JPH049329B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a method for controlling a stop position of a moving body.

BACKGROUND TECHNOLOGY There is a so-called joke box type disk playing device in which dozens of disks are arranged and housed at regular intervals, and arbitrary disks are selected from these disks and played sequentially. In order to select and take out one disk from among ten disks, the ejecting member must be moved in the direction of disk arrangement, stopped at the specified disk position, and positioned with respect to the specified disk in order to take out the specified disk. It needs to be done accurately.

Conventionally, there has been a device shown in FIGS. 1 and 2 as a device for controlling the stopping position of a movable body including the above-mentioned extraction member. In FIG. 1, an end of an arm 1 that moves in the directions of arrows X and Y in the figure in conjunction with a moving body (not shown) has a pair of opposing portions 2a,
2b is formed, and these opposing parts 2a, 2b
A plate member 3 extending in the X and Y directions is provided between them. This plate member 3 has a pair of slits 4a and 4b corresponding to a certain stop position of the arm 1.
are drilled so that they are parallel to the X and Y directions and such that adjacent portions overlap by a distance L. On the other hand, the opposing portion 2a of the arm 1,
2b, each pair of light-emitting elements 5a, 5b and light-receiving elements 6a, 6b constituting position detection sensors A and B, respectively, are connected to a pair of slits 4.
They are arranged facing each other corresponding to a and 4b.

In FIG. 2, each output of a pair of light receiving elements 6a and 6b is waveform-shaped by a waveform shaping circuit 7.
These become two inputs to NAND gate 8. The control circuit 9
The stop position of the moving body (arm 1) is detected based on the output of the NAND gate 8, and a stop command is given to the motor 11 as a drive source via the drive circuit 10 when a predetermined time T=to has elapsed from the detection time. .

Next, the operation will be explained with reference to the waveform diagram of each part in FIG. It is now assumed that the motor 11 is started by a start command from the control circuit 9 and the arm 1 is moving in the X direction in the figure. When the arm 1 reaches the desired stop position, the output a of the sensor A becomes high level, then the output b of the sensor B becomes high level, and in response, the output c of the NAND gate 8 becomes low level. The control circuit 9 detects that the arm 1 has reached the stop position by capturing the transition timing of the output c of the NAND gate 8 from a high level to a low level, and from this detection point, a predetermined time T=
When to has elapsed, a stop command is given to the motor 11 via the drive circuit 10. By stopping the motor 11, the moving body (arm 1) overruns by a certain amount and then stops.

Here, if the above-mentioned overrun is too large, the stop position of the movable body may fall outside the permissible stop position range. When the stop position of the movable body goes outside the permissible stop position range, the control circuit 9 starts the motor 11 in reaction to move the movable body in the Y direction, and from the time when the movable body enters the permissible stop position range again, the control circuit 9 starts the motor 11 in reaction to move the movable body in the Y direction. Time T=
When to has elapsed, a stop command is given to the motor 11. After this, if the vehicle further moves in the Y direction due to overrun and comes out of the permissible stop position range, the above operation will be repeated. FIG. 4 shows how the moving body moves due to this operation. In FIG. 4, L is the allowable stop position range determined by the amount of overlap between the slits 4a and 4b, O is the overrun amount of the moving body, and the x mark indicates the point in time when a stop command is issued to the motor 11. It shows.

In this way, in the conventional control method, the motor 1
If the stop position of the moving body deviates outside the permissible stop position range due to the overrun of the moving body after stopping in step 1, the moving body will oscillate near the stop position, resulting in a so-called hunting state. It will not be possible to stand still within the allowable range.

Summary of the invention The present invention has been made in view of the above points, and
It is an object of the present invention to provide a method for controlling the stop position of a moving body that can reliably stop the moving body within a permissible stop position range even if the stop position of the moving body shifts due to an overrun of the moving body. .

The stop position control method for a movable body according to the present invention includes stopping the drive source of the movable body after a predetermined time has elapsed from the time when the movable body enters a stop position tolerance range of a predetermined stop position in the traveling direction, and then stopping the drive source of the movable body. If the stop position of the body deviates from the permissible stop position range in the traveling direction, the drive source is activated in reverse and a predetermined time T=to-ts has elapsed since the time when the movable body entered the permissible stop position range. At that point, the drive source is stopped, and from then on, T=to-n×ts
(n=2, 3, 4, 5, . . . ), and the movable body is repeatedly started and stopped in reverse until the final stop position of the movable body falls within the permissible stop position range.

Example Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 5, parts equivalent to those in FIG. 2 are indicated by the same symbols, and after stopping the motor 11,
A counter 12 that counts the number of times the stop position of the stop position deviates outside the permissible stop position range, and this counter 1
Predetermined time T=to-n×according to count number n of 2
The configuration includes a new timer circuit 13 for generating tssec (n=1, 2, 3, 4, 5, . . . ). The control circuit 9 initially controls the motor 11 when a predetermined time T=to has elapsed from the time when the output c of the NAND gate 8 transitions from a high level to a low level, that is, from the time when the moving object enters the permissible stop position range. A stop command is issued, but after the stop position of the arm 1 deviates outside the allowable stop position range, a predetermined time period T=to-n is determined based on the output of the timer circuit 13 from the time when the moving body enters the allowable stop position range. Control is performed to issue a stop command when ×tssec has elapsed.

Next, the stop position control operation by the apparatus of the present invention will be explained based on the flowchart of FIG.

First, in step 1, the motor 11 is started to move the moving object in the X direction, and then the moving object is moved based on the output c of the NAND gate 8, which takes the outputs a and b of the position detection sensors A and B as two inputs. In step 2, it is determined whether the stopping position of the body is within the permissible stopping position range. When it is determined that the stop position is within the permissible range, it is then determined in step 3 whether a predetermined time T has elapsed since the time when the stop position was within the permissible range. Initially, the predetermined time T is set to T=tosec, so a command to stop the motor 11 is issued from the control circuit 9 when time to has elapsed from the time when the stop position has entered the permissible range, and in response to this, the command to stop the motor 11 is issued from the control circuit 9. The motor 11 then stops (step 4).

After the motor 11 has stopped, it is determined in step 5 whether the stop position of the moving body does not deviate outside the permissible stop position range.
will be monitored. At this time, if the overrun of the movable body is too large and the stop position of the movable body deviates from the permissible stop position range, the counter 12 counts up and sets the count number n to plus 1 (n+1) (step 6). In step 7, the predetermined time T
After setting (T=ton-n×ts), in step 8, the motor 11 is started in reverse and the process returns to step 2. Here, to and ts are certain fixed times, and to>ts. Thereafter, the above series of operations is repeated until the stop position of the movable body falls within the permissible stop position range. FIG. 7 shows how the movable body (arm 1) moves in the vicinity of the stop position due to the above operations. As is clear from Fig. 7, each time the stop position of the moving body deviates outside the permissible stop position range, the amount of deviation outside the permissible stop position range gradually decreases, and eventually the moving body comes to a stop within the permissible stop position range. It is possible to do so. Note that it is clear that the smaller the amount of overrun, the less time it takes for the moving object to come to a standstill.

It should be noted that the present invention is applicable not only to the control of the stop position of a movable body in a joke box type disk performance device, but also to all types of general stop position control of a movable body. Furthermore, it goes without saying that the NAND gate 8, control circuit 9, counter 12, and timer circuit 13 may be constructed by a microcomputer.

Effects As explained above, according to the stop position control method according to the present invention, it is possible to prevent the overrun of the movable body from being so large that the stop position of the movable body deviates outside the permissible stop position range after the drive source stops. Even if this happens, the movable body can be reliably stopped within the permissible stop position range.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing the configuration of a position detection section of a moving body, Fig. 2 is a block diagram showing a conventional example, Fig. 3 is a waveform diagram of each part in Fig. 2, and Fig. 4 is a conventional control method. FIG. 5 is a block diagram showing an embodiment of the present invention; FIG. 6 is a flowchart showing the control method of the present invention; FIG. 7 is a control method of the present invention. FIG. 3 is a diagram illustrating the movement of a moving body in the vicinity of a stop position. Explanation of symbols of main parts, 1...Arm, 4a,
4b...Slit, 5a, 5b...Light emitting element, 6
a, 6b... Light receiving element, 9... Control circuit, 11...
...Motor, 12...Counter, 13...Timer circuit.

Claims (1)

[Claims] 1 Stop the driving source of the movable body after a predetermined period of time has elapsed from the time when the movable body enters a stop position tolerance range of a predetermined stop position in the direction of travel, and then the stop position of the movable body reaches the stop position in the direction of travel. If the position is outside the permissible range, the drive source is activated in reverse, and the drive source is stopped when a predetermined time T=to-ts has elapsed from the time when the movable object entered the permissible stop position range, and thereafter the drive source is stopped. , T=to-
Movement characterized by repeating reverse starting and stopping of the movable body until the final stop position of the movable body falls within the permissible stop position range as n×ts (n=2, 3, 4, 5...) How to control the stopping position of the body.