JPH0738970Y2 - Moving body stop control device - Google Patents

Description

[Detailed Description of the Invention] [Industrial application] The present invention relates to a moving body stop control device for controlling a moving body such as a stacker crane to stop at a target position having a predetermined width.

[Conventional technology]

Conventionally, such stop control of a moving body outputs a stop command signal to the moving body at a position in which a braking distance is expected with respect to a target stop position to stop the moving body when the position of the moving body can be continuously detected. ing. In addition, when the position of the moving body can be detected only discontinuously, a stop command signal is output to the moving body after a predetermined time after passing the predetermined position to stop the moving body.

[Problems to be solved by the invention]

However, in any of the above cases, the position and time at which the stop command signal is output are determined based on calculation or experience, and often require fine adjustment by a technician. Further, when the braking characteristics, the characteristics of the motor, or the characteristics of the load (running resistance, load, etc.) change due to aging of the mechanical system, the stop position will shift unless readjustment is performed.

An object of the present invention is to provide a moving body stop control device capable of automatically adjusting a stop position even if a braking characteristic or the like changes due to aging.

[Means for solving problems]

According to the present invention, as shown in FIG. 1 of the configuration, a stop command signal is output to the moving body at a predetermined time after the moving body has passed through the predetermined position, and the moving body is moved to the target position. A setting means 10 for setting a predetermined stop command signal 15 output timing T _s for the predetermined position in a mobile body stop control device for controlling to stop; and the mobile body in response to the stop command signal. Detects whether or not the vehicle has stopped at the target position, outputs an unarrival detection signal when the stop position of the moving body has not reached the target position, and outputs an overrun detection signal when conversely overruns A stop position detecting means (which includes 34, 6, and 7), and a counter 8 for counting the unreached detection signal and the overrun detection signal from the stop position detecting means as a correction number m;
A predetermined timing correction amount T _a is given, the number of corrections m is received from the counter, and n is 0 <n.
As a predetermined number satisfying ≦ 1, (n ^m × T _a ) is calculated, and when the next stop command signal output timing T _s is received from the stop position detection means, the non-arrival detection signal is received. And a calculating means (which includes 9 and 11) which delays the calculated value (n ^m × T _a ) and, conversely, increases the calculated value (n ^m × T _a ) when the overrun detection signal is received. A mobile body stop control device is provided.

〔Example〕

 Next, an embodiment of the present invention will be described with reference to the drawings.

Referring to FIG. 1, a moving body stop control device according to an embodiment of the present invention is used to control the traveling stop of a stacker crane.

First, the schematic operation of the moving body stop control device of FIG.
It will be described with reference to the drawings.

In FIG. 2, a region 20 in which both the position detection sensors A and B are in operation is a target position having a predetermined width at which the stacker crane as a moving body should be stopped. T _s
Is a predetermined stop command signal output timing for the target position 20. This stop command signal output timing T _s
Is determined as a time point after a predetermined time T _{p has} elapsed since the position detection sensor A was activated. 21 is the distance traveled by the stacker crane during the control delay time, and 22 is the distance traveled by the stacker crane during the control time.

Note that Fig. 2 shows an example in which the final stop position of the stacker crane after the first stop control overruns the target position 20 (the stacker crane is retracted by the fixed positioning mechanism that it originally has, Stop at target position 20.). If overruns the target position 20 as shown in FIG. 2, T _p for the next stop control is automatically changed by the following equation.

T _p ← T _p − (n ^m × T _a ) (1) where T _a is a predetermined timing correction amount and n
Is a predetermined number that satisfies 0 <n ≦ 1, and n = 0.8 in the case of stacker crane traveling stop control. Also, m is the above T
Indicates the number of corrections for _p , and is incremented by 1 each time a stacker crane overrun occurs during travel stop control. When the stacker crane stops at the target position without causing overrun, the value of m does not increase and the previous state is maintained.

In this way, when overrun occurs due to stop control,
Next stop command signal output timing T _s alone (n ^m × T _a) faster.

When the target position 20 has not been reached and there is no overrun, T _p for the next stop control is automatically changed by the following equation.

T _p ← T _p + (n ^m × T _a ) (2) As is clear from this equation, when the target position 20 is not reached, the next stop command signal output timing T _s is (n ^m × T _a ).
Just slow down.

The operation of this embodiment will be described in detail with reference to FIG. 1 again. In FIG. 1, 30 is a stacker crane control device, 31
Is a drive control device including an inverter, 32 is a motor,
Reference numeral 33 is a brake, and 34 is the position detection sensors A and B described above.

In response to the operation instruction 1 to the stacker crane, the traveling target address is obtained and stored in the target address storage unit 2. For the traveling address, the signal from the position detection sensor 34 is used for the address counter 3
Is obtained by counting. For the movement to the target address, the comparator 4 calculates the target address and the output of the address counter 3 to obtain the proper speed of the stacker crane and drive control. The stacker crane is located at the stop reference position in front of the target address (the 0 point in Fig. 2;
(Only indicating the position of entering the operation area) is reached, the comparison unit 4 detects it and starts the timer 5.
When the value of the timer 5 becomes equal to the value output from the stop timing T _p calculation unit 11, the comparison unit 12 causes the traveling drive control device 31
On the other hand, the stop command signal 15 is output and the traveling drive is stopped. At this time, the stop timing T _p calculation unit 11 is set in the setting means 10 during the first stacker crane operation.
The initial value of T _p is loaded, and the initial value of T _p is given to the comparison unit 12, but during the second and subsequent operations, the initial value of T _p and the output value from the correction amount T _a calculation unit 9 which will be described later. The result of adding and is given to the comparison unit 12.

After the traveling is stopped, the comparison unit 7 compares the outputs of the position detection sensors A and B with the target position information (that is, the state that both the sensors A and B are in the operation area) 6 and if the target position is not reached, If the unreached detection signal is output and conversely overruns, the overrun detection signal is output.

The correction number counter 8 counts the unreached detection signal and the overrun detection signal as the correction number m, and counts them.

Reference numeral 14 denotes a T _a initial value storage unit that stores the initial value of the timing correction amount T _a .

The correction amount T _a calculation unit 9 receives the initial value of the timing correction amount T _a from the T _a initial value storage unit 14 and the correction number m from the correction number counter 8 and receives the unreached detection signal from the comparison unit 7 upon receiving from, (n ^m × T _a) is calculated, and when the overrun detection signal Conversely received from the comparison unit 7, (- n ^m ×
T _a ) is calculated and given to the stop timing T _p calculation unit 11.
As described above, n is a predetermined number that satisfies 0 <n ≦ 1, and in the case of stacker crane travel stop control, n = 0.8.
Is selected. As a result, the stop timing T _p calculation unit 11
Is the above-mentioned T _p initial value and (n ^m ×
T _a ) or (−n ^m × T _a ) is added and the value is output.

The comparison unit 12 is a timer 5 value and a stop timing T _p calculation unit.
The stop command signal 15 is output when the output of 11 matches.

The above operation is repeated every time the stacker crane travels. In the case of stacker crane traveling, proper stop timing can be obtained by correcting the number once or twice.

As described above, in this embodiment, the initial value of the stop timing T _p can be determined by simple calculation, and the actual operation can be performed without adjusting the timer. Furthermore, since the first to second times it does not stop at the target position, the home position alignment operation of moving the stacker crane to the target position is performed, but from the next time, the stacker crane stops at the predetermined target position, The stop control operation time is shortened because the constant position alignment operation is not required. In addition, even if the braking characteristics change for some reason, the stop position is automatically adjusted.

The present invention is not limited to the case of the traveling stop control of the stacker crane described above, and various modifications can be made. For example, the present invention can be applied to stacker crane lifting control, stacker crane fork stop control, trolley stop control, conveyor stop control, and other carrier stop control.

[Effect of device]

As described above, according to the present invention, the stop position can be automatically adjusted even if the braking characteristic or the like changes due to aging.

[Brief description of drawings]

FIG. 1 is a block diagram of a moving body stop control device according to an embodiment of the present invention, and FIG. 2 is a diagram for explaining the operation of the moving body stop control device of FIG. 2 ... Target address storage unit, 3 ... Address counter, 4 ... Comparison unit, 5 ... Timer, 6 ... Target position information, 7 ... Comparison unit, 8 ...
… Compensation counter, 9 …… Compensation amount T _a calculation unit, 10 …… T _p initial value setting means, 11 …… Stop timing T _p calculation unit, 12 …… Comparison unit, 14 …… T _a initial value storage unit , 15 …… Stop command signal, 30…
… Stacker crane controller, 31 …… Travel drive controller,
32 …… Motor, 33 …… Brake, 34 …… Position detection sensor A
And B.

 ─────────────────────────────────────────────────── --Continued from the front page (56) Reference JP-A-57-191709 (JP, A) JP-A-57-85103 (JP, A) JP-A-63-145802 (JP, A) JP-A 51- 114578 (JP, A) JP 55-150014 (JP, A) JP 56-30885 (JP, Y2)

Claims (1)

[Scope of utility model registration request] 1. A moving body stop control device for performing a control for outputting a stop command signal to the moving body after a predetermined time passes after the moving body passes through the predetermined position to stop the moving body at a target position. Setting means for setting a predetermined stop command signal output timing T _s for a predetermined position; detecting whether or not the moving body has stopped at the target position in response to the stop command signal, Stop position detecting means for outputting a non-reaching detection signal when the stop position of the body has not reached the target position, and outputting an overrun detection signal when overrun occurs; Number of corrections of the unreached detection signal and the overrun detection signal m
A counter for counting a; with given predetermined timing correction amount T _a, receives the correction number m from said counter, a n, a predetermined number satisfying 0 <n ≦ 1, (n m × T _a ) is calculated, and when the next stop command signal output timing T _s is received from the stop position detection means by the non-arrival detection signal, it is delayed by the calculated value (n ^m × T _a ). And a calculation means for increasing the calculated value (n ^m × T _a ) when the overrun detection signal is received.