JPH02129706A - Position control system for automatic running body - Google Patents

Abstract

PURPOSE:To scarcely generate a stop position error by constituting a position control system so that when a running body detects a stop use belt-like body, it is decelerated to a crawling state, and thereafter, stops at a prescribed stop position. CONSTITUTION:When existence of a stop use belt-like body 5' is detected [a section of a distance (a) from P1] by a sensor 3 in the course of running of a running body 1, a front edge detecting means 9 gives an instruction to a decelerating means 12, and by a control of this decelerating means 12, decelera tion is executed to a speed by which the running body can stop instantaneously in a deceleration distance. Thereafter, a signal is applied to a slow speed run ning means 13 from the decelerating means 12, and the running body runs in an allowance distance (b) by the slow speed running means 13, but as soon as a rear edge 7 of the stop use belt-like body 5' is detected by a rear edge detecting means 10, a signal is sent to a stopping means 14, and the automatic running body 1 is stopped. In such a way, positioning of a stop position of higher accuracy which does not contain a measuring error of a deceleration distance caused by a running distance measuring means 11 is executed.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to a position control method for an automatic traveling body that automatically travels on a preset track.

(0) Prior Art In recent years, a configuration has been considered in which an automatic traveling body is installed in a factory or the like to automatically travel on a preset strip-shaped track to transport objects such as parts to a predetermined position. A configuration diagram of such a conventional automatic traveling body is shown in FIG. 3, and a position control system using this is shown in FIG. 4. In these figures,
(1) is a sensor (2) that detects a stainless steel route strip (4) laid on the floor;
), which has a sensor (3) that detects a stop mark (5) made of stainless steel formed on the floor near the road surface, and which detects the route strip (4) while (4), and detects the front edge (6) or rear edge (7) of the stop mark (5) and stops the vehicle. That is, the route strip (4) l/! 5)
The drive motor (8) is controlled by , and normal running is performed. In this state, for example, the rear edge of the stop mark (5) (
7) is detected, the stop position recognition means (16) sends a signal to the traveling deceleration means (12), and the traveling distance measuring means Ti counts the number of rotations of the wheels (not shown) of the traveling body (1).
1l, while measuring the distance, the deceleration hand Vi (12) is used to decelerate and travel to a stopping position P2 that is Ldec away from Pl.
It is stopped by the stopping means (14). In addition, the above sensor (2
1+41 is a combination of an LED and an odometer, and the reflected light from the LED is detected by a photosensor.

(c) Problems to be Solved by the Invention By the way, positioning of the stop position P2 includes both a detection error of the sensor (3) for recognizing the stop position and a measurement error of the travel distance measuring means (111) of the deceleration distance Ldec. As a result, the error will be quite large.

(Means for solving the gradient problem) The present invention has been made in view of these points,
A stopping strip extending along the route strip is laid on the floor surface, and a detecting means for detecting the stopping strip is provided on the traveling body side, and the detecting means detects the stopping strip. A deceleration means for decelerating when the presence of a body is detected, a slow running means for running at a slow speed after deceleration, and a stopping means for stopping when the absence of the stopping strip is detected.

(f) Function After decelerating to a very slow state in advance, the traveling body is stopped at a predetermined stopping position.

(f) Example FIG. 1 shows the configuration of an automatic traveling body used in the present invention,
Figure 2 shows the position control method. In this figure, the same parts as in FIGS. 3 and 4 are given the same reference numerals. That is, in the present invention, a stop strip (5') made of stainless steel is extended on the floor along the route strip (4). While the traveling body +11 is running, when the sensor (3) detects the presence of the stop band (5゛) (in the section at distance a from Pt), the front edge detection means (9) activates the deceleration means (12).
The deceleration means (12) is controlled to decelerate to a speed at which it can be instantaneously stopped within a deceleration distance Ldec.

Thereafter, a signal is applied from the deceleration means (12) to the slow running means (13), but at the same time as the trailing edge (7) of the stopping strip (5°) is detected by the trailing edge detecting means (IO), the stopping means ( 14), and the automatic running body (1) is stopped. As a result, the stop position can be determined with higher precision without including the measurement error of the deceleration road 11 [Ldec by the traveling distance measuring means (11).

As an example, if the weight of the traveling body +11 is 50 to 100-, the normal traveling speed is 30 m/min, and the slow traveling speed is 50 m/min.
It is preferable that the speed is 0 cm/min, the deceleration distance Ldec is set to 60, and the length of the stop band (5°) is approximately 70 a1.

(G) Effects of the Invention As described above, in the position control system of the automatic traveling body of the present invention, when the traveling body is stopped, the traveling body is decelerated in advance to a very slow running speed and then stopped instantly at a predetermined stop position. It does not include measurement errors at the time of operation, and also almost eliminates errors at the time of stopping, allowing for more accurate position control.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of a traveling body used in the present invention, FIG. 2 is a schematic state diagram for explaining the position control method of the present invention, FIG. 3 is a configuration diagram of a conventional traveling body, and FIG. 4 FIG. 2 is a schematic state diagram for explaining a conventional position control method. (1)... Running object, (2) (3)... Sensor, (
4)... Route strip, (5)... Stop mark, (
5')...Stopping strip body, (8)...Drive motor,
(9)... Front edge detection means, (101... Rear edge detection means, 1111... Mileage measuring means, (12)
... Deceleration means, (13) ... Slow speed traveling means, (14
)...Stopping means.

Claims (1)

[Claims] 1) In a control method in which a traveling object is automatically run along a route strip laid on the floor, a stopping strip extending along the route strip is laid on the floor, and , on the traveling body side, a detection means for detecting the stop strip, a deceleration means for decelerating when the detection means detects the presence of the stop strip, and a deceleration means for performing slow running after deceleration. A very slow running means and a stopping means for stopping the vehicle when the absence of the stop strip is detected, and when the traveling body is stopped, the traveling body is decelerated to a very slow running state and then stopped at a predetermined stopping position. Characteristic position control method for automatic running objects.