JPH02276705A - Traveling control method and device of moving body - Google Patents

Abstract

PURPOSE:To enable high acceleration/deceleration traveling with little jolting, in the traveling control of a stecker crane or the like having a lifting body, by setting at least either of the acceleration value or deceleration value in accordance with the height of the lifting body. CONSTITUTION:Control panels 15, 16 count the pulse of a lift detector 23 (pulse encoder) for detecting the height h (not shown), lifting direction, lifting speed, or the like. Further, they count the pulse being output by a traveling detector 21 (pulse encoder connected to a wheel 12) for detecting the present traveling position, traveling direction, traveling speed V, acceleration alpha or deceleration beta, or the like. Based on the calculated results, the control panels 15, 16 control a traveling device 20, a lifting device 22, and a moving machine 19 of a stacker crane 10. In this case, control is carried out by setting the values of acceleration alphaand deceleration beta in accordance with the height h of a lifting body 18. By this constitution, high acceleration or deceleration traveling with little jolting can be enabled.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a traveling control method and a control device for a moving body, such as a Stapka crane, which has an elevating body that lifts and lowers a post installed on the traveling body. [Background Art] Stapka cranes, automatic guided vehicles, unmanned forklifts, and the like are well known as mobile loading machines that move up and down to perform cargo handling operations in logistics facilities.

In particular, the Stapka crane travels on a running rail, lifts and lowers loaded cargo onto a lifting body to a destination shelf, and uses a transfer machine installed on the lifting body to store the cargo on the destination shelf. (This is called warehousing work.) In addition, on the contrary, the cargo stored on the target shelf is transferred by a transfer machine onto the elevating body, and the stacker crane is run to transport the cargo to the exit. (referred to as shipping work).

The stacker crane has a running wheel, a traveling device that drives the running wheel, an elevating device that raises and lowers the elevating body, and a transfer machine provided on the elevating body, for the above-mentioned loading and unloading work,
Operates via a control device.

Such a stacker crane is described in "Positioning Control of a New Type of Stacker Crane, 9th Beefle Automation Society Symposium II [1g13j[~16th Negative, January 28, 1986, Sponsored by the Japan Automatic Control Association]," Gansho 59-1
Publication No. 78312, Japanese Patent Application No. 196664/1983,
JP-A-60-188297, JP-A-61-166
This is shown in Publication No. 402, Publication No. 88696 of Jitsugoku, etc.

[Problem to be solved by the invention]

The above-mentioned conventional technology has a structure in which the upper end of the post is not guided by a rail or the like, as the posts become smaller, more compact, and taller, and does not take into account the difficulty of running the stacker crane at high acceleration and deceleration. When high acceleration/deceleration is performed, the post shakes in the running direction, and the elevating body that moves up and down along the post shakes greatly, generating large vibrations. For this reason, 1m/s”
It was not possible to run at higher acceleration/deceleration than above.

In addition, transfer operations cannot be performed until the shaking stops, so
The cycle time for transporting loads is getting worse.

The purpose of the present invention is to make it possible to run at high acceleration and deceleration while minimizing the shaking of the elevating body.

[Means to solve the problem]

In order to achieve the above objective, the values of acceleration α and deceleration β of the traveling function are set variably depending on the height h of the lifting body and the status of the lifting operation (stopped, in operation), and the set values are set by the traveling device φ. This is the output.

The maximum swing amount δmaw of the post when stopped is determined from the formula Il+.

mα・h3 3g where F is the excitation force of the elevating object m is the mass of the elevating object α is the acceleration of the elevating object gI is the height of the elevating object gI is the rigidity of the post From equation (1), the acceleration of the elevating object α If you increase δm□
becomes proportionally larger.

Therefore, the amount of shaking δ is constant. m to keep it within.

It is necessary to set parameters for α and h3 1 & serial number 2.

[For production]

This invention inputs the height h of the elevating body that mainly gives color to the control device, and changes the output values of acceleration α and deceleration β according to the height h. After setting, the output signal is output to the traveling device to cause the stacker crane to travel at high acceleration and deceleration.

As a result, the amount of sway of the elevating body is kept below a certain value due to the variable acceleration/deceleration travel operation, thereby shortening the cycle time and eliminating the need for a sway prevention device or the like.

〔Example〕

Hereinafter, the present invention will be explained in detail based on specific embodiments shown in FIGS. 1 to 3. Figure fJ1 is an operational flowchart for implementation of the present invention, and Figure 2 is the configuration of the control device. FIG. 3 is a front view of the stacker crane.

First, as shown in FIG. 3, 1O is a stacker crane for loading and unloading shelves (not shown) and shelves (not shown). There are running wheels and a pair of left and right posts 13. A frame 14 connecting the upper end of the post I3. Control panel 15
．． 16. Lifting chain 17. Lifting body 18° transfer machine 19.
Traveling device, travel detector, lifting device, lifting detector. Control equipment! It consists of 30 mag.

Control panel 15. 16 is a running detector 21. Input signals from each detector, such as lifting/lowering detection rotation, etc.
i122. This is for operating the transfer machine 19 and the like.

Each elevating chain 17 is hooked on one sprocket (not shown) at the upper and lower ends of a pair of posts, and forms an endless chain via an elevating body 18. The lifting chain 17 is driven by a lifting device n.

The lift detector is a pulse encoder connected to the shaft of the aforementioned sprocket. The control panels 15 and 16 control the lifting body 18 by counting the pulses of the pulse encoder.
Position i1 (lifting height h), lifting direction.

Detects lifting speed, etc.

The running detector 21 is a pulse encoder connected to the wheels 121. The weather control panels 15 and 16 detect the current position (traveling address), traveling direction, traveling speed V, acceleration/deceleration rates α, β, etc. by counting pulses from a pulse encoder.

! f! In FIG. 2, (capital) is a control device t (general-purpose microcomputer) in a control panel 15, 16, and a running detector 21. A control signal (for example, acceleration α) to the traveling gear W120 of the stacker crane 10 is sent by a method described later using signals inputted from the lift detector or the like.

A speed pattern such as constant velocity v, deceleration β, etc.) is calculated and output.

The input control section 31 is a system that performs control for inputting detection values from various detectors 21 and 23 attached to the stacker crane 10 and control for inputting data from the data setting section okara.

The calculation unit n is a normal central processing unit (CPU), and performs various processes such as data input, calculation, and output according to a program stored in a memory (for example, the operation flow shown in FIG. 1). It is a system.

The output control 1!1K33 sends a control signal which is the calculation result of the calculation unit
9 etc.) and operate it.

The memory A is a system that stores programs necessary for the operation of the control device I, various input data, calculation results, etc.

The data setting section A is a system in which the operator sets data necessary for control.

Note that by counting the pulses of the output of the running position detector 21, the current position X, speed V, acceleration α, and deceleration β can be detected. By counting the pulses of the output of the vertical position detector Z, the current position X, velocity V, acceleration α
, deceleration β can be detected.

FIG. 1 shows the operation flow of the part related to the embodiment of the present invention of the control device (9) in the second cause.

Step a Although not shown, the 1C control device is controlled by a command from an external computer input to the data setting 81S34! ! (9) stores the target storage address (traveling address XO+elevating address Yo) corresponding to the command of the stacker crane 10 in the memory of the calculation unit n.

Step b: Calculate the positional deviation ()'otl) between the lifting height h of the annular lifting body 18 inputted to the input control unit 31 and the target lifting address yo, and store it in the memory. The elevation height h can be detected by counting the pulses of the elevation detection.

Step C Acceleration α and deceleration β of the travel command of the stacker crane 10 with respect to the lifting height h corresponding to the current lifting address yo
Set variable. In other words, when setting the acceleration α,
When h is large (elevating height h3), α is a small value α
conversely, when h is small (elevating body height hl), α is set to a large value α3.

When setting the deceleration β, when h is large (elevating height h3), β is set to a small value β1, and conversely, when h is small (elevating body height hx), β is set to a large value β3. shall be.

Step d Acceleration α, deceleration β set in Step C and constant speed V for constant speed travel (traveling start position lx and target position
The travel speed pattern (α, β+v) determined from the distance between the travel device and the travel device is outputted to the speed adjustment unit (not shown) of the travel device via the output control component. As a result, the stacker crane 10 starts traveling.

Steps e and f: After the stacker crane starts accelerating, count the timer t in the calculation section, and calculate to(v/α) obtained from v and a4.
).

Step g Set the lifting speed pattern (9) from the lifting position deviation (Y, -h) obtained in step b, and apply it to the lifting device 22.
output to a speed adjustment section (not shown).

As a result, the elevating body 18 starts to move up and down.

Step h: Find the positional deviation (Xo-X) between the current traveling position IWX input to the input control unit 31 and the target traveling address x (1), and if it is not 0, jump to step b and proceed to step g. , 0, a stop operation (not shown, but a brake operation is performed).

According to the embodiment of the present invention described above, the elevation height h of the elevating body, which is a parameter that has a large effect on the post swaying state due to the high acceleration/subtraction of the stacker crane, is input, and the acceleration α and deceleration to the traveling device are input. By setting β in the opposite direction and starting the traveling motion, the lifting motion of the elevating body is started.
The amount of shaking of the elevating body is kept below a certain value, improving cargo handling efficiency.

In another embodiment shown in Fig. M4, α and β shown in step CC) in Fig. 1 are determined in inverse proportion to the product m-h' of 11 m of the elevating body and the cube of the elevating height h. It is.

Here, the weight m of the elevating body is inputted from the outside to the data setting section when loading a load.

The horizontal axis represents m−h, and the vertical axis represents α and β. For example, if the weight of the lifting object is J1mo and the lifting height is the horizontal axis, the mo
-)10, so the vertical axis is α0 or β0. In this way, it is sufficient to store it as a table in the memory of the control device (9).

In this embodiment, α and β are determined in inverse proportion to m-h3, which is a function of post sway, so the amount of sway δmaX can be kept at a constant value, and highly accurate high acceleration/deceleration running can be achieved. Furthermore, cargo handling efficiency is improved.

In the embodiments described above, the acceleration α and deceleration β of traveling are determined mainly by detecting the height h of the elevating object, but an accelerometer is directly attached to the elevating object to Travel control may be performed as follows.

〔Effect of the invention〕

According to the present invention, cycle time can be shortened by running at high acceleration/deceleration with the vertical movement of the stacker crane reduced, and throughput can be improved accordingly.

Furthermore, since the weight of the post is reduced, an accessory device such as a device to prevent the post from swinging or rolling becomes unnecessary, which has the effect of making the post more economical.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the operation flow of a control device showing an embodiment of the present invention, and FIG. 2 is a diagram showing the control device of FIG. 1! Figure 3 is a front view of the stacker crane, and Figure 14 is a diagram showing the operation flow of another embodiment. Work 0: Stacker crane, U: Traveling wheel, 13: Post, 18: Elevating body, Machining: Traveling gtI, 21... Traveling detector, n... Lifting device, n... Lifting detector, control device Agent Patent attorney Katsuo Ogawa Sendaizu

Claims (1)

[Scope of Claims] 1. A traveling control method for a moving body having a traveling function of traveling along a shelf for storing loads, and an elevating function of moving an elevating body in the height direction of the shelf, comprising: A traveling control method for a moving body, characterized in that at least one of the acceleration α and the deceleration β of the traveling function is set according to the height h of the elevating body. 2. A method for controlling running of a moving body according to claim 1, wherein the acceleration α and the ticket speed β are set in inverse proportion to the height h of the elevating body. . 3. In the traveling control method for a moving body according to the first claim,
Determine the lifting weight m, and calculate the lifting weight m and the height h of the lifting body.
A traveling control method for a moving object, characterized in that the acceleration α and the deceleration β are set in inverse proportion to the product m·h^3 of the cube of m·h^3. 4. A traveling control device for a moving body comprising a traveling body having a vertical post, an elevating body that moves up and down along the post, and a control device that controls the traveling body of the moving body, in which the height of the elevating body is controlled. the control device is configured to set at least one of the acceleration and deceleration of the running object according to the elevation position determined by the elevation position detector; A travel control device for a mobile object characterized by: