JPH0728484B2 - Vehicle running control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention provides a travel control of a vehicle, in which a vehicle is provided with a travel distance detecting means, and the travel distance is controlled to travel by an input distance to a destination stop position and then stopped. It relates to the device.

(Prior Art and Problems Thereof) This type of vehicle travel control device is provided with a travel distance detection unit that detects a count value of transmission pulses of a pulse encoder that interlocks with wheels as a travel distance value, and is set in a travel route. The distance data from the determined starting point (home position) to each arbitrarily set stop position is created and stored by the learning work of actually running the vehicle and detecting it by the running distance detecting means.

In such a conventional travel control device, the actual travel distance value (current position) of the vehicle and the travel distance value (pulse count value) detected by the travel distance detecting means are detected due to wheel slips or pulse counting errors. May not coincide with each other and an error may occur between the two, and as a result, the traveling distance value detected by the traveling distance detecting means and the traveling distance value to the destination stop position obtained from the learning storage data coincide with each other. By the way, there is a problem that the vehicle cannot be accurately stopped at the desired destination stop position despite the automatic stop.

Further, in the conventional travel control device that requires the learning work described above, one vehicle (crane) is used in one travel route that is relatively short and has one end as a starting point (home position) like an automatic warehouse. In addition, there is no problem when the stop position set in one travel route is constant, but a large number of vehicles travel on the travel route that is long and has a complicated layout. In a transport facility that requires traveling from one of the many stop positions set in the travel route to another arbitrarily selected, for all vehicles, all stops from the starting point It takes a lot of time and effort to learn the travel distance data up to the position, which is not practical, and it is extremely difficult to change the stop position.

(Means for Solving Problems) The present invention proposes a traveling control device capable of solving the above-described conventional problems, and the features thereof are shown in parentheses in reference numerals of embodiments described later. In addition, the address setting member (18), the detected member (19), the traveling distance detecting means (5, 7), the address detecting means (5-7), and the detected member detecting means (5). ~ 7) and control means (7, 12, 14) ,. The traveling route of the vehicle is divided into a plurality of zones by the address setting member (18), and each zone has the address setting member (1
A unique zone address is given by 8).

． The member to be detected (19) is arranged only before the stop position (S6) set near the end of the zone and before the stop position (S6) by an appropriate distance.

． In the vehicle (1), a mileage detecting means (5, 7) for counting transmission pulses of a pulse encoder (5) interlocking with a wheel (2) and an address detecting for detecting a zone address from an address setting member (18). Means (5-7) and detected member detection means (5-7) for detecting the detected member (19) are provided.

． The control means (7, 12, 14) stores the length data of each zone, the distance data from the starting end of the zone with the detected member (19) to the detected member (19), and the stop position data. However, the stop position data is composed of a set of a zone address at each stop position and a distance from the starting end of the zone or the detected member (19) to the stop position, (a). From this stored data and the current position data of the vehicle, the total traveling distance to the destination stop position (S1, S2 ...) Input is calculated, (b). The remaining travel distance is calculated from the total travel distance and the actual travel distance detected by the travel distance detecting means (5, 7), and (c). While traveling, every time the address setting member (18) or the detected member (19) is detected, the total traveling distance from the address setting member (18) or the detected member (19) to the destination stop position is calculated. Replace with the remaining travel distance at that time, (d). The feature is that the vehicle (1) is stopped at a corresponding position where the remaining travel distance becomes zero.

(Example) Hereinafter, one example of the present invention will be described with reference to the accompanying drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a plurality of vehicles traveling on the same traveling route, and a speed control inverter 4 of a motor 3 for driving the drive wheels 2, a pulse interlocking with the drive wheels 2. An encoder 5, a photoelectric switch 6, a controller (microcomputer) 7 which is an on-vehicle control unit, and a multiple signal transmission slave station 8 connected to the controller 7 are provided.

The multiple signal transmission slave station 8 of each vehicle 1 is constantly connected to two signal lines 9 laid along the traveling route via a current collector 10, and via the two signal lines 9 to the ground side. Is connected to the master station 11 for transmitting multiple signals. 12 is a sequencer connected to the master station 11 for transmitting multiplex signals via a communication means 13 such as RS232C, 14 is a host controller for giving commands to the sequencer 12, and these sequencer 12 and the host controller 14 Ground-side control means is configured. Reference numeral 15 is a monitor display. 16 is a power line for power supply, which supplies power to the motor 3 of each vehicle 1 via the current collector 17 and the inverter 4.

FIG. 3 shows an example of the layout of the traveling route of the vehicle 1.
An address setting member (code plate), which is detected by the photoelectric switch 6 as shown in FIG. 2, so as to divide the traveling route into a plurality of zones having substantially the same length, is provided on the traveling route.
18 are installed at approximately equal intervals. Although not shown, each address setting member 18 is configured to have a unique zone address, and 1 to 23 shown in FIG. 2 are zone addresses assigned to each address setting member 18. Is. S1 ~ S1
0 indicates a stop position arbitrarily set in the traveling route regardless of the address setting member 18.

Here, in the zone where the stop position is set near the end of the zone like the stop position S6, as shown in FIG. 8, there is no unique address at a position before the stop position S6 by an appropriate distance Lc. A member to be detected (condition stop plate) 19 is installed.

The above layout of the entire travel route can be replaced with the connection information of the zone address (hereinafter referred to as MAP information), and each vehicle 1 arranged on the travel route has a master station 1 for transmitting multiple signals.
1, MAP information is received from the ground side via the signal line 9 and the multiple signal transmission slave station 8 and stored in the memory of the controller 7.

When the MAP information is given to the vehicle 1, the vehicle 1 is caused to travel over the entire travel route, the distance between each address setting member 18, that is, the length of each zone is measured, and distance data for each zone address is created. Then, it is stored in the memory of the controller 7 together with the MAP information. Of course, in the zone where the detected member 19 is installed, that is, in the 12th zone, not only the total length (12L) of the zone as shown in FIG. ) Is measured and stored.

As shown in FIG. 4, the controller 7 is unique to the address setting member 18 based on the ON / OFF signal while the photoelectric switch 6 is detecting the address setting member 18 and the count value of the transmission pulse of the pulse encoder 5. A zone address reading function 20 for reading zone addresses, and a detected member detection for determining the detected member 19 from the count value of the transmission pulses of the pulse encoder 5 while the photoelectric switch 6 is detecting the detected member 19 Function 21 and a distance measurement function 22 for measuring the length of each zone and the distance from the zone start end to the detected member 19 by counting the transmitted pulses of the pulse encoder 5 based on the zone address read signal and the detected member detection signal 22 And are programmed, and the various data described above can be created using this program.

The zone address read by each vehicle by the zone address reading function 20 is sent from the multiple signal transmission slave station 8 to the multiple signal transmission master station 11 via the signal line 9 together with the vehicle identification number unique to each vehicle 1. To be The master station 11 sends the information to the sequencer 12 via the communication means 13, and
12 can know which zone each vehicle 1 is in. Further, if there is a request from the ground side, the distance measured by the distance measuring function 22, that is, the distance from the start of the zone to which the vehicle 1 belongs to the vehicle 1 is used as the current position information of the vehicle 1 by the multiple signal transmission system. Can be sent to the ground side. In this case, since the distance is processed by the number of pulses, it is desirable that the distance is converted to the unit of mm and sent to the ground side.

On the other hand, on the ground side, a combination of the zone address belonging to each of the stop positions S1 to S10 and the distance from the start end of the zone to the stop position, the stop position S6 where the detected member 19 is provided side by side.
In the case of 1, the stop position data consisting of the combination of the zone address and the distance Lc from the detected member 19 to the stop position S6 is created and stored in the memory of the host controller 14. The distance to each stop position is measured and input in mm.

Next, the traveling control method of the vehicle 1 will be specifically described. Now, as shown in FIG. 5, the stop position S2 in the zone 4 is temporarily stopped.
Vehicle 1 stopped at the stop position S3 in zone 6
When the destination is set to travel up to, the stop position data 23 stored as shown in FIG. 6 is searched for the stop position S3 data, that is, [No. 6 zone / 1800 mm], and this data is retrieved from the ground. It is sent from the side to the vehicle 1 to be controlled which is stopped at the stop position S2 via the multiple signal transmission system.

The controller 7 of the vehicle 1 is programmed with the total mileage calculation function 24, and the data of the stop position S3 [zone 6/1800 mm], the length 4L of zone 4 retrieved from the stored distance data 25, Stop from stop position S2 based on the current position of vehicle 1 obtained from distance measurement function 22 (the number of pulses corresponding to a distance of 2200 mm from the start end of zone 4 to stop position S2) and length 5L of zone 5 The total traveled distance to position S3 TL = 4L-2200 (mm) + 5L + 1800 (mm) is calculated. Since the number of pulses is performed for all internal processes including the stored data, the distance value (1800 mm) given from the stop position data 23 is converted into the number of pulses. This total travel distance (pulse count) TL is preset in the subtraction function 26 for calculating the remaining travel distance.

On the other hand, the controller 7 of each vehicle 1 uses the DIP switch on the microcomputer board of the controller 7 to set each speed value of high speed (conveyance speed), medium speed (turn and transfer speed) and low speed (positioning speed), and acceleration. And deceleration is set. Therefore, when the total travel distance TL is calculated as described above, the speed control position calculation function 27 programmed in the controller 7 is based on the travel speed condition and the total travel distance TL preset as described above. Then, for example, the distance Ls from the destination stop position S3 shown in FIG. 5 to the deceleration start position is calculated.

When the start command is given from the host controller 14 on the ground side to the vehicle 1 stopped at the stop position S2 via the sequencer 12 and the multiple signal transmission system, the vehicle 1 starts traveling. Simultaneously with the start of running of the vehicle 1, the total travel distance TL preset in the subtraction function 26 is subtracted by the transmission pulse from the pulse encoder 5, and the remaining travel distance Lt is output.

The traveling vehicle 1 will pass through the address setting member 18 at the start end of each of the No. 5 and No. 6 zones before reaching the destination stop position S3, but the photoelectric switch 6 is the address setting member at the start end of the No. 5 zone. 18 is detected, and when the zone address reading function 20 outputs the zone address "5" as shown in FIG. 7, the remaining travel distance calculation function 28 programmed in the controller 7 causes the zone setting member 18 of the 5th zone. The remaining travel distance Lt ′ = 5L + 1800 (mm) from the stop position S3 to the destination is calculated. Then, the remaining travel distance Lt in the subtraction function 26 at that time is newly calculated as described above.
Is replaced by

That is, when the vehicle 1 travels to the start of zone 5, the subtraction value (remaining travel distance Lt) in the subtraction function 26 is the distance obtained by subtracting the distance [4L-2200 (mm)] from the initial total travel distance TL. Although it must be a value that matches the value, even if the subtraction value is smaller than the normal value due to slipping of the drive wheels 2, the normal remaining travel distance Lt ′ calculated by the subtraction value as described above is calculated. = 5L + 1800 (mm) will be automatically replaced and corrected.

When the vehicle 1 detects the address setting member 18 at the beginning of the next zone 6, the normal remaining travel distance is calculated in the same manner as above,
The subtracted value at that time is replaced with the calculated normal remaining travel distance and corrected.

When the vehicle 1 travels to a position where the remaining travel distance Lt (or Lt ′) and the calculated distance Ls are equal while receiving the automatic correction operation of the remaining travel distance Lt (or Lt ′), a predetermined deceleration stop is performed. Control is performed, and the vehicle 1 finally reaches the destination stop position S3 at a predetermined low speed (positioning speed) and automatically stops at the stop position S3. Of course, at this time, the remaining travel distance Lt (or Lt ′) is zero or a value within the allowable error range.

The controller 7 controls the inverter 4 by the encoder feedback method using the transmission pulse of the pulse encoder 5 so that the vehicle 1 travels accurately under the traveling speed condition set as described above.

Stop position where the detected member 19 is installed side by side as shown in FIG.
Even when S6 is set as the destination stop position, the total traveling distance TL is calculated in the same manner as above. In this case, from the stop position data 23 [Lc mm from the detected member 19 in zone 12]
From the distance data 25, the length of each zone from the starting end of the 12th zone and the starting end of the 12th zone to the detected member 19
Distances up to 12La are searched. Then, the distance 12La and the distance Lc are added to the travel distance to the start end of the 12th zone to calculate the total travel distance TL, and the speed control position calculation function 27
Is the distance Ls from the destination stop position S6 to the deceleration start position
Is calculated.

The traveling control of the vehicle 1 traveling toward the destination stop position S6 is performed in the same manner as described above, but the final automatic remaining distance correction function by the remaining distance calculation function 28 is performed by the detected member detection function 21 at the destination stop position. Detected member 19 located just before S6
Is detected when is detected. That is, the subtracted value (remaining traveling distance Lt) at that time is a value obtained by subtracting the traveling distance from the total traveling distance TL to the detected member 19 = the detected member 19 to the stop position.
It is replaced by the distance Lc to S6.

If the remaining travel distance at the position of the detected member 19 is not corrected, the final remaining travel distance is corrected when the address setting member 18 at the start end of the 12th zone to which the stop position S6 belongs is detected. Therefore, when an error occurs between the subtracted value and the actual position of the vehicle 1 due to slipping of the drive wheels 2 during traveling of the section from the start end of the 12th zone to the stop position S6, The error directly appears as a stop position error of the vehicle 1. However, when performing the final remaining travel distance correction at the position of the detected member 19 as described above, only the error that occurs during traveling in the extremely short section from the installation position of the detected member 19 to the stop position S6 is stopped. It only affects the position accuracy.

In the above embodiment, the traveling distance detecting means for counting the transmission pulses of the pulse encoder 5 is the pulse encoder 5
And the controller 7, and the address detecting means for detecting the zone address from the address setting member 18 and the detected member detecting means for detecting the detected member 19 are composed of the pulse encoder 5, the photoelectric switch 6 and the controller 7. The control means are the controller 7 which is the vehicle-mounted control means, the sequencer 12 which is the ground-side control means, and the host controller.
It is clearly composed of 14.

(Operation and Effect of the Invention) As is apparent from the above-described embodiments, the features of the configuration of the traveling control device of the present invention are first described (means for solving the problem).
There is a configuration requirement listed in the section of.

According to the traveling control device of the present invention, A. length data of each zone of the traveling route and the detected member (19)
Distance data from the start end of the zone to which the member belongs to the detected member (19) and stop position data are stored. The stop position data includes the zone address to which each stop position belongs and the start end or the detected end of the zone. Since it is composed of the distance from the member (19), the total traveling distance from the destination data to the destination stop position can be calculated from this stored data and the current position data of the vehicle (distance data from the zone to which it belongs and its starting point). The calculation can be easily performed regardless of the current position of the vehicle, and the vehicle can be caused to travel by the calculated total travel distance and stopped.

Therefore, a large number of vehicles travel along a travel route having a long overall length and a complicated layout, and further, in the travel route, a large number of stop positions are set independently of the zone partition address setting members. Also in the transportation equipment, the vehicle can be moved from one of the stop positions to another arbitrarily selected,
A so-called encoder-based traveling control method enables accurate traveling control.

B. Moreover, every time the vehicle passes the position of the address setting member (18) (starting point of each zone) or the detected member (19), the remaining travel distance of the vehicle is automatically corrected to the calculated normal value. Therefore, even if a wheel slip or a pulse encoder transmission pulse counting error occurs during traveling, the vehicle can finally be stopped accurately at the desired destination stop position.

C. In order to perform the above-mentioned traveling control, length data of each zone, distance data from the zone start end to the detected member (19), each set stop position and the address setting member (18) immediately before that are set in advance. Although learning work is required to store the distance data between the (zone start point) or the detected member (19), in the present invention, the address detecting means (5 to 7) for detecting the zone address. ), The detected member detecting means (5-7) for detecting the detected member (19), and the traveling distance detecting means (5, 7) to obtain the above-mentioned respective data from any position in the traveling route. You can do the learning work of.

Therefore, even in the transfer facility as described above, a plurality of vehicles can share the necessary learning work efficiently and accurately.

D. Further according to the invention, the stop position is the address setting member (18)
It can be set arbitrarily regardless of
The detected member (19) is not installed immediately before all the stop positions set in this way, but only for the stop positions set near the end of the zone defined by the address setting member (18). By installing the detected member (19) immediately before that, the point where the remaining travel distance is corrected before the stop position can be brought close to the stop position.

Therefore, in order to bring the point before the stop position where the remaining travel distance is corrected closer to the stop position, the address setting member (18)
Even if the distance between them, that is, the length of each zone is not shortened, the vehicle can be stopped with high accuracy as described above even at the stop position set near the end of the zone. In other words, the number of zones can be reduced by increasing the distance between the address setting members (18) required to obtain the above-mentioned effects A to C and reducing the number of address setting members (18). At the same time, the storage capacity can be reduced by reducing the number of zone addresses.

[Brief description of drawings]

FIG. 1 is a schematic diagram illustrating a signal transmission system between the ground-side control means and each vehicle, FIG. 2 is a schematic diagram illustrating the configuration of the vehicle, and FIG. 3 is a diagram showing a layout of traveling routes, Figure 4,
6 and 7 are block diagrams for explaining the function of the control means, and FIGS. 5 and 8 are diagrams for explaining a specific section of the travel route. 1 ... Vehicle, 2 ... Drive wheel, 3 ... Motor, 4 ... Inverter, 5 ... Pulse encoder, 6 ... Photoelectric switch, 7 ... Controller, 8 ... Multiple signal transmission slave station,
9 ... Signal line, 11 ... Master station for transmitting multiple signals, 12 ... Sequencer, 13 ... Communication means, 14 ... High-order controller, 16
...... Power line for power supply, 18 …… Address setting member (code plate),
19 …… Detected member.

Claims (1)

[Claims] 1. An address setting member (18) and a detected member (19)
And the traveling distance detecting means (5, 7) and the address detecting means (5
7), detected member detection means (5-7), and control means (7, 12, 14), and the address setting members (18) are arranged at appropriate intervals on the vehicle travel route side. The travel route is divided into a plurality of zones each having its own unique address, and the detected member (19) is set to the appropriate stop position (S6) only for the stop position (S6) set near the end of the zone. The traveling distance detecting means (5, 7), the address detecting means (5-7), and the detected member detecting means (5-7) are provided in the vehicle (1) and are provided in front of the distance. (5, 7) counts the transmission pulses of the pulse encoder (5) which is interlocked with the wheel (2), and the address detecting means (5-7) detects the zone address from the address setting member (18) and is detected. The member detecting means (5-7) detects the detected member (19), and the control means (7, 12, 14) detect the length data of each zone and the detected object. The distance data from the starting end of the zone in which the material (19) is present to the detected member (19) and the stop position data are stored, and the stopping position data includes the zone address where each stopping position is located and the starting end of the zone. It consists of a set of the distance from the detected member (19) to the stop position, and from these stored data and the current position data of the vehicle, the total travel distance to the destination stop position (S1, S2 ...) Input is calculated. , The remaining travel distance is calculated from this total travel distance and the actual travel distance detected by the travel distance detection means (5, 7), and each address setting member (18) or detected member (19) is detected during travel. Each time, the total traveling distance from the address setting member (18) or the detected member (19) to the destination stop position is calculated and replaced with the remaining traveling distance at that time, and the remaining traveling distance becomes zero. Vehicle to stop vehicle (1) at position Cruise control apparatus.