JPH0651837A - Position controller - Google Patents

Abstract

PURPOSE:To exactly match the position of a carrier with the center of a storage medium housing part by controlling the carrier at reference velocity to the edge of the positioning marker of the storage medium housing part and next controlling the position of the carrier to the center of the positioning marker. CONSTITUTION:A carrier 5 is parallelly moved along a magazine 2 for housing a lot of tape cassettes 3 and stopped at a position faced to the housing part for housing the designated tape cassettes 3. After the tape cassette 3 is taken out and loaded on the carrier 5, this carrier 5 is moved toward a player, and the tape cassette loaded to the player can be recorded and reproduced. In that case, the velocity is controlled corresponding to a reference velocity reference table, and the position of the carrier is controlled corresponding to the detection output of the detection edge and exactly matched with the detection center of a rotating position. Thus, time for moving the carrier 5 can be shortened, and there is no danger to erroneously take it out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position control device.

[0002]

2. Description of the Related Art Conventionally, a carrier is moved in parallel along a magazine (storage rack) for storing a large number of recording media such as CDs, and the carrier is stopped at a position facing a designated recording medium storage portion to move the recording medium there. There is a recording medium automatic selection / reproduction device that takes out from a player and places it on a carrier, then transports the carrier toward the player and reproduces the recording medium loaded in the player.

In this automatic recording medium selection / playback apparatus, slits are provided at one ends of all the recording medium storage units in the magazine so that the carrier transferred to the recording medium storage unit can be accurately positioned and stopped. In addition to installing the optical sensor on the carrier,
By scanning the optical sensor of the carrier so as to sandwich each slit row of the recording medium storage unit from both sides, the address of the recording medium storage unit in the magazine is detected by the number of times of light detection by the optical sensor, and the carrier is placed there. A position detecting device configured to be transferred is known (for example, Japanese Patent Application No. 58-170124 “position detecting device”).

[0004]

The above-described conventional position control device sequentially transfers the carrier based on the result of sequentially detecting the slits of the recording medium storage part by the optical sensor provided on the carrier, and the recording medium concerned. Since it is configured to transfer the carrier to the position of the storage part and stop there, there is a disadvantage that it takes time to transfer the carrier depending on the position of the storage part. Also, it is necessary to stop the carrier at the position of the storage part. However, since it is not possible to accurately position the carrier at the center of both edges of the recording medium storage and stop it, if the thickness of the storage is thin, stop the carrier at a position slightly displaced from the position of this storage. However, there is a drawback that the recording medium stored in the storage unit adjacent to this storage unit may be accidentally taken out, and the reliability is low.

[0005]

In order to solve the above problems, the present invention provides a position control device having the following configuration.

From the starting position to the target position, the speed of the carrier is controlled according to the reference speed reference table, and the position of the carrier is controlled from the detection edge of the target position to the detection center of the target position according to the detection output of the detection edge. Then, the position control device is configured to accurately align the carrier with the detection center of the target position.

Further, the above position control device is characterized in that the carrier is switched from speed control to position control in synchronization with detection of the detection edge.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A position control device according to the present invention will be described below with reference to FIGS. FIG. 1 is a block diagram of an embodiment of a position control device according to the present invention, FIG. 2 is a diagram for explaining the detection operation of a detection sensor, and FIG. 3 is a diagram for explaining the detection operation of a magazine position detection unit. 4 is a diagram showing the speed control characteristic of the reference speed reference table, FIG. 5 is a diagram for explaining the detection operation of the motor rotation speed, FIG. 6 is a diagram for explaining the detection operation of the rotation direction of the motor, and FIG. Is a block diagram for explaining speed control, and FIG. 8 is a block diagram for explaining position control.

The position control device according to the present invention generally controls the reference speed of the carrier from the starting position of the carrier to the edge of the positioning marker attached to the recording medium storage portion, and then from this edge to the center of the positioning marker. By controlling the position of the carrier, the carrier can be accurately aligned with the center of the recording medium housing portion.

As shown in FIG. 1, the position control device 1 according to the present invention includes a magazine 2, a detection sensor 4, a carrier 5, and a transfer means (driving belt 6, gears 7, 8, worm gear 9,
The motor 10), the rotary encoder 11, the controller 12, and the motor drive circuit 13 are included.

The magazine 2 described above is provided with a positioning marker 2
1a to 2na are provided at one end thereof to form a multi-layered storage unit 21 to 2n. These positioning markers 21a to 2na
The shape, size, and color of each are not limited to the squares shown in FIGS. 1 and 2 as long as they can be detected by the scanning of the detection sensor 4, and the addresses attached to the storage units 21 to 2n It may be a barcode corresponding to. Furthermore, according to the optical and magnetic detection methods of the detection sensor 4,
It may be formed by slitting, printing, sticking a seal, or magnetizing. As shown in FIG. 3, the positioning markers 21a to 2na have centers c1 to cn so as to intersect in the A and B directions.
The upper detection edges e1a to ena and the lower detection edges e1b to enb are provided so as to face each other.

Each of the storage sections 21 to 2n described above has a shape capable of stably and completely storing the entire recording medium, and its appearance depends on the recording medium. As a recording medium to be stored here, when the position control device according to the present invention is diverted to a reproducing device, a recorded tape on which a plurality of pieces of information are sequentially and continuously recorded so that information can be searched and reproduced (searched). There are cassettes 3, 31 to 3n, CDs, etc., and when this is diverted to a recording / reproducing apparatus, cue reproduction (search)
For example, there are unrecorded tape cassettes 3, 31 to 3n in which a plurality of pieces of information having search codes are sequentially recorded.

The above-mentioned detection sensor 4 is fixed to the tip of the carrier 5 and detects the above-mentioned positioning markers 21a to 2na by an optical or magnetic detection method or the like. Of course, the detection sensor 4 can carry out a good detection operation so that the carrier 5 provided with the detection sensor 4 can be placed in the storage sections 21 to 2n of the magazine 2 so as to be able to scan closely above the positioning markers 21a to 2na. Needless to say, it is arranged close to one end. The detection sensor 4 is the positioning marker 2
A marker detection pulse is output to the control unit 12 every time 1a to 2na is detected.

A drive belt 6 is fixed to the rear end of the carrier 5 described above, and the carrier 5 can move integrally with the drive belt 6. In addition to the transfer operation of the tape cassette 3, the above-mentioned storage portions 21 to 2n are also provided. A function of taking out the tape cassettes 3, 31 to 3n stored in or a function of storing the tape cassettes in the tape cassettes 3 and 31 to 3n is added as required.

The drive belt 6 is stretched around a pair of gears 7 and 8 rotatably fixed at positions separated by a predetermined distance. The center of the worm gear 9 that meshes with the gear 7 is coupled to the rotary shaft 10a of the motor 10 that indirectly drives the carrier 5, and the rotational movement of the motor 10 is transmitted to the carrier 5 via the gear 7 and the drive belt 6. To do.

The above-mentioned motor 10 is a motor drive circuit 1
3 is a pulse motor that rotates in accordance with the frequency of the drive pulse supplied from the device 3.

The rotary encoder 11 is the motor 1
Depending on the rotation angle of the detection disk 11a coupled to the 0 rotation shaft 10b and the detection disk 11a interlocked with the rotation of the motor 10, the detection signals a and b having the same frequency but different phases by 90 degrees (Fig. 6 (A) and (B) are output from the detectors 11b and 11c, respectively.

The above-mentioned control unit 12 controls the operation of the entire position control device 1, and has a marker detection pulse from the detection sensor 4 and detection signals a and b from the rotary encoder 11.
Is supplied from the starting position of the carrier 5 to the edge (upper detection edge e1a to ena or lower detection edge e1b to enb) of the positioning marker attached to the recording medium storage portion in accordance with these input signals. Speed control for transferring 5 (control shown in FIG. 7), and after this, the carrier 5 from the edge to the center c1 to cn of the marker 5
The position control (control shown in FIG. 8) for accurately positioning is performed.

Here, the detection signals a and b supplied are signals having a frequency proportional to the rotation speed of the detection disk 11a, and as shown in FIGS. 6A and 6B, the detection signal a When the detection signal b is viewed with reference to, when the detection signal b corresponding to the rising edge of the detection signal a (at the time of rising from the “0” level to the “1” level) is the “1” level, the control unit 12 Detects that the motor 10 is rotating in the normal direction (direction C in FIG. 1), and conversely, when the detection signal b corresponding to the rising edge of the detection signal a is at "0" level, It detects that it is in the middle and D direction).

In response to this detection, the up / down counter built in the control unit 12 counts up every time the detection signal b corresponding to the rising edge of the detection signal a is at "1" level, and the detection signal a is detected. Each time the detection signal b corresponding to the rising edge of is at "0" level, it counts down. The clock signal c counted by the up / down counter is generated in the control unit 12, and has a high frequency value with respect to the frequencies of the detection signals a and b (FIG. 5 (A), (Illustrated in (B)).

The above-mentioned motor drive circuit 13 includes the control unit 1
The motor drive signal based on the motor drive control signal related to the rotation direction and the rotation speed of the motor 10, which is output from 2, is output to the motor 10.

By the way, the control section 12 described above performs the control in the order of (A) preprocessing, (B) speed control of the carrier 5, and (C) position control of the carrier 5.

(A) Pretreatment The pretreatment performed prior to the speed control of the carrier 5 is
(1) Detection of the current position (starting position) of the carrier 5,
(2) The transfer position (target position) of the carrier 5 is detected. (1) Detection of the current position (starting position) of the carrier 5 The count value obtained by counting the marker detection pulses obtained from the detection sensor 4 and the built-in "storage unit position vs. marker detection pulse count value table (previously , Detection sensor 4
And the current count value of the carrier 5 is compared with the reference count value obtained by sequentially counting the marker detection pulses obtained by sequentially scanning the uppermost storage section 21 to the lowermost storage section 2n. To detect. (2) Detection of Transfer Position (Target Position) of Carrier 5 When the user operates an operation panel (not shown) to select information (for example, select music), an information selection signal corresponding to this is output to the control unit 12. It The control unit 12 analyzes the content of the information selection signal, compares the analyzed information with the built-in "tape cassette recording information list table", and compares the selected information to any one of the tape cassettes 31 to 3n. It is determined whether or not the tape cassette 3 is recorded, and the built-in “tape cassette-to-storage list table (address-added storage table table)” is referred to so that the determined tape cassette 3 is a magazine. It is determined which of the storage units 21 to 2n in 2 the storage unit is stored.

In this way, the control section 12 identifies the storage section in which the tape cassette storing the above selection information is stored, and then refers to the above-mentioned "storage section position vs. marker detection pulse count value table" to refer to the carrier. 5 is the target tape cassette 3, 31 to be transferred (taken out)
The count value of the storage unit that stores 3 to 3n is detected. (3) Detection of distance for transferring the carrier 5 The count value related to the starting position described above and the count value related to the target position described above are compared, and the carrier 5 is moved from the starting position to the target position. Recognize the transfer direction. This transfer direction is, for example, in the direction A when the target position is above the starting position in FIG. 1, and
If the target position is below the starting position, the direction is B. If there is no difference value described above, there is no transfer direction.

(B) Speed Control of Carrier 5 (illustrated in FIG. 7) Speed Control System 3 of Carrier 5 in the Position Control Device 1
0 is configured as shown in FIG. 7. Particularly, the speed control operation in the control unit 12 is performed by the up / down detector 3
1, up-down counter 32, speed detector 33, position comparator 34, reference speed reference table 35, speed comparator 3
6. This is equivalent to the control operation configured by using the motor drive control means 37.

That is, the detection signals a and b output from the rotary encoder 11 with the rotation of the motor 10 are
After being supplied to the up / down detector 31 in FIG. 2 for up / down detection, the up / down detection signal is supplied to the up / down counter 32. The up / down counter 32 to which the clock signal c is supplied performs up-counting or down-counting based on the up-down detection signal.

In this way, the up / down counter 32 outputs the position of the carrier 5 moving with the rotation of the motor 10 as a pulse signal (current position signal).

The position comparator 34, to which this pulse signal is applied to its inverting input terminal, is always supplied to its non-inverting input terminal with a pulse signal corresponding to the transfer position (target position) to which the carrier 5 should be transferred. Then, the position comparator 34 outputs the count number corresponding to the difference between the current position and the target position as a position error signal to the reference speed reference table 35.
The reference speed reference table 35 is for converting this position error signal into a speed signal, and sequentially outputs the reference speed signal according to the applied position error signal. This reference speed signal (reference speed) is applied to the non-inverting input terminal of the speed comparator 36. A speed detection signal (current speed) obtained by detecting the frequency of the detection signal a output from the rotary encoder 11 at the speed detector 33 is provided at the inverting input terminal of the speed comparator 36.
Is supplied. Then, the speed comparator 36 outputs to the motor drive control means 37 a speed error signal corresponding to the difference between the current speed and the reference speed. In this way, the motor drive control means 37 outputs a motor drive control signal corresponding to the speed error signal to the motor drive circuit 13 outside the control unit 12. The motor 10 is rotated by the motor drive signal supplied from the motor drive circuit 13, and this rotation is again supplied to the rotary encoder 11, and the drive belt 6,
It is transmitted to the carrier 5 via the gears 6, 7 and the worm gear 9, and controls the rotation of the motor 10 in the direction in which the above-mentioned position error and speed error are reduced.

In response to this, the carrier 5 rapidly increases the speed from the current position according to the speed characteristics (shown in FIG. 4) of the reference speed reference table 35 (slow-up portion in FIG. 4), The maximum speed is maintained (constant speed part in FIG. 4), and when the target position gradually becomes closer, the speed is rapidly increased (slow down part in FIG. 4).

In this way, the detection sensor 4 provided at the tip of the carrier 5 transferred in the vertical directions A and B scans the markers 21a to 2na in synchronization with the transfer of the carrier 5 (shown in FIG. 2). Then, in synchronization with the detection sensor 4 detecting the detection edges e1a to ena, e1b to enb of the positioning marker of the storage portion, the carrier 5 described above is detected.
The speed control is switched to the position control of the carrier 5 described later.

(C) Position Control of Carrier 5 (Shown in FIG. 8) The position control system 40 of the carrier 5 is configured as shown in FIG. 8. In particular, the position control operation in the control unit 12 is performed by the counter 41. , The position comparator 34, and the motor drive control means 37. Here, the motor 10 is intermittently controlled in rotation. The same parts as those described above are designated by the same reference numerals and the description thereof will be omitted. That is,
The rotary encoder 11 is driven by the intermittent rotation of the motor 10.
The detection signal a (or detection signal b) output from
It is supplied to the counter 41 in the control unit 12. Counter 4
1 outputs the current position of the carrier 5 that moves a minute distance as the motor 10 rotates as a pulse signal.

The position comparator 34, to which the pulse signal is applied to its inverting input terminal, transfers the carrier 5 to its non-inverting input terminal to the center c1 to cn of the positioning markers 21a to 2na accurately (the target position). The pulse signal according to the above is always supplied. Then, the position comparator 34 outputs a position error signal to the motor drive control means 37, which is a count number corresponding to the difference between the current position and the target position. In this way, the motor drive control means 37 outputs a motor drive control signal corresponding to the position error signal to the motor drive circuit 13 outside the control unit 12. The motor 10 is intermittently rotated by a motor drive signal supplied from the motor drive circuit 13, and this rotation is supplied to the rotary encoder 11 again, and also via the drive belt 6, gears 6, 7 and worm gear 9. The rotation of the motor 10 is controlled in the direction in which the position error is transmitted to the carrier 5 and becomes small to zero.

In this way, the carrier 5 is moved in parallel along the magazine 2 that stores a large number of tape cassettes 3, and is stopped at a position facing the storage portion in which the designated tape cassette 3 is stored, and the tape cassette 3 is stored. After being taken out from there and placed on the carrier 5, the carrier 5 can be transferred to a player (not shown) to record and reproduce the tape cassette loaded in the player.

Here, it has been described that the tape cassette 3 designated from the storage section is placed on the carrier 5, the carrier 5 is transferred to the player, and the tape cassette is recorded and reproduced by the player. Although not described in detail here, it goes without saying that the tape cassette, which has been recorded and reproduced, can be placed on the carrier 5 again and stored in the original storage portion.

As described above, the position control device of the present invention also has the following configuration, in particular.

A magazine having a recording medium accommodating portion provided with a positioning marker in a multilayer structure, a carrier for transferring the specified recording medium, and the positioning marker are scanned to obtain the carrier. A first sensor that outputs a marker detection signal, and a second sensor that detects a transfer direction and a transfer speed of a transfer unit that transfers the carrier,
A control unit that controls the reference speed of the carrier from the starting position of the carrier to the edge of the positioning marker attached to the recording medium storage unit, and also controls the position of the carrier from the edge of the positioning marker to the center of the positioning marker. And a position control device. Here,
The first sensor corresponds to the detection sensor 4, the transfer means corresponds to the drive belt 6, the gears 7 and 8, the worm gear 9 and the motor 10, and the second sensor corresponds to the rotary encoder 11.

[0037]

The position control device according to the present invention controls the speed of the carrier from the starting position to the target position according to the reference speed reference table, and detects the detection edge from the detection edge of the target position to the detection center of the target position. Since the position of the carrier is controlled according to the detection output of the carrier and the carrier is accurately aligned with the detection center of the target position, the carrier is transferred according to the position of the storage unit to control the speed of the carrier transfer. It is possible to eliminate the disadvantage that it takes a long time, and since the carrier transfer is position-controlled from the detection edge of the target position to its center, the carrier can be accurately positioned and stopped at the center of both edges of the storage section. Therefore, if the thickness of the storage section is thin, stop the carrier at a position slightly displaced from the position of this storage section and store it in the storage section adjacent to this storage section. Because it can completely eliminate the possibility that would take out the wrong recording medium is, there is an effect such that increase the reliability of the device.

Further, since the position control device according to the present invention is particularly configured to switch the carrier from the speed control to the position control in synchronization with the detection of the detection edge, the carrier is switched from the speed control to the position control. Since it can be continuously performed without delay, there is an effect that the carrier can be quickly and accurately aligned with the detection center of the target position.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of a position control device according to the present invention.

FIG. 2 is a diagram for explaining a detection operation of a detection sensor.

FIG. 3 is a diagram for explaining a detection operation of a magazine position detection unit.

FIG. 4 is a diagram showing speed control characteristics of a standard speed reference table.

FIG. 5 is a diagram for explaining an operation of detecting a rotation speed of a motor.

FIG. 6 is a diagram for explaining a detection operation of a rotation direction of a motor.

FIG. 7 is a block diagram for explaining speed control.

FIG. 8 is a block diagram for explaining position control.

[Explanation of symbols]

 1 Position control device 2 Magazine 3,31-3n Tape cassette 4 Detection sensor 5 Carrier 6 Driving belt 7,8 Gear 9 Worm gear 10 Motor 11 Rotation encoder 12 Control part 21-2n Storage part 21a-2na Positioning marker c1-cn Center e1a ~ Ena, e1b ~ enb detection edge

Claims (2)

[Claims] 1. A speed control of a carrier from a starting position to a target position according to a reference speed reference table, and from the detection edge of the target position to a detection center of the target position, the carrier is controlled according to a detection output of the detection edge. A position control device configured to perform position control and accurately align the carrier with a detection center of the target position. 2. The position control device according to claim 1, wherein the carrier is switched from speed control to position control in synchronization with detection of the detection edge.