JPH05186181A - Positioning control device of wheeled conveyor - Google Patents

Abstract

PURPOSE:To perform highly accurate positioning which can stably be done over a long period and to enhance reliability by providing a position data read means, a reference position read means, a computation means for computing a distance value per control unit, and an output means for outputting the number of control units to conveyors. CONSTITUTION:A positioning control device samples signals of position sensors 7, 8 during movement of a traveling truck 1 and a traversely traveling truck 2 which serve as conveyors, and determines the starting and finishing points of measurement of position data according to reference position sensor signals sampled when each of the trucks 1, 2 moves a fixed distance between two reference position sensors 5a, 5b and 6a, 6b. A distance value per control unit is computed according to detection signals required to move the reference distance and the number of control units up to a target position is computed and each of the trucks 1, 2 is set to the target position using the number of control units. Therefore, even if the wheels of each of the trucks 1, 2 are worn as time elapses, the unit for automatic positioning is changed accordingly and is automatically set so as to perform positioning control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning control device for automatically positioning a carrier device with wheels such as a crane and a trolley device.

[0002]

2. Description of the Related Art Conventionally, a positioning sensor such as a pulse generator has been used for automatic positioning control of a transfer apparatus with wheels of this type, and the constant of the positioning sensor is calculated in advance on a desk and the constant is kept constant. It was customary to use it as a general purpose. Therefore, for example, it is impossible to continuously and accurately change the control constant (for example, the travel distance per pulse) in response to a change over time due to wheel wear or the like, and thus the error in the positioning accuracy tends to increase with time. Become. Therefore, after a long period of time, when the error became large and misalignment frequently occurred, it was necessary to re-measure the outer diameter of the wheel again and manually reset the above constants again. ..

[0003]

In the conventional positioning method as described above, when the positioning accuracy error of the conveying device increases with the lapse of time, the control constant of the positioning sensor is set to the actually measured value of the wheel outer diameter or the like. There was a problem that it was necessary to recalculate and re-set it on the desk based on the above, the error due to individual difference due to manual measurement, and the line had to be stopped after every measurement.

The present invention has been made in order to solve the above problems, and in a normal operating state of a wheeled carrier device, the control constants can be automatically calculated, and the control constants can be exchanged. , The purpose is to obtain a device capable of stable positioning control with a new control constant.

[0005]

In order to achieve the above-mentioned object, a positioning control device for a wheeled carrier according to the present invention uses position data in which a position sensor takes in position data during movement of the carrier by a position sensor. A reading unit is provided, and the measurement start position and the end position of the position data obtained by the reading unit are determined by a signal when the above-mentioned transporting device passes the points of two reference position sensors installed at a predetermined distance in advance. Means, calculating means for calculating the value of the distance per control unit from the detection signal required to move the distance between these two points, and calculating the number of control units up to the target position based on the distance data per control unit. An output means for outputting the number of control units to the drive device of the above-mentioned transport device is provided.

[0006]

The positioning control device of the present invention takes in the signal of the position sensor into the control device while the transport device is moving, and
The measurement start position and the end position of the position data are determined by the reference position sensor signal when the transport device passes a certain distance between the two reference position sensors, and the detection signal required to move the reference distance is used to determine the per unit of control. The value of the distance is calculated, the number of control units up to the target position is further calculated, and the number of control units is used to position the transport device at the target position.
Therefore, even when the wheels of the transport device wear due to changes over time, the automatic positioning unit is changed and automatically set to perform positioning control.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a conceptual diagram showing an embodiment of the present invention, and shows an example of an overhead traveling crane. In the figure, 1 is a traveling carriage of a crane, 2 is a traveling carriage of a crane, 3 is a traveling motor of the traveling carriage 1, 4 is a traveling motor of the traveling carriage 2, and 5a and 5b are in the traveling direction of the crane (X axis). X-axis reference position sensor using a photoelectric tube or the like installed at a constant distance (reference distance) X, and 6a and 6b similarly have a constant distance (reference distance) in the traverse direction of the crane (Y axis).
Y-axis reference position sensor by photocell installed in Y, 7
Is an X-axis position sensor such as a pulse generator for detecting the position in the traveling direction of the crane, and 8 is Y by a pulse generator or the like for detecting the position in the transverse direction of the crane.
It is an axial position sensor.

Further, X ₀ and X ₁ are reference position signals of measurement start position and end position when the traveling carriage 1 passes through the points of the X-axis reference position sensors 5a and 5b, respectively, and Y ₀ and Y ₁ are traverse carriages. 2 is the reference position signal of the measurement start position and the measurement end position when P passes through the points of the Y-axis reference position sensors 6a and 6b, and P _X0 and P _X1 are the X-axis reference position sensor 5a, respectively.
Of the X axis position sensor 7 and the travel measurement start position data and measurement end position data of the X axis position sensor 7 triggered by the ON signal of the X axis reference position sensor 5b, for example, pulse data.
Similarly, P _Y0 and P _Y1 are the traverse measurement start position data and the measurement end position data of the Y-axis position sensor 8 triggered by the ON signal of the Y-axis reference position sensor 6a and the ON signal of the Y-axis reference position sensor 6b, for example, It is pulse data. P
Is a target position (X _a , Y _a ) for positioning the crane.

FIG. 2 is a schematic configuration diagram of the control device of the present invention. This control device 10 takes in signals from the above-mentioned sensors and performs a required arithmetic processing, and a calculation result thereof is stored. The storage unit 12 and the output units 13 and 14 that control the traveling motor 3 and the traverse motor 4.
Further, X _D is a traveling positioning control unit (for example, traveling distance per pulse), Y _D is a transverse positioning control unit (for example, transverse distance per pulse), and X _C is the number of control units for moving in the traveling direction ( For example, Y _C is a control unit number for moving in the transverse direction (for example, a pulse count number for performing movement in the traverse direction).

Next, the positioning operation of the crane will be described with reference to the flowchart of FIG. First, in step 21, it is determined whether or not the crane has passed the point of the X-axis reference position sensor 5a, which is the travel measurement start position, by the trigger of the ON signal of the sensor 5a. If a trigger is generated, in step 22, the travel measurement start position data P _X0 from the X-axis position sensor 7 is read. Next, in step 23, the X-axis reference position sensor 5b, which is the traveling measurement end position of the crane.
It is determined by the trigger of the ON signal of the sensor 5b whether or not the point 5 has passed, and if the trigger occurs, the travel measurement end position data P _X1 from the X-axis position sensor 7 is read in step 24. Similarly, in step 25, the crane determines the traverse measurement start position, which is the Y-axis reference position sensor 6a.
Whether or not the point has passed is determined by the trigger of the ON signal of the sensor 6a. If a trigger is generated, in step 26, the transverse measurement start position data P _Y0 from the Y-axis position sensor 8 is read. Next, in step 27, it is determined whether or not the crane has passed the position of the Y-axis reference position sensor 6b, which is the traverse measurement end position, by the trigger of the ON signal of the sensor 6b, and if the trigger occurs, step 28
The transverse measurement end position data P _Y1 from the Y-axis position sensor 8
Read. Next, in step 29, it is determined whether the end position signal is generated for both traveling and traverse. If the end position signal is not generated, the above steps are repeated from step 21,
If so, the process proceeds to step 30. Control device 10
As shown in FIG. 2, the calculation unit 11 of the traveling measurement start position data P _X0 and the measurement end position data P _X1 read in the above-mentioned steps in the traveling direction to | P _X0 −P _X1 |
Calculate. Since the distance between X ₀ and X ₁ is originally a fixed length and has a constant X distance, the travel positioning control unit X _D (travel distance per pulse) is X /
It is obtained by | P _X0 −P _X1 |. Similarly, the transverse positioning control unit Y _D (traverse distance per pulse) is Y / |
It is _{calculated by} P _Y0 −P _Y1 |. Therefore, in step 30, each positioning control unit X _D , Y is calculated by the above calculation.
Decide on _D. Next, if a target position movement command for the crane is issued in step 31, the number of control units for moving in the traveling and transverse directions is determined in step 32 and positioning control is executed. That is, by using the positioning control units X _D and Y _D obtained above, the number of control units X _C and Y _C for executing the positioning control is obtained from the actually measured distance data stored in the storage unit 12 in advance. If the positioning target position P of the crane is X _a , the distance in the traveling direction from the current position is X _a ,
When the distance in the transverse direction is Y _a , the number of control units X _C that moves in the traveling direction is X _a / X _D. Similarly, the number of control units Y _C that moves in the transverse direction is Y _a / Y _D. This X _C ,
The traveling motor 3 and the traverse motor 4 are respectively controlled via the output units 13 and 14 based on the data of Y _C to position the crane at the target position P. Therefore, even if the wheel wears or the like, the positioning control unit is automatically changed and set, so that an error in positioning accuracy does not occur.

It should be noted that in the above-described embodiment, the traveling and traverse directions are 2
Although the axis positioning control has been described, the same can be applied to the case of three axes including the vertical direction.

[0012]

As described above, according to the present invention, the positioning control unit is automatically changed and set according to the change over time, so that stable and highly accurate positioning can be performed for a long period of time and the reliability of the apparatus can be improved. Has the effect of improving.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a control device of the present invention.

FIG. 3 is a flowchart of a positioning operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling vehicle 2 Traversing vehicle 3 Traveling motor 4 Traversing motor 5a, 5b X-axis reference position sensor 6a, 6b Y-axis reference position sensor 7 X-axis position sensor 8 Y-axis position sensor 10 Control device 11 Computing unit 12 Storage unit 13, 14 Output section

Claims (1)

[Claims] 1. A position data reading means for taking into the control device position data of a carrying device with wheels by a position sensor, and a reference position when the carrying device passes a preset fixed distance between two points. A reference position reading unit that determines a measurement start position and an end position of the position data based on a signal of a sensor, and a value of a distance per control unit from a detection signal of the position data reading unit required to move the distance between the two points. Calculating means for calculating, and an output means for calculating the number of control units up to the target position based on the distance data per control unit obtained by the calculating means and outputting the number of control units to the drive device of the conveyor. Positioning control device for a carrier device with wheels, comprising: