JP4399816B2 - Control device for moving body - Google Patents

Description

  The present invention relates to stop control of a moving body such as a stacker crane, a turntable, or a robot hand.

In a moving body such as a stacker crane or a robot hand, it is necessary to stop accurately and quickly at a large number of stop positions. For this reason, Patent Document 1 discloses that a mark is provided on each shelf of an automatic warehouse and recognized by a sensor of a stacker crane, and stop data for each shelf is stored. However, if there is a change over time of the drive system such as wear of the traveling wheels of the stacker crane or deformation of the shelf, the stored stop data cannot be stopped at an accurate position. Therefore, it is necessary to perform control so that the vehicle can stop at the stop position accurately and quickly even if a change with time occurs on the moving body side or the stop position side.
JP-A-3-267206

SUMMARY OF THE INVENTION An object of the present invention is to enable a mobile body to stop at a stop position accurately and promptly regardless of changes over time on the mobile body side or stop position side, adjustment errors due to temperature, and the like.
An additional problem of the present invention is to make it possible to stop more quickly after the next time.
An additional problem in the invention of claim 2 is to enable maintenance at an appropriate timing.

The present invention relates to a control device that obtains the position of a moving body with respect to a plurality of stop positions by means of a sensor and stops the moving body at the stop position, an encoder that detects the amount of movement of the mobile body, and a position before the stop position to the stop position. A linear sensor that outputs a linear output at an absolute distance of the mark and a mark sensor that detects a mark provided at each stop position, and in the order of approaching the stop position, the encoder, the linear sensor, and the mark sensor in that order. In the control by the linear sensor, the deceleration control is performed with the target of the error equivalent from the stop position based on the linear sensor signal, and the moving body is moved at a very low speed from the error equivalent before the mark sensor. When the mark is detected, the moving body is stopped and the linear sensor signal based on the output of the linear sensor when stopped at each stop position. Characterized in that a correcting means for correcting the stopping position of the reference.

Also preferably, means for integrating the output of the linear sensor when stopping at each stop position as an error, and if the integrated error is large regardless of the stop position, requesting maintenance of the moving body, a specific stop Means for requesting maintenance on the stop position side when an error in position is large is provided.

In this invention, the encoder performs deceleration control and the linear sensor moves to a position where the absolute distance from the stop position can be obtained. Then, the control is switched to the linear sensor, and the mark sensor performs deceleration control to a position where the mark can be detected. When the mark is detected by the mark sensor, stop control is performed. As a result, it is possible to stop accurately and quickly at the stop position.
Furthermore, according to the present invention, it is not necessary to teach stop control data before starting the operation of the moving body. In addition, there are many stop positions in two or three dimensions, and it is not possible to provide a detection plate for detection by a linear sensor on all of them, but to provide a detection plate only along an axis such as traveling or lifting It is particularly effective. Even in such a case, it is easy to provide a mark at each stop position, and the linear sensor can decelerate to the vicinity of the position where the mark should be present, and when the mark is detected, the mark can be stopped accurately and quickly.

In this invention, since the output of the linear sensor is corrected, fine movement before the stop position is unnecessary, and the stop position can be stopped more promptly.

According to the second aspect of the present invention, it is possible to perform maintenance on the stop position side or the moving body side at a necessary time by accumulating errors and determining whether or not a predetermined condition is satisfied.

  In the following, an optimum embodiment for carrying out the present invention will be shown.

  1 to 6 show an embodiment and its modifications, and FIGS. 1 to 5 show an embodiment relating to stop control of the stacker crane 2. Reference numeral 4 denotes a traveling rail, and reference numeral 6 denotes a plate to be detected fixed on the ground side, which is, for example, a magnetic plate, and is provided along the traveling rail 4 at intervals between rack shelves. The detected plate 6 may be provided at the bottom of the rack 30 in FIG. An ABS linear sensor 8 includes a plurality of coils (not shown), and detects the absolute position of the stacker crane 2 in the horizontal direction with reference to the plate 6 to be detected by changing the magnetic coupling with the plate 6 to be detected. To do. Moreover, it can replace with the ABS linear sensor 8, and can use the arbitrary sensors which detect the absolute position on the basis of a target stop position.

  Reference numeral 10 denotes a carriage, reference numeral 12 denotes a travel motor, the encoder 13 detects the amount of rotation of the drive shaft, reference numeral 14 denotes a drive wheel, reference numeral 15 denotes a driven wheel, and the encoder 13 may be provided on the drive wheel 14 or the driven wheel 15. . The encoder 13 obtains the travel distance of the carriage 10 and controls the travel motor 10 by the control device 28 based on the remaining travel distance to the stop position. Reference numeral 16 denotes a mast, and a plurality of detected plates 7 are arranged according to the height positions of the shelves arranged along the height direction of the rack 30 in FIG. The detected plate 7 is detected by the ABS linear sensor 9 provided on the lifting platform 22.

  18 is an elevating motor, 19 is an encoder that detects the amount of rotation of the drive shaft of the elevating motor 18, and the amount of rotation of the sheave 21 or the like may be detected. Reference numeral 20 denotes a suspension material such as a belt, a wire, or a rope, and 22 denotes the above-described lifting table, which is provided with a slide fork 24 as an example of transfer means, and is provided in the left-right direction of the lifting table 22 (facing the rack 30 in FIG. 2). Direction) A mark sensor 26 using an image sensor or the like is provided on both sides. The travel motor 12 and the lift motor 18 are not limited to rotary motors, and may be linear motors or actuators such as servo cylinders.

  The detected plates 6 and 7 are provided in a jumping manner, and the ABS linear sensors 8 and 9 detect absolute positions with reference to the detected plates 6 and 7. The control device 28 of the stacker crane 2 controls the traveling motor 12 and the lifting motor 18 to control traveling and lifting, and stores stop data (the height position of the lifting platform 22 and the traveling direction position of the carriage 10) for each shelf. In this case, the motors 12 and 18 are controlled to decelerate according to the stop data, and when the stop data for each shelf is not stored, the detected plates 6 and 7 corresponding to the shelf are controlled. Decelerate control with the goal of stopping at the position.

  The stop position of the rack with respect to the shelf or station is a two-dimensional position composed of a combination of the traveling direction position and the raising / lowering direction position, but there is no plate to be detected for each shelf, and the position to be detected along the traveling rail 4 and the mast 16 is not. There are detection plates 6 and 7. For this reason, an error occurs between the stop position based on the detected plates 6 and 7 and the position of the shelf itself.

  As shown in FIG. 2, the slide fork 24 has both left and right sides, a pair of mark sensors 26 and 26 are provided at both left and right ends of the lifting platform 22, and a rack 30 is provided at the left and right of the traveling rail 4. Here, the rack 30 is partially shown on the right side of the traveling rail 4, 32 is a pillar thereof, 34 is a shelf holder, a mark 36 is provided at the tip of the shelf holder 34 near the traveling rail 4, and the mark 36 is marked by the mark sensor 26. To detect.

  3 to 5 show the control device 28 of the embodiment and its operation. The mark 36, the detected plates 6 and 7, and the motors 12 and 18 in the figure are not part of the control device 28. The travel distance is integrated by the encoders 13 and 19 with respect to the travel motor 12 and the lift motor 18, and the control device 28 determines the remaining distance to the stop position (the rack or the station of the rack 30) and performs deceleration control. When the detected plates 6 and 7 are detected by the linear sensors 8 and 9, the control is switched to the data of the linear sensors 8 and 9, and the deceleration control is performed so as to stop at the stop position. Here, when correction data (stop data for each stop position) for the output of the linear sensors 8 and 9 is stored for each stop position, deceleration control is performed according to the correction value, and in other cases, the output of the linear sensors 8 and 9 is output. For example, deceleration control is performed with a position at which 0 becomes 0 as a target. When the mark sensor 26 detects the cross symbol 38 in the mark 36, it outputs a stop signal to stop the motors 12 and 18 and apply the brake. In the cross symbol 38, the stop position can be detected independently in the traveling direction and the up-and-down direction. If the linear sensors 8 and 9 are used, the motors 12 and 18 are sufficiently decelerated at the position where the mark 36 can be detected. Accurate stop control is possible. Furthermore, the slow running section before stopping can be shortened and stopped quickly. The shape of the mark 36, the type of the mark sensor 26, and the number of the mark sensors 26 are arbitrary.

  When the motors 12 and 18 are stopped, for example, when the outputs of the linear sensors 8 and 9 are read, the error data of the stop position can be obtained. When this is integrated by the error memory 40 and the integrated value is analyzed by the analysis unit 42 and a predetermined condition is satisfied, maintenance is requested. When the error data 41 for one address of a shelf is shown in FIG. 4, statistics such as the number of stops on the shelf, the average error in the traveling direction and the up-and-down direction, and the variance of the error are stored, and the average error or variance is predetermined. Request maintenance above the value. Other than this, the total number of stoppages and the average and variance of errors for each column above and below the shelf, the average and total number of stoppages and errors for each horizontal stage of the shelf, and the average and variance of the number of stoppages and errors for each station Remember.

  The correction data in the memory 40 increases the accuracy of the deceleration control by the linear sensors 8 and 9 and makes it possible to perform the deceleration control so as to stop at the stop position. When the correction data is not used for the deceleration control, the deceleration control is performed with the target of the error corresponding to the stop position determined by the detected plates 6 and 7, and after that, the movement is performed at a very low speed and stops when the mark 36 is detected. Accordingly, when the outputs of the linear sensors 8 and 9 are corrected with the correction data in the memory 40, the slow movement can be eliminated and the operation can be stopped more quickly.

  The data in the memory 40 can be used for maintenance of the rack 30, the station, and the stacker crane 2. If only a specific shelf has a large error and there is no abnormality in other shelves in the same row or the same row, the corresponding shelf is defective, for example, the shelf holder is deformed, the mark 36 is dirty or defectively installed, etc. There is. When the average error of the rows and stages and the variance thereof are large, the positions of the detected plates 6 and 7 are bad, which may be due to an incorrect installation position or due to deformation of the rack. If the error is large regardless of the shelf position, wear of the traveling wheel or sheave, encoder failure, etc. may be considered.

The embodiment has the following characteristics.
1) At the start of operation of the stacker crane 2, the stop position is given by the linear sensors 8 and 9 and the detected plates 6 and 7, and it is not necessary to teach the stop position. This makes it easy to set up an automated warehouse. For example, teaching a stacker crane stop position accurately for hundreds of shelves requires great effort, but this can be eliminated.
2) Encoder 13 and 19 obtain an approximate value of the remaining distance and start deceleration control. At the position where the linear sensors 8 and 9 can detect the detected plates 6 and 7, the control is switched to the linear sensors 8 and 9. If stop control is performed by the mark sensor 26 at the time of deceleration, the vehicle can be stopped accurately and promptly. In particular, it is difficult to provide the detected plates 6 and 7 on the shelf itself by detecting the mark 36 with the mark sensor 26.
3) If the stop position data is corrected each time the vehicle stops on a shelf or station, etc., it can be stopped more quickly by omitting the slow movement near the stop position.
4) Maintenance can be performed from the data in the error memory 40 for rack deformation, defective mounting positions of the detected plates 6 and 7 and the mark 36, wear of wheels, drive shafts, and sheaves of the stacker crane.

  FIG. 6 shows a modified example related to stop control of the turntable 60. 62 is a turntable body, 64 is a rotation shaft thereof, 66 is a rotation motor, and 68 is a drive shaft thereof. The encoder 70 detects the amount of rotation of the drive shaft 68, and a linear rotary sensor 72 in which a plurality of detection coils are arranged along the outer periphery of the main body 62 is an object to be formed of an arc-shaped magnetic body provided around the main body 62. The absolute distance to the stop position with reference to the detection plate 76 is obtained. Here, the linear rotary sensor 72 is a rotation-related sensor that outputs linearly to an absolute position with the detected plate 76 as a reference. The mark sensor 74 detects a mark 78 at the stop position.

  In this modified example, the motor control device 80 decelerates the rotation motor 66 according to the remaining distance to the stop position by the signal of the encoder 70, and when the detected plate 76 is detected by the linear rotary sensor 72, the rotation is performed by the linear rotary sensor 72. The moving motor 66 is decelerated and stopped when the mark 76 is detected by the mark sensor 74.

In the embodiment, the turntable 60 has been described using the stacker crane 2 as an example of one-dimensional movement as an example of two-dimensional movement, but traveling of an overhead traveling vehicle, a tracked carriage, an automated guided vehicle, movement of a hand such as a transfer robot, It can also be used to set tools and parts on machine tools.

Side view of the main part of the stacker crane used in the example The top view which shows the raising / lowering stand of the stacker crane used for the Example, and the mark provided in the shelf holder of the rack which is a stop position The block diagram which shows the control apparatus of the stacker crane of an Example The figure which shows the integration of the error of the ABS linear sensor in the execution example The flowchart which shows the algorithm of traveling control and raising / lowering control of a stacker crane in an example The top view which shows the modification regarding control of a turntable

Explanation of symbols

2 Stacker Crane 4 Traveling Rails 6 and 7 Detected Plates 8 and 9 ABS Linear Sensor 10 Cart 12 Traveling Motors 13 and 19 Encoder 14 Drive Wheel 15 Driven Wheel 16 Mast 18 Lifting Motor 20 Suspension Material 21 Sheave 22 Lifting Table 24 Slide Fork 26 Mark sensor 28 Control device 30 Rack 32 Pillar 34 Shelf holder 36 Mark 38 Cross symbol 40 Error memory 41 Error data for address 1 42 Analyzing unit 60 Turntable 62 Turntable body 64 Rotating shaft 66 Rotating motor 68 Driving shaft 70 Encoder 72 Linear rotary sensor 74 Mark sensor 76 Detected plate 78 Mark 80 Motor controller

Claims (2)

In the control device for obtaining the position of the moving body with respect to a plurality of stop positions by the sensor and stopping the moving body at the stop position,
An encoder that detects the amount of movement of the moving body, a linear sensor that outputs a linear output at an absolute distance from the stop position to the stop position, and a mark sensor that detects a mark provided at each stop position; As the vehicle approaches the stop position, the control is switched in the order of the encoder, linear sensor, and mark sensor . Furthermore , in the control using the linear sensor, deceleration control is performed from the stop position based on the signal of the linear sensor to the point equivalent to the error. The moving body is moved at a very low speed from the position corresponding to the error, and when the mark sensor detects the mark, the moving body is stopped, and the linear sensor is output based on the output of the linear sensor when stopped at each stop position. A moving body control apparatus comprising correction means for correcting a stop position with reference to the signal . Means for integrating the output of the linear sensor when stopping at each stop position as an error, and if the integrated error is large regardless of the stop position, request maintenance of the moving body, and the error at a specific stop position The apparatus for controlling a moving body according to claim 1 , further comprising means for requesting maintenance on the stop position side if larger .

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