JPH08161045A - Stop position controller for motor-driven carriage - Google Patents

Abstract

PURPOSE: To accurately stop the motor-driven carriage at a desired position even if the braking distance of the motor-driven carriage varies by varying the moving speed of the motor-driven carriage when correcting operation is performed by a stop position correcting means for a 1st and a 2nd state. CONSTITUTION: When the motor=driven carriage 15 is braked and stopped and the correcting operation is performed while a couple of detectors 41 and 42 both detect a body 72 to be detected, the correcting operation is performed for the 1st state wherein one of the couple of detectors 41 and 42 does not detect the body 72 to be detected. Further, the correcting operation is preformed for the 2nd state wherein neither of the couple of detectors 41 and 42 detect the body 72 to be detected. For the correcting operation for the 1st and 2nd states, the moving speed of the motor-driven carriage 15 is varied. Consequently, even if the braking distance of the motor-driven vehicle 15 varies, the motor- driven carriage 15 can be stopped accurately at the desired position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric trolley used in a transfer system for a safe deposit box in an automatic safe deposit box, and more particularly to a stop position control device for accurately stopping the electric trolley at a predetermined position. Regarding the improvement of.

[0002]

2. Description of the Related Art As is well known, in an automatic safe deposit box,
From the safe room where a large number of safe deposit boxes are accommodated, to take out the safe deposit box specified by the user to the safe deposit box work room, or conversely, from the safe deposit box work room to the safe room In order to carry out the return work for transportation, a transportation system using an electric carriage is used. This transfer system is used for returning boxes placed in a work station in a safe deposit box work chamber, or a safe deposit box removed by a stacker crane from a shelf on which a large number of safe deposit boxes are actually placed. The safe deposit box is mounted on an electric trolley, and the electric trolley is self-propelled along a specified rail by the power of a motor driven by a battery mounted inside the safe trolley to transport the safe deposit box. It is what you are doing.

[0003] Here, the electric carriage is automatically controlled so as to be accurately stopped at a target position by being automatically braked when reaching a predetermined distance from a position to be stopped. . However, when the distance from the time when the brake is applied to the time when the electric carriage actually stops, that is, the braking distance increases due to wear of the brake element, for example, the electric carriage stops after passing the target position. It becomes impossible to stop at the target position accurately.
Then, when the electric trolley is not stopped accurately at the target position, for example, transfer work of the safe deposit box between the electric trolley and the stacker crane or the work station cannot be performed smoothly, and the automatic safe deposit box itself is used. The problem of being disabled occurs.

In this case, it is sufficient to replace the worn-out brake shoe with a new one. However, after contacting the carrier system supplier, the worker automatically comes to the exchange of the brake shoe after the worker comes from there. Obviously, the unavailability of the safe deposit box is not preferable in terms of actual operation. In particular, the safe deposit box stores valuables that cannot be replaced by the user, so if the safe deposit box becomes unusable, the stored items cannot be taken out when needed. The fact that the items that one wants to store cannot be put in the safe deposit box causes great anxiety to the user.

Therefore, conventionally, at least until the brake shoe is replaced, the braking distance of the electric carriage is temporarily dealt with so that the automatic safe deposit box is not disabled. To develop a relief measure to
There is a strong demand.

[0006]

As described above, in the conventional transfer system using the electric carriage, when the braking distance of the electric carriage is extended due to wear of the brake element or the like, and the vehicle is not stopped accurately at the target position, the braking is stopped. Until a measure such as replacing the child is taken, the automatic safe deposit box that uses the carrier system becomes unusable.

Therefore, the present invention has been made in consideration of the above circumstances, and controls are performed so that the electric carriage can be accurately stopped at a target position even when the braking distance of the electric carriage changes. Therefore, it is an object of the present invention to provide an extremely good stop position control device for an electric carriage that can prevent the automatic safe deposit box from becoming unusable.

[0008]

A stop position control device for an electric carriage according to the present invention carries an article and conveys the article to a target position by traveling along a specified track. An object to be detected in which a pair of detectors of the electric carriage is installed at a target position when the electric carriage has reached a target position and is stopped. In a state where both are detected, a conveyance unit that determines that the electric carriage is stopped at the target position,
When the electric carriage is stopped at the target position, one or both of the pair of detectors does not detect the detected object, and the pair of detectors moves the electric carriage in the direction to detect the detected object. By the stop position correcting means for moving and repeating the correction operation of applying braking to the electric carriage in a state where the pair of detectors both detect the detected object, and the stop position correcting means,
When one of the pair of detectors performs a correction operation on the first state in which the detected body is not detected, and when the pair of detectors both detect the detected body in the second state There is provided a pattern changing means for changing the moving speed of the electric cart depending on whether the correction operation is performed.

[0009]

According to the above construction, when the electric carriage is stopped at the target position and one or both of the pair of detectors are not detecting the object to be detected, the pair of detectors are both covered. Either one of the pair of detectors is moved when the correction operation is performed in which the electric carriage is moved in the direction of detecting the detection body, and the electric carriage is braked and stopped while both the pair of detectors detect the detected body. When one of the pair of detectors performs the correction operation on the first state in which the detected body is not detected, and when the one of the pair of detectors does not detect the detected body in the second state, the correction operation is performed. Since the moving speed of the electric carriage is changed depending on the case, the electric carriage can be accurately stopped at a target position even when the braking distance of the electric carriage changes.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. 1 and 2 are a plan view and a side view, respectively, schematically showing the overall configuration of the automatic safe deposit box described in this embodiment. That is, reference numeral 11 in the drawing
Is a vault located on the second floor of a building such as a bank. Each safe room 11 has a plurality of safe deposit boxes 1.
Safe deposit box storage shelves 13, 1 accommodating 2, 12, ...
3 are arranged side by side in two rows.

Then, these safe deposit box storage shelves 13, 13
A stacker crane 14 is installed between them.
This stacker crane 14 includes a safe deposit box storage rack 13,
The desired safe deposit box 12 requested to be taken out from the machine 13 is taken out and mounted on the electric carriage 15 waiting at the stop position HP in the safe room 11. Then, this electric trolley 15
Rotating stand 1 of rotary elevator 17 that runs along rails 16
It is moved to the rail 19 laid on the vehicle 8 and stopped.

Here, the rotary elevator 17 is provided with a column 20 installed vertically from the first floor to the second floor, a lifter 21 that is elevated along the column 20, and rotatably mounted on the lifter 21. It is composed of the rotating table 18 described above. Then, in a state where the electric carriage 15 is on standby at the stop position HP, the lifter 21 is raised to the second floor,
At this time, the rail 19 of the turntable 18 has its vault 11
The rail 16 is rotated to a position along the laying direction of the rail 16, and eventually the rails 16 and 19 are connected to each other.

Therefore, the electric cart 15 on which the safe deposit box 12 is mounted can be moved from the stop position HP to the rail 19 of the rotary elevator 17 via the rail 16. Then, the electric carriage 15 turns the rotary elevator 1
When it reaches the rail 19 of 7 and is stopped, the turntable 18
Rotate about 90 ° to the position shown in FIG. 1, and then the lifter 21 is lowered to the first floor, so that the rail 19 moves to the 1st position.
It is connected to one end of the rail 22 laid on the floor. Then, the safe door 23 existing on the extension line on the other end side of the rail 22 in the laying direction rises, and the safe deposit box entry / exit opening 24 is opened.

At this time, inside the safe deposit box entrance / exit port 24,
That is, on the side where the rail 22 is laid, the rotating shaft 25
The connecting rail 26 is supported by the rail 2 so that it can be tilted up and down.
2 and rail 2 laid outside the safe deposit box entrance 24
And 7 are connected. Therefore, the electric carriage 15 on the rail 19 of the rotary elevator 17 is moved onto the rail 27 via the rail 22 and the connecting rail 26, that is, through the storage box 24 of the safe deposit box.

Here, the rail 27 is laid so as to straddle a plurality (two in the illustrated case) of safe deposit box working chambers 28 and 29. Work stations 30 and 31 are installed in the safe deposit box working rooms 28 and 29, respectively, and the safe deposit box 12 mounted on the electric carriage 15 on the rail 27 is transferred to the work stations 30 and 31. It is designed to be used.

Therefore, the electric trolley 15 running on the rail 27 corresponds to the work station 30 or 31 of the safe deposit box working room 28 or 29 that requests the takeout of the safe deposit box 12 mounted therein. After stopping at the position, the safe deposit box 12 is transferred to the work station 30 or 31, and the work for taking out the desired safe deposit box 12 is completed here.

When the safe deposit box 12 mounted on the electric cart 15 is moved to the work station 30 or 31, the electric cart 15 goes through the reverse route to the stop position HP again.
It is returned to the standby state. In this case, electric cart 1
When 5 passes through the safe deposit box entrance / exit opening 24 and is moved to the rail 22, the connecting rail 26 rises and the safe door 23 descends, closing the safe deposit box entrance / exit opening 24.

The work station 30 or 31
When returning the safe deposit box 12 placed in the safe deposit box storage rack 13 of the safe room 11, the electric cart 15 at the stop position HP is to be returned through the same route as above. Then, the safe deposit box 12 is moved from the work station 30 or 31 to the electric trolley 15 by moving the safe deposit box 12 to a position corresponding to the work station 30 or 31 in which 12 is placed.
After that, the electric trolley 15 is returned to the stop position HP via the reverse route to the above, and the safe deposit box 12 mounted on the electric trolley 15 is accommodated in the empty space of the safe deposit box accommodating shelf 13 by the stacker crane 14. The return work of the safe deposit box 12 is completed.

Next, FIGS. 3A and 3B show the outline of the electric carriage 15. 3 (a) and 3 (b)
In the above, the case where the electric carriage 15 is at the stop position HP is shown, but it is needless to say that the same description can be made when the electric carriage 15 is on the rotary table 18 of the rotary elevator 17. That is, the electric carriage 15 is placed on the rail 16 by the wheels 32 installed in the lower part of the drawing, and is driven on the rail 16 by rotationally driving the wheels 32.

A pair of conveyors 35, 35 each having an annular belt 34 installed between a pair of rotating bodies 33, 33 are provided at the upper part of the electric cart 15 in the figure.
Are arranged side by side orthogonal to the traveling direction of. Then, by rotating the rotating body 33 and causing the belt 34 to travel in the direction of the arrow in the figure, the electric carriage 15 and the stacker crane 14 or the work stations 30 and 31 are connected to each other.
The safe deposit box 12 is transferred.

Further, a pair of charging shoes 36, 36 are exposed at the center of the bottom surface of the electric carriage 15 in the figure. On the other hand, at the stop position HP, the pair of charging shoes 36, 3 are
A power supply device 38 including a pair of power supply terminals 37, 37 for contacting 6 and charging a battery, which will be described later, contained in the electric carriage 15 is installed. Therefore, the electric trolley 15 reaches the stop position HP, and the charging shoes 36, 3 thereof are reached.
By contacting the power supply terminals 37, 37 with the battery 6, the battery can be charged.

The power feeding device 38 is also installed on the rotary base 18 of the rotary elevator 17, and the electric carriage 15 is installed.
Is charged even during rotation by the rotary elevator 17 and during vertical movement.

It should be noted that, in the electric carriage 15 shown in FIG.
As shown in (a), (b) and (c), a motor 39 having a braking mechanism B for driving the wheels 32 to rotate, a motor 40 for driving the rotor 33 to rotate, and an electric carriage 15 are provided. A pair of stop position detectors 41, 42 for detecting a stop position, a pair of detectors 43, 43 used for deceleration control of the electric carriage 15, and a pair of position detectors used for position control of the safe deposit box 12 mounted. The detectors 44, 44, the control board 45 for comprehensively controlling all the operations of the electric carriage 15, and the operation display unit 4 for setting and displaying the operation state of the electric carriage 15.
6, the motors 39 and 40, the stop position detector 4
1, 42, detectors 43 and 44, a control board 45, a battery 47 and the like for supplying electric power to the operation display unit 46 and the like.

Here, FIG. 5 shows a control system for the automatic safe deposit box. That is, the central control room 4 installed in addition to the safe room 11 and the safe box work rooms 28 and 29.
8, a center unit 49 equipped with a host computer (not shown) is installed in order to totally control the operation of the entire automatic safe deposit box. The center unit 49 includes the safe 11 and the safe box work rooms 28, 2
It is connected to an integrated control panel 50 for integrally controlling all the operations within 9.

That is, the integrated control panel 50 is the stacker control panel 5 mounted on the stacker crane 14.
1 through the stacker crane 14 and each safe deposit box 1
Controls the bar code reader 52 for reading the bar codes attached to 2, 12, ... And the stacker crane 14 provided in the safe deposit box storage shelves 13, 13.
No., which serves as a temporary stand for the safe deposit box 12 when operating independently.
It controls 9 stations 53.

The integrated control panel 50 controls the stop position HP and each power supply device 38 installed on the rotary base 18 of the rotary elevator 17, and is connected to the control board 45 installed on the electric carriage 15. Thus, the operation of the electric carriage 15 is controlled. Further, the integrated control panel 50 controls the opening / closing operation of the safe door 23 via the safe door control board 54 in addition to controlling the lifting operation of the rotary elevator 17 and the rotating operation of the rotary base 18, and the connection. The raising / lowering operation of the rail 26 is controlled. In addition, the integrated control panel 50 is used in the safe deposit box working chambers 28 and 29 via the booth electromagnetic panels 55 and 56, respectively, for the work station 30,
31 is controlled.

Here, FIG. 6 shows a detailed structure of the control board 45 mounted on the electric carriage 15. That is, the pair of stop position detectors 41 and 42 for detecting the stop position of the electric carriage 15, the pair of detectors 43 and 43 used for deceleration control of the electric carriage 15, and the safe deposit box 12 mounted. Various detection signals respectively obtained from the pair of detectors 44, 44 used for position control are supplied to the arithmetic control circuit 58 via the input circuit 57.

The arithmetic control circuit 58 is a CP (not shown).
To centrally control all the operations of the electric carriage 15 while incorporating a U (central processing unit) and storing various data for calculation in the memory 59 based on a control program stored in the memory 59 Is being processed.

That is, the arithmetic control circuit 58 generates the normal rotation and reverse rotation command pulses a and b for rotating the motor 39 for rotating the wheels 32 in the normal rotation and the reverse rotation. The forward rotation and reverse rotation command pulses a and b are supplied to a drive circuit 61 for rotationally driving the motor 39 via an output circuit 60, where a pulse width modulation method using the forward rotation and reverse rotation command pulses a and b. The normal rotation and reverse rotation of the motor 39, that is, the forward and reverse traveling of the electric carriage 15 is realized.

In this case, the rotation speed of the motor 39 is D
It is measured by a C (direct current) tacho generator 62. The measurement result is converted into digital data by the A / D (analog / digital) conversion circuit 63 and supplied to the arithmetic control circuit 58 via the input circuit 64, thereby controlling the traveling speed of the electric carriage 15. Be used for. The drive circuit 61 also controls the braking mechanism B.

Further, the arithmetic control circuit 58 generates a control signal for rotationally driving the motor 40 for rotationally driving the rotating body 33 of the conveyor 35, and this control signal is output via the output circuit 65. Is supplied to a drive circuit 66 for rotationally driving the motor 40, where the conveyor 3
The traveling of the belt 34 of 5 is realized.

Further, the operation information set on the operation display section 46 is transferred to the arithmetic control circuit 58 via the input / output circuit 67.
Is supplied to the operation display section 46 via the input / output circuit 67 from the arithmetic and control circuit 58, and the control information is supplied and displayed. Further, the electric carriage 15 is provided with an optical communication unit 68 for receiving control information by light generated from the integrated control panel 50 when the electric carriage 15 is at the stop position HP or on the rotary base 18.

The control information received by the optical communication section 68 is transferred to the arithmetic control circuit 58 via the input / output circuit 69.
The electric carriage 15 is controlled based on the control information of the integrated control panel 50. The arithmetic control circuit 5
The output information from 8 is converted into an optical signal by the optical communication unit 68 via the input / output circuit 69 and sent to the integrated control panel 50.

Further, from the power feeding device 38 to the power feeding terminal 3
The electric power supplied to the charging shoes 36, 36 via the electric power supply circuits 7, 37 is used for charging the battery 47 via the electric power control circuit 70 and is also supplied as power supply electric power to each circuit section. In this case, the battery control circuit 70 is connected to the arithmetic control circuit 58 via the input / output circuit 71 and is controlled by the arithmetic control circuit 58.

Here, FIG. 7 shows a means for stopping the electric carriage 15 at the stop position HP. In addition, the electric cart 15 is mounted on the rotary table 18 and the work stations 30, 3
The means for stopping at the position corresponding to 1 is the same as that in FIG. 7, and thus the description thereof is omitted.

That is, a pair of stop position detectors 41, 42 for detecting the stop position of the electric carriage 15 described above.
Are projected from the lower surface of the electric carriage 15 in the drawing along the laying direction of the rail 16, that is, along the traveling direction of the electric carriage 15 indicated by the arrow in the drawing. Further, at the stop position HP, a detected body 72 having a length capable of detecting both the stop position detectors 41 and 42 of the electric carriage 15 is installed.

The pair of stop position detectors 41 and 42 are
Each of which detects the detected object 72 by optical means,
An ON signal is generated when the detected body 72 is detected, and an OFF signal is generated when the detected body 72 is not detected. Then, the arithmetic control circuit 58 is in a state where both the pair of stop position detectors 41 and 42 detect the detected body 72,
That is, when the electric carriage 15 is stopped while the pair of stop position detectors 41 and 42 both generate the ON signal, it is determined that the electric carriage 15 is stopped at the regular stop position.

Now, the electric carriage 15 is now in the stop position HP.
It is assumed that the control information for moving the electric carriage 15 onto the rotary base 18 is given from the integrated control panel 50 to the arithmetic control circuit 58 via the optical communication unit 68 in the standby state.
Then, the arithmetic control circuit 58 causes the normal rotation command pulse a for normal rotation of the motor 39 for rotationally driving the wheels 32.
As a result, the electric carriage 15 travels at a high speed VH in the forward direction, that is, in the direction toward the rotary table 18.

On the other hand, a detection piece (not shown) is installed near the turntable 18 of the rail 16 that connects the stop position HP and the turntable 18, and the detected piece is used as the electric cart 1.
In a state in which the pair of detectors 43, 43 used for the deceleration control of No. 5 detect, the arithmetic control circuit 58 first applies braking to the rotation of the motor 39 to reduce the speed of the electric carriage 15 at a constant deceleration. The speed is reduced to VL (for example, 3 m / min), and then the pair of stop position detectors 41 and 42 are both rotated.
When the upper detection object 72 is detected, deceleration is further applied to stop the electric carriage 15.

The detected pieces detected by the pair of detectors 43, 43 used for the deceleration control of the electric carriage 15 are not only in the vicinity of the rotary base 18 of the rail 16 but also in the vicinity of the stop position HP of the rail 16. The rail 22 is also installed near the turntable 18 and near the work stations 30 and 31 on the rail 27. The above-described traveling operation of the electric carriage 15 causes the electric carriage 15 to move from the rotary stand 18 to the stop position. The same operation is performed when moving to the HP or when moving between the rotary table 18 and the work stations 30 and 31.

However, when the distance from when the braking is applied to when the electric carriage 15 is actually stopped, that is, the braking distance increases due to wear of the brake element or changes in running conditions, the electric carriage 15 becomes normal. The stop position, that is, the position where the pair of stop position detectors 41 and 42 both detect the detected body 72, is stopped. That is, the electric carriage 15 is stopped at a position where one or both of the pair of stop position detectors 41 and 42 does not detect the detected body 72, and it is not possible to stop the electric carriage 15 at a target position accurately. .

In such a case, the arithmetic control circuit 58 moves the electric carriage 15 from its stop position in the direction in which the pair of stop position detectors 41 and 42 both detect the object 72 to be detected. It is controlled to correct the stop position of 15. That is, as shown in FIG. 8A, the low speed VL is now set on the rail 16 in the direction indicated by the arrow A.
As a result of applying braking to the electric bogie 15 which has been traveling in the state where the pair of stop position detectors 41 and 42 both detect the detected body 72, one stop position detector 42 detects the detected body 72. It is assumed that the vehicle has stopped too much after reaching a position that it does not detect.

In this case, the arithmetic control circuit 58 lowers the electric carriage 15 in the direction in which the pair of stop position detectors 41 and 42 both detect the detected object 72, that is, in the direction indicated by the arrow B in FIG. 8B. The pair of stop position detectors 4 are moved at the speed VL.
The first stop position correction operation of applying braking in a state where both 1 and 42 detect the detected body 72 is executed.
As a result, when the electric carriage 15 is stopped at the position where the pair of stop position detectors 41 and 42 both detect the detected body 72, the arithmetic control circuit 58 causes the electric carriage 15 to stop at the normal stop position. It is judged that it was done.

As a result of performing the first stop position correcting operation, as shown in FIG. 8B, it is determined that the other stop position detector 41 has moved too far to a position where the detected object 72 is not detected and stopped. To do. Then, the arithmetic control circuit 58 again causes the pair of stop position detectors 41 and 42 to both detect the object 7 to be detected.
2 is detected, that is, the electric carriage 15 is moved in a direction indicated by an arrow A in FIG.
A second stop position correction operation is performed, in which braking is applied in a state in which both the detection target body 72 and the detection target body 72 detect the detected body 72.
However, in the second stop position correction operation, the correction pattern is changed so that the electric carriage 15 is moved at the speed VL1 that is 30% less than the low speed VL.

As a result, the pair of stop position detectors 41, 4
When the electric carriage 15 is stopped at a position where both 2 detect the detected body 72, the arithmetic control circuit 58 causes the electric carriage 1 to move.
It is judged that 5 was stopped at the regular stop position, and thereafter
Until the maintenance is performed so that the braking distance becomes a regular value, the electric vehicle 15 is operated with the low speed VL changed to the speed VL1. In addition, as a result of performing the second stop position correcting operation, again, as shown in FIG.
As shown in (a), it is assumed that one of the stop position detectors 42 has moved too far to a position where the detected body 72 is not detected and stopped. Then, the arithmetic control circuit 58 again causes the electric carriage 15 to move at the speed VL1 in the direction in which the pair of stop position detectors 41 and 42 both detect the detected body 72, that is, in the direction indicated by the arrow B in FIG. 8B. Move the pair of stop position detectors 4
A third stop position correction operation is performed in which braking is applied in a state in which both the detection target body 72 and the detection target body 72 detect the braking force.

As a result, the pair of stop position detectors 41, 4
When the electric carriage 15 is stopped at a position where both 2 detect the detected body 72, the arithmetic control circuit 58 causes the electric carriage 1 to move.
It is judged that 5 was stopped at the regular stop position, and thereafter
Until the maintenance is performed so that the braking distance becomes a regular value, the electric vehicle 15 is operated with the low speed VL changed to the speed VL1. In addition, as a result of performing the third stop position correction operation, again as shown in FIG.
As shown in (b), if the other stop position detector 41 is stopped by moving too far to the position where the detected body 72 is not detected, the arithmetic control circuit 58 makes the stop position of the electric carriage 15 abnormal. Information to that effect is sent to the center unit 49 via the integrated control panel 50.

Next, as shown in FIG. 9A, the rail 1
6 has a pair of stop position detectors 41, 42 on the electric carriage 15 which has been traveling at a low speed VL in the direction indicated by the arrow A.
Suppose that both of the stop position detectors 41 and 42 have gone too far to a position where the detected body 72 is not detected and stopped as a result of applying the braking while the detected body 72 is being detected. In this case, the arithmetic control circuit 58 uses the pair of stop position detectors 4
In the direction in which both 1 and 42 detect the detected body 72, that is, in the direction indicated by the arrow B in FIG.
The first stop position correction operation is performed in which the first stop position correction operation is performed in which the pair of stop position detectors 41 and 42 apply the braking when both of the stop position detectors 41 and 42 detect the detected body 72.

As a result, the pair of stop position detectors 41, 4
When the electric carriage 15 is stopped at a position where both 2 detect the detected body 72, the arithmetic control circuit 58 causes the electric carriage 1 to move.
5 is determined to have been stopped at the regular stop position. In addition, as a result of performing the first stop position correction operation, as shown in FIG.
As shown in (b), it is assumed that the one stop position detector 41 has moved too far to a position where the detected body 72 is not detected and stopped. Then, the arithmetic control circuit 58 again causes the electric carriage 1 to move in the direction in which the pair of stop position detectors 41 and 42 both detect the detected body 72, that is, in the direction indicated by the arrow A in FIG. 9A.
5 is moved, and a second stop position correction operation is performed in which braking is applied in a state where the pair of stop position detectors 41 and 42 both detect the detected body 72. However, in the second stop position correction operation, the correction pattern is changed so that the electric carriage 15 is moved at the speed VL1 that is 30% less than the low speed VL.

As a result, the pair of stop position detectors 41, 4
When the electric carriage 15 is stopped at a position where both 2 detect the detected body 72, the arithmetic control circuit 58 causes the electric carriage 1 to move.
It is judged that 5 was stopped at the regular stop position, and thereafter
Until the maintenance is performed so that the braking distance becomes a regular value, the electric vehicle 15 is operated with the low speed VL changed to the speed VL1. In addition, as a result of performing the second stop position correction operation, as shown in FIG.
As shown in FIG. 8, when the other stop position detector 42 is stopped by moving too far to the position where the detected body 72 is not detected, the same stop as described in FIGS. 8A and 8B is performed thereafter. The position correction operation is performed.

Next, as a result of performing the first stop position correcting operation, as shown in FIG. 9C, both stop position detectors 41 and 42 have gone too far to the position where the detected body 72 is not detected. When stopped, the arithmetic control circuit 58 again determines that the pair of stop position detectors 41 and 42 are both in the detected body 7
2 is detected, that is, the electric carriage 15 is moved in a direction indicated by an arrow A in FIG.
A second stop position correction operation is performed, in which braking is applied in a state in which both the detection target body 72 and the detection target body 72 detect the detected body 72.
However, in this second stop position correction operation, the correction pattern is changed so that the electric carriage 15 is moved at a speed VL2 that is 50% less than the low speed VL.

As a result, the pair of stop position detectors 41, 4
When the electric carriage 15 is stopped at a position where both 2 detect the detected body 72, the arithmetic control circuit 58 causes the electric carriage 1 to move.
It is judged that 5 was stopped at the regular stop position, and thereafter
Until the maintenance is performed so that the braking distance becomes a regular value, the electric vehicle 15 has its low speed VL reduced to the speed VL2.
It will be operated with changed to. Also, the second
As a result of performing the stop position correction operation for the second time, as shown in FIG. 8A or FIG. 9A, the other or both stop position detectors 41 and 42 go too far to the position where the detected body 72 is not detected. It is supposed to be stopped.

Then, the arithmetic and control circuit 58 again moves the electric carriage 15 in the direction in which the pair of stop position detectors 41 and 42 both detect the detected object 72, that is, in the direction indicated by the arrow B in FIG. 9C. A third stop position correction operation is performed, in which the stop position correction operation is performed at a speed VL2, and braking is performed while the pair of stop position detectors 41 and 42 detect the detected body 72. As a result, when the electric carriage 15 is stopped at the position where the pair of stop position detectors 41 and 42 both detect the detected body 72, the arithmetic control circuit 58 causes the electric carriage 15 to stop at the normal stop position. After that, the electric vehicle 15 is operated with the low speed VL changed to the speed VL2 until the braking distance is maintained so that the braking distance becomes a normal value.

As a result of the third stop position correction operation, again, as shown in FIG. 9B or 9C, one or both stop position detectors 41 and 42 are not detected. If the operation control circuit 58 is stopped by moving too far to the position where 72 is not detected, the arithmetic control circuit 58 sends information indicating that the stop position of the electric carriage 15 is abnormal to the center unit 49 via the integrated control panel 50.

Here, FIG. 10 and FIG. 11 show a flow chart for explaining the stop position correcting operation of the electric carriage 15 including the above-mentioned correction pattern changing processing. First, when started (step S1), the arithmetic control circuit 58 causes the electric carriage 15 to travel in the forward direction (for example, the direction indicated by the arrow A in FIGS. 8 and 9) from the integrated control panel 50 in step S2. Determine whether control information is being generated.

Then, the control information is generated (YES).
If it is determined that the calculation control circuit 58 is in step S3.
Then, the forward direction flag is set to the ON state, and step S4
Then, the electric carriage 15 is caused to travel at a high speed VH in the forward direction.
After that, the arithmetic control circuit 58 determines in step S5 whether or not the pair of detectors 43, 43 of the electric carriage 15 has detected the detected piece indicating the deceleration start position in the positive direction, and has not detected it. If it is determined to be (NO), the process of step S4 is continued.

If it is determined in step S2 that the control information for causing the electric carriage 15 to travel in the forward direction is not generated from the integrated control panel 50 (NO), the arithmetic control circuit 58.
In step S6, the forward direction flag is set to the OFF state, and in step S7, the electric cart 15 is driven at the high speed VH in the reverse direction (for example, the direction indicated by the arrow B in FIGS. 8 and 9). After that, the arithmetic and control circuit 58 proceeds to step S8.
Then, it is determined whether or not the pair of detectors 43, 43 of the electric carriage 15 has detected the detected piece indicating the deceleration start position in the opposite direction, and when it is determined that the detected piece is not detected (NO), the step is performed. The process of S7 is continued.

Further, if it is determined in step S5 or S8 that the pair of detectors 43, 43 used for the deceleration control of the electric carriage 15 has detected the detected piece (YES),
In step S9, the arithmetic and control circuit 58 applies braking to the electric carriage 15 to reduce its traveling speed. Then, the arithmetic control circuit 58 determines in step S10 whether or not the traveling speed of the electric carriage 15 has reached the low speed VL (3 m / min), and if it is determined that the speed has not reached (NO), step S10. The process of S9 is continued. When it is determined in step S10 that the traveling speed of the electric bogie 15 has reached the low speed VL (YES), the arithmetic control circuit 58 causes the arithmetic control circuit 58 to operate in step S11.
Then, the electric carriage 15 is driven at a low speed VL.

After that, the arithmetic and control circuit 58 proceeds to step S
At 12, it is determined whether or not both stop position detectors 41 and 42 have detected the detected body 72, that is, whether both stop position detectors 41 and 42 generate an ON signal. If it is determined that it has not occurred (NO),
The process of step S11 is continued. Further, when it is determined that the ON signals are generated from both of the stop position detectors 41 and 42 (YES), the arithmetic control circuit 58 applies further braking to the electric carriage 15 in step S13 to drive the vehicle. The vehicle is stopped, and normal running and stopping control of the electric carriage 15 is performed here.

When the traveling of the electric carriage 15 is stopped in this way, the arithmetic control circuit 58 then proceeds to step S14.
Then, it is determined whether or not the ON signals are generated from both the stop position detectors 41 and 42, and the ON signals are generated (Y
If it is determined to be ES), the process ends (step S15). In step S14, both stop position detectors 4
No ON signal is generated from both 1 and 42 (NO)
If it is determined that the calculation control circuit 58 is in step S1
At 6, it is determined whether the modification pattern has been changed in the past and the low speed VL has been changed to the speed VL1 or VL2. If it is determined that the modification pattern has not been changed (NO), the arithmetic control circuit 58 executes a modification direction determination process in step S17.

FIG. 12 shows a flow chart for explaining this correction direction determination processing. First, when the operation control circuit 58 is started (step S26), the operation control circuit 58 causes the stop position detectors 41 and 42 to detect the detected body 72 and generate an ON signal in step S27. The direction in which 15 is moved is determined. This determination processing is performed by determining whether the forward direction flag is set to the on state or the off state and the stop position detectors 41 and 42 outputting the OFF signal.

When the direction in which the electric carriage 15 is to be moved is determined in this way, the arithmetic and control circuit 58 determines in step S
At 28, it is determined whether or not the determined direction is the forward direction. If it is determined to be the forward direction (YES), the arithmetic control circuit 58 sets the forward direction flag to the ON state in step S29, and if it is determined not to be the forward direction (NO), the arithmetic control circuit 58. Step 58 is step S30.
Then, the forward direction flag is set to the off state.

After that, the arithmetic and control circuit 58 proceeds to step S
At 31, the stop position detectors 41 and 42 both detect the detected body 72 and generate an ON signal.
Corrective action is performed to move 5 at low speed VL. Then, in step S32, the arithmetic control circuit 58 determines whether or not both stop position detectors 41 and 42 generate ON signals, and when it is determined that no ON signals have been generated (NO), step S31. The process of is continued.

Further, in step S32, both stop position detectors 41 and 42 generate ON signals (YE).
If it is determined to be S), the arithmetic control circuit 58, in step S33, brakes the electric carriage 15 to stop its traveling, and the first stop position correction operation for the electric carriage 15 is completed here. Then, the process returns to the original flowcharts shown in FIGS. 10 and 11 (step S34).

When the correction direction determination processing in step S17 is completed in this way, the arithmetic control circuit 5
8 is step S18, both stop position detectors 41,
It is determined from 42 that both ON signals have been generated, and if it is determined that they have been generated (YES), the process ends (step S15). When it is determined in step S18 that both stop position detectors 41 and 42 do not generate ON signals (NO), the arithmetic control circuit 58 is operated.
At step S19, both stop position detectors 41, 4
It is determined whether or not the OFF signals are both generated from the above.

Here, both stop position detectors 41 and 42
If it is determined that both OFF signals are not generated (NO), the arithmetic control circuit 58 determines in step S20.
The low speed VL (3 m / min) is changed to a speed VL1 (about 2 m / min) that is 30% less than that of both stop position detectors 41, 42.
If it is determined that both OFF signals are generated (YES), the arithmetic control circuit 58, in step S21,
Low speed VL (3m / min) is reduced by 50% of that speed VL2
Change to (1.5 m / min). Then, step S20
After S21, or when it is determined in step S16 that the modification pattern has been changed in the past (YES), the arithmetic control circuit 58 causes the arithmetic control circuit 58 to execute step S22.
Then, the correction pattern changing process is executed.

FIG. 13 shows a flow chart for explaining the correction pattern changing process. First, when started (step S35), the arithmetic control circuit 58 determines in step S36 whether or not the forward direction flag is set to the ON state. Then, when it is determined that the ON state is set (YES), the arithmetic control circuit 58.
After setting the forward direction flag to the off state in step S37, in step S38, the speed VL1 or VL2 changed in step S20 or S21 before the electric carriage 15 is set.
To run in the opposite direction. After that, the arithmetic control circuit 58
In step S39, it is determined whether or not the ON signals are generated from both the stop position detectors 41 and 42. If it is determined that the ON signals are not generated (NO), the process of step S38 is continued.

If it is determined in step S36 that the forward direction flag is not set to the ON state (NO), the arithmetic control circuit 58 sets the forward direction flag to the ON state in step S40, and then, In step S41, the electric carriage 15 is caused to travel in the forward direction at the speed VL1 or VL2 changed in step S20 or S21. afterwards,
The arithmetic control circuit 58 determines in step S42 whether or not both stop position detectors 41 and 42 generate ON signals. If it is determined that the ON signals are not generated (NO), the process of step S41 is performed. Is continued.

When it is determined in step S39 or S42 that both stop position detectors 41 and 42 generate ON signals (YES), the arithmetic and control circuit 58 determines in step S43 that the electric carriage 15 is in operation. The vehicle is braked to stop its traveling, and the second stop position correction operation is completed here. Thereafter, the arithmetic control circuit 58 increments the number of correction operations by 1 in step S44, and then in step S4.
At 5, it is determined whether or not both stop position detectors 41 and 42 generate ON signals.

Here, both stop position detectors 41, 42
If it is determined that both ON signals are not generated (NO), the arithmetic control circuit 58 determines in step S46 whether or not the number of correction operations is 2, and it is not 2 (NO). If it is determined that the process is returned to the process of step S36, the third stop position correction operation is performed thereafter. If it is determined in step S46 that the number of correction operations is 2 (YES), that is, it is determined that the third stop position correction operation has been completed, the arithmetic control circuit 58.
Transmits the abnormality information indicating the stop position abnormality of the electric carriage 15 to the center unit 49 via the integrated control panel 50 in step S47, and returns to the original flowcharts shown in FIGS. 10 and 11 (step S48). It

On the other hand, if it is determined in step S45 that both the stop position detectors 41 and 42 generate ON signals (YES), the arithmetic control circuit 58 determines in step S49 that the correction pattern has been changed in the past. Is changed to determine whether or not the low speed VL is changed to the speed VL1 or VL2, and when it is determined that the correction pattern is changed (YES), the results shown in FIGS. The process returns to the original flowchart shown (step S48).

When it is determined in step S49 that the modification pattern has not been changed (NO), the arithmetic control circuit 58 sets the modification pattern change flag to the ON state in step S50, and thereafter, S16 and S
At 49, it is determined that the modification pattern is changed. Then, in step S51, the arithmetic and control circuit 58 sends alarm information indicating the stop position abnormality of the electric carriage 15 to the center unit 49 via the integrated control panel 50, and the original flow charts shown in FIGS. It is returned (step S48).

When the correction pattern changing process in step S22 is thus completed, the arithmetic control circuit 58 performs maintenance in step S23 so that the braking distance of the electric carriage 15 becomes a normal value. It is determined whether or not there is no maintenance (NO)
If it is determined that the process is completed, the process ends (step S15). If it is determined in step S23 that maintenance has been performed (YES), the arithmetic control circuit 58 sets the correction pattern change flag to the off state in step S24, and then in step S25, step S20 or S21. The speed VL1 or VL2 changed in step 1 is changed back to the original low speed VL (3 m / min), and the operation is completed (step S
15) is performed.

Therefore, according to the configuration of the above-mentioned embodiment, the pair of stop position detectors 41, 42 does not detect the detected body 72, and the pair of stop position detectors 41, 42 is not detected. When both 41 and 42 perform the correction operation in which the electric carriage 15 is caused to travel in the direction in which the detected object 72 is detected, the speed of the electric carriage 15 is reduced by 30% from the low speed VL (3 m / min) VL1 (about 2 m / min). In the state where neither the pair of stop position detectors 41 and 42 detect the detected body 72, the pair of stop position detectors 41 and 42 both detect the detected body 72. When the correction operation for driving the electric carriage 15 in the direction is performed, the electric carriage 15 is moved at a low speed VL.
Since the correction pattern is changed so that the vehicle travels at a speed VL2 (1.5 m / min) that is 50% less than (3 m / min), even if the braking distance of the electric trolley 15 changes, It becomes possible to accurately stop at the intended stop position.

Next, FIG. 14 and FIG. 15 are a plan view and a side view schematically showing the overall construction of another automatic safe deposit box to which the present invention is applied. That is, the same parts as those in FIG. 1 and FIG. 2 will be designated by the same reference numerals and will be described.
The safe deposit box 12 taken out by the stacker crane 14 is the rail 7 laid on the lifter 74 of the elevator 73.
5 is transferred to the electric trolley 15 standing by above. Then, the lifter 74 of the elevator 73 descends to the first floor, and the rail 75 on the lifter 74 is connected to the rail 22 laid on the first floor.

As described above, after the safe door 23 is raised and the safe deposit box entrance / exit opening 24 is opened, the connecting rail 26 is tilted, so that the rail 22 and the safe deposit box entrance / exit are carried out. The rails 27 laid outside the opening 24 are connected to each other, and the electric carriage 15 passes through the safe deposit box entry / exit opening 24 and is moved to the rail 27. Then, the safe deposit box 12 mounted on the electric cart 15 is transferred to the work station 30 of the safe deposit box working room 28, and the work of taking out the desired safe deposit box 12 is completed here.

When the safe deposit box 12 placed in the work station 30 is returned to the safe deposit box storage shelf 13 of the safe 11, the safe deposit box 12 is placed in the work station 3.
Transfer from 0 to electric cart 15. And electric cart 1
After returning 5 to the lifter 74 via the reverse route to the above and raising the lifter 74 to the second floor, the safe deposit box 12 mounted on the electric carriage 15 is vacated by the stacker crane 14 in the safe deposit box storage shelf 13. It is accommodated in a space, and the return operation of the safe deposit box 12 is completed here. The present invention is not limited to the above-described embodiment, and can be variously modified and implemented without departing from the scope of the invention.

[0077]

As described above in detail, according to the present invention,
Even if the braking distance of the electric trolley changes, the electric trolley is controlled so that it can be accurately stopped at the target position, and it is possible to prevent the automatic safe deposit box from becoming unusable. A bogie stop position control device can be provided.

[Brief description of drawings]

FIG. 1 is a plan view schematically showing the overall configuration of an automatic safe deposit box, showing an embodiment of a stop position control device for an electric trolley according to the present invention.

FIG. 2 is a side view schematically showing the overall configuration of the automatic safe deposit box.

FIG. 3 is a diagram for explaining an outline of an electric carriage used in the automatic safe deposit box.

FIG. 4 is a diagram for explaining a detailed internal configuration of the electric cart.

FIG. 5 is a block diagram showing a control system of the automatic safe deposit box.

FIG. 6 is a block configuration diagram showing details of a control board mounted on the electric cart.

FIG. 7 is a side view showing a positional relationship between a stop position detector of the electric cart and a detected object.

FIG. 8 is a side view showing an outline of a stop position correction operation of the electric cart.

FIG. 9 is a side view for explaining an outline of a stop position correction operation of the electric cart.

FIG. 10 is a flowchart for explaining details of a stop position correction operation of the electric cart.

FIG. 11 is a flowchart for explaining details of a stop position correcting operation of the electric cart.

FIG. 12 is a flowchart shown for explaining a correction direction determination process in the stop position correction operation.

FIG. 13 is a flowchart shown for explaining a correction pattern changing process in the stop position correcting operation.

FIG. 14 is a plan view schematically showing the overall configuration of another automatic safe deposit box to which the present invention is applied.

FIG. 15 is a side view schematically showing the overall configuration of another automatic safe deposit box.

[Explanation of symbols]

11 ... Vault, 12 ... Safe deposit box, 13 ... Safe deposit box storage rack, 14 ... Stacker crane, 15 ... Electric trolley, 16
... rails, 17 ... rotary elevators, 18 ... rotary bases, 19 ... rails, 20 ... columns, 21 ... lifters, 22 ... rails, 23
… Safe deposit box, 24… Safe deposit box entrance / exit, 25… Rotation axis, 2
6 ... Connection rail, 27 ... Rail, 28, 29 ... Safe box work room, 30, 31 ... Work station, 32 ... Wheels, 33 ... Rotating body, 34 ... Belt, 35 ... Conveyor, 3
6 ... Charging shoe, 37 ... Power supply terminal, 38 ... Power supply device,
39, 40 ... Motor, 41, 42 ... Stop position detector, 4
3, 44 ... Detector, 45 ... Control board, 46 ... Operation display section, 47 ... Battery, 48 ... Central control room, 49 ... Center unit, 50 ... General control panel, 51 ... Stacker control panel,
52 ... bar code reader, 53 ... No. 9 station,
54 ... Safe door control panel, 55, 56 ... Booth electromagnetic panel, 57
... input circuit, 58 ... arithmetic control circuit, 59 ... memory, 60
... output circuit, 61 ... drive circuit, 62 ... DC type tacho-generator, 63 ... A / D conversion circuit, 64 ... input circuit, 65
... output circuit, 66 ... drive circuit, 67 ... input / output circuit, 68
... optical communication unit, 69 ... input / output circuit, 70 ... battery control circuit, 71 ... input / output circuit, 72 ... detected object, 73 ... elevator, 74 ... lifter, 75 ... rail.

Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI Technical display area E05G 1/00 Z G07F 19/00

Claims (5)

[Claims] 1. An electric trolley for carrying an article to a target position by carrying the article and traveling along a specified track, and having a pair of detectors installed along the traveling direction thereof. When the electric carriage reaches the target position and is stopped, the pair of detectors of the electric carriage detect the detected object installed at the target position together with the electric carriage. When the electric carriage is stopped at the target position, one or both of the pair of detectors does not detect the detected object. A correction operation in which the electric cart is moved in a direction in which the pair of detectors both detect the detected object, and the pair of detectors both detect the detected object to apply braking to the electric cart Stop position to repeat The corrective means and the stop position correcting means perform a correcting operation on a first state in which one of the pair of detectors does not detect the object to be detected, and a case of the pair of detectors. And a pattern changing means for changing the moving speed of the electric cart depending on whether the correction operation is performed for the second state in which both of the detected objects are not detected. Stop position control device for dolly. 2. The electric motor when the correction operation is performed in the second state rather than the moving speed of the electric cart when the correction operation is performed in the first state. 2. The stop position control device for an electric truck according to claim 1, wherein the movement speed of the truck is changed so as to be slow. 3. The transport means causes the electric carriage to travel along the track at a first speed and decelerate to a second speed lower than the first speed in the vicinity of the target position, When the pair of detectors detect the object to be detected, the electric vehicle is braked and stopped, and when the pattern changing means performs a correction operation on the first state, When the moving speed of the carriage is changed to a third speed that is slower than the second speed and a correction operation is performed for the second state, the moving speed of the electric carriage is set to be higher than the third speed. 3. The stop position control device for an electric carriage according to claim 1, wherein the speed is changed to a slower fourth speed. 4. The pattern changing means carries out a first correction operation for any one of the first and second states of the electric carriage that has reached the target position by the carrying means. In addition, when the moving speed of the electric carriage is changed to the second speed and the correction operation is performed on the first state in the state where the first correction operation is completed, 4. The moving speed of the electric cart is changed to the fourth speed when the moving speed is changed to the third speed and a correction operation is performed for the second state. A stop position control device for the electric carriage described. 5. The pattern changing means makes a change when performing a second correction operation for either the first or second state in a state where the first correction operation is completed. The stop position control device for an electric truck according to claim 4, wherein the third or fourth speed is maintained after the third correction operation.