speed of the traveling vehicle 10 and a voltage signal β corresponding to an actual traveling speed at time Ts supplied from the maximum voltage extractor 63 is set. At 65, feedback control is performed based on the PID value, and the calculation result is output to the inverter unit 70.
Send to The inverter unit 70 includes the traveling vehicle 10
In order to make the traveling speed the above-mentioned set speed, the inverter control is performed to change the frequency of the current supplied to one or more, for example, five traveling motors of the traveling vehicles 10 based on the above calculation result. Incidentally, the driving power of the traveling motor,
As shown in FIG. 2, the driving power of the belt 11 of each traveling vehicle 10, the control signal from the inverter unit 70, and the like are supplied to the power supply rail 16 provided along the traveling route and the power supply rail provided on the traveling vehicle 10. It is supplied to the traveling vehicle 10 via a contact 17 that always contacts the 16.

As shown in FIG. 6, for each analog voltage signal 81 sent from each F / V converter 61, the detected part 82 is continuously output to form a speed control voltage part 87. Since the arrangement interval of each sensor 50 is set, the voltage value in the speed control voltage section 87 can be continuously obtained, so that the traveling speed of the traveling vehicle 10 can be immediately obtained. Therefore, according to the speed control device of the present embodiment, the above-described problems caused by the fact that it took a long time to measure the traveling speed in the related art,
In other words, it is possible to solve the problems of the displacement of the luggage payout position, the inability to finely adjust the start timing of the belt 11, and the inability to perform speed control that follows the fluctuation of the traveling speed of the traveling vehicle. And speed control can be performed quickly.

In the above description, 5 to 10 sensors 50 are shown. However, for each analog voltage signal sent from the F / V converter 61, the detected portion is continuously detected. As output, more preferably, the arrangement interval of each sensor 50 is set such that the rising portion and the falling portion overlap each other and the detected portion is output continuously,
Based on the technical idea described above, at least two sensors 50 may be used.

[0022]

As described in detail above, according to the present invention, F
The arrangement intervals of the sensors are set so that the detection target sent from the / V converter is continuously formed without interruption from each F / V converter provided corresponding to each sensor. Thus, a voltage signal can be obtained immediately at any time to obtain a voltage signal for measuring the speed of the traveling vehicle, and the traveling speed of the traveling vehicle can be calculated immediately. Therefore, speed control of the traveling vehicle can be performed accurately and quickly.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining an arrangement interval of sensors constituting a speed control device according to an embodiment of the present invention.

2 is a perspective view showing a traveling vehicle whose speed is controlled by the speed control device shown in FIG. 1, an object to be detected attached to the traveling vehicle, and a sensor for detecting the object to be detected.

FIG. 3 is a plan view showing an overall configuration of a luggage transfer facility including the traveling cart shown in FIG.

FIG. 4 is a block diagram illustrating a configuration of a speed control device according to an embodiment of the present invention.

FIG. 5 is a diagram showing each pulse signal transmitted from each sensor shown in FIG. 4;

6 is a diagram showing a state of each analog voltage signal transmitted from each F / V converter shown in FIG.

7 is a diagram illustrating a state of each analog voltage signal transmitted from each F / V converter illustrated in FIG. 4, and is a diagram illustrating a state different from the state illustrated in FIG. 6;

FIG. 8 is a diagram illustrating a detection plate and a photoelectric switch in a conventional speed control device, and illustrating an operation of the photoelectric switch.

[Explanation of symbols]

10: traveling trolley, 50: sensor, 61: F / V converter,
63: maximum voltage extractor, 64: arithmetic circuit, 70: inverter unit, 80: pulse signal, 81: analog voltage signal, 82: detected part, 87: speed control voltage part.

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B60L 15/20 B65G 43/08 G01P 3/64

Claims (7)

(57) [Claims] A plurality of traveling vehicles (1) connected to each other.
In the speed control device that performs the speed control in 0), a traveling of one traveling vehicle is detected to generate a plurality of analog voltage signals, and the respective analog voltage signals indicate a rising portion, a detected portion, and a falling portion. A speed control voltage section (87) is formed by connecting the detected sections in the respective analog voltage signals in order, and the speed of the traveling vehicle is controlled based on the voltage value in the speed control voltage section. Speed control device of the traveling vehicle. 2. The vehicle according to claim 1, further comprising a first to an n-th travel detectors for transmitting the analog voltage signals, wherein the distance between adjacent traveling vehicles is equal to the n-th travel detector. Before detecting the passage of the first traveling vehicle (10-1) and ending the detected portion in the analog voltage signal, the first traveling detecting device is connected immediately after the first traveling vehicle. 2. The speed control device for a traveling vehicle according to claim 1, wherein an interval at which the detection of the analog voltage signal is started when the passage of the two traveling vehicles is detected. 3. A plurality of traveling vehicles (1) connected to each other.
0) a plurality of sensors (50) arranged at intervals T along the traveling direction and detecting the passage of the traveling carriage and transmitting a pulse signal; and the sensors provided corresponding to the respective sensors are transmitted. F / V converters (61) for converting the pulse signals into analog voltage signals, and a maximum voltage extraction for outputting a maximum voltage value at the same time among the analog voltage signals transmitted by the respective F / V converters And a control device (64, 70) for controlling the speed of the traveling vehicle based on a deviation between a maximum voltage value obtained from the maximum voltage extractor and a set voltage value corresponding to a set speed. The arrangement interval T of the sensors is a period for obtaining a voltage for controlling the internal speed of the analog voltage signal sent from each of the F / V converters. A continuous interval between the analog voltage signals transmitted from the converters. 4. An object to be detected by the sensor is attached to each of the traveling vehicles, and the arrangement interval of the sensors is such that each of the sensors corresponds to the object to be detected of one traveling vehicle. It is an interval in which at least one of the pulses transmitted in the speed control voltage section among the pulses transmitted by detection is continuously transmitted at least one by one.
The traveling vehicle speed control device according to claim 3. 5. In a case where a total of n sensors (50-1... 50-n) from the first to the n-th are arranged, an interval between adjacent traveling vehicles (10-1, 10-2). Means that the n-th sensor (50-n) detects the passage of the first traveling vehicle (10-1) and the F / V converter (61-n) corresponding to the n-th sensor outputs Before terminating the detected part, the first sensor (50-1) is connected to the second traveling vehicle (1) immediately after the first traveling vehicle.
The travel according to claim 3 or 4, wherein the interval is a time interval at which the detection unit is started from the F / V converter (61-1) corresponding to the first sensor after detecting the passage of 0-2). Dolly speed control device. 6. A plurality of traveling vehicles (1) connected to each other.
0) In the speed control method of performing the speed control in 0), a traveling of one traveling vehicle is detected to generate a plurality of analog voltage signals, and each of the analog voltage signals indicates a rising portion, a detected portion, and a falling portion. Traveling in which the detected portions in the analog voltage signals are sequentially formed to form a speed control voltage portion, and the speed of the traveling vehicle is controlled based on the voltage value in the speed control voltage portion. Bogie speed control method. 7. A plurality of traveling vehicles (1) connected to each other.
0), a plurality of sensors (5
0), a pulse signal is transmitted by detecting the passage of the traveling vehicle, and the pulse signals transmitted by the respective sensors are converted into analog voltage signals by a plurality of F / V converters (61). A speed control method for a traveling vehicle, wherein the traveling vehicle speed is controlled based on a deviation between a maximum voltage value obtained by comparing the analog voltage signals transmitted by the F / V converter and a set voltage corresponding to a set speed. The detected portion of the analog voltage signal transmitted from each of the F / V converters is detected by the sensor at a continuous interval between the analog voltage signals transmitted from each of the F / V converters. A speed control method for a traveling vehicle, comprising: