JPS61203804A - Travel controller of moving machine - Google Patents

Abstract

PURPOSE:To enable to effectively stop a movable body to a target position by disposing a sensor at the target position to be stopped, and correcting the position of the body on the basis of information from the sensor. CONSTITUTION:A traveling pulse accumulator 1a accumulates traveling pulses from a tachometer generator 2 to obtain traveling distance information of a moving machine. A sensor input detector 1c outputs a signal when the machine approaches a sensor 3 mounted at the target position to be stopped on the ground. A target pulse comparator 1b applies a comparison output of target position information to be stopped with traveling distance information from the accumulator 1a to a speed instruction unit 1d. The unit 1d applies speed command information to a traveling device 4 by the outputs from the comparator 1b and the detector 1c.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an improvement in a travel control device for a mobile machine used, for example, in a coke oven.

[Technical background of the invention and its problems]

In the running control of this type of mobile device, there are some that are carried out by the so-called running, 41 Lus method.

In general, traveling control of a mobile device using the traveling Noculus method is as follows:
A tacho generator (TG) etc. is installed on the mobile device, and this TG
Running 1 that occurs from? The mobile device is moved to the destination position by accumulating the accumulated values and comparing this accumulated value with a predetermined destination position nine lus for the destination to be stopped.

In this case, as a method for correcting the error in the cumulative value of the running base pulse, a method is used in which when the vehicle passes a fixed point, it is replaced with a preset fixed point pulse.

However, at a position far from a fixed point, an error in the running radius often occurs. Conventional travel control devices for mobile devices try to stop the target position using travel pulses, so if the difference between the target position and the actual stop position, that is, the error, becomes even slightly large, the travel control system stops moving. With the cumulative value of , even if the vehicle stops at the target location, it ends up stopping at a location different from the actual location where it should stop, and accurate travel control is not possible.

[Purpose of the invention]

The present invention has been made based on the above-mentioned circumstances, and an object thereof is to provide a travel control device for a mobile device that can reliably stop the mobile device at a target position.

[Summary of the invention]

In order to achieve such an object, the travel control device for a mobile device of the present invention compares the travel/4' route information accompanying the travel of the mobile device with pre-stored target position information at which the mobile device should stop. In a travel control device for a mobile machine that causes the mobile machine to travel to the target position where it should stop, a sensor is installed at the target position where it should stop, and when the mobile machine approaches the target position where it should stop. The vehicle is characterized by comprising means for correcting the position of the moving body based on information from the sensor.

[Embodiments of the invention]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A travel control device for a mobile device according to the present invention will be described below according to an embodiment shown in FIG.

In FIG. 1, reference numeral 1 denotes a sequencer having software blocks including a travel/JP pulse accumulation unit 1&, a target path/I/pass comparison unit 1b, a sensor human power detection unit la, and a speed command unit 1d.
The detailed functions of each part will be described later. Reference numeral 2 denotes a TG that generates information corresponding to the distance traveled, that is, a travel pulse. 3
is an on-vehicle sensor such as a reed switch that responds to a ground-side sensor such as a reed switch installed at a predetermined stop position on a travel path (not shown). Reference numeral 4 denotes a traveling device that causes the mobile machine main body (not shown) to travel based on the output from the sequencer 1. In the above, the sequencer 1, TG 2, sensor 3, and traveling device 4 are installed on the vehicle of the mobile device.

In the above, the travel pulse accumulator 1a of the sequencer 1 accumulates the travel pulses from the TG 2, and the accumulated pulses serve as travel distance information of the mobile device.

The sensor human power detection unit 1c outputs a signal when a sensor 3 installed on a vehicle of a mobile device approaches a sensor installed at a target position on the ground and reaches a predetermined proximity distance. ing. The target pulse comparator 1b compares the target position information to be stopped stored in advance in the storage means with the actual travel distance information from the travel noculus accumulation unit 1a, and provides the comparison output to the speed command unit 1d. That's what I do. The speed command section 1d is the target pulse comparison section 1b.
Based on the comparative output from the sensor input detector 1c and the sensor output from the sensor input detection unit 1c, speed command information such as forward, backward, and stop is given to the traveling device 4, and the moving device is moved and stopped at the target position where it should actually stop. It is designed to let you do so.

Next, we will discuss the operation of this embodiment configured as described above.
The operation will be explained with reference to the operation flowchart shown in the figure and the schematic diagrams of the operation states shown in FIGS. 3(IL) to 3(,). That is, the second
In the figure, the mobile device starts traveling in step S1. Then, in process S2, the operation of the target arm comparator 1b of the sequencer 1 is executed. That is, the mileage information from TG2 and the destination position information are compared to determine whether the vehicle has stopped at the destination position. And if it stops (Yes
), the process advances to process S3, and if the process is not to be stopped (No), the process returns to process S2 again. In process S3, it is detected whether the ground side sensor and sensor 3 are responding at the above-mentioned stop position, and if there is sensor human power (Yes), the mobile aircraft is determined to have stopped normally at the actual target position in process S4. stop running.

In addition, if there is no human power for the sensor (No), processing S5
Proceed to.

The operations of the above processes 1 to 4 are shown in FIG. 3(a). That is, the mobile device travels on the travel surface P by drawing a travel trajectory K as shown in the figure, and if the destination position 11 coincides with the sensor position 12 of the ground-side sensor, the mobile device stops there. .

In process S5, the vehicle recognizes and recognizes that the vehicle is at the position before passing the sensor, and travels a preset distance in the forward direction (same direction as the traveling direction). If the vehicle does not travel, the process proceeds to step S6; The process advances to process S9 as described later. Processing S6
Now, when the speed command unit 1d checks whether the ground side sensor and the vehicle top sensor 3 respond in process S3, and recognizes that the mobile device does not pass the ground side sensor, the process proceeds to process S7. Proceed to process S8. In process s7, after stopping at the target position, the vehicle recognizes that it is not the place where it should actually stop because there is no memory of passing the sensor, so it travels along the same direction as before, seeking sensor input, and returns to process S2 again. , and normally stops in process S4 via process S3f.

Above processing S1. S2. S3. S5. The operations up to S6°87 are shown in FIG. 3(b). Incidentally, since the explanation of FIG. 3(b) is shown in the same procedure as that of FIG. 3(,), the explanation thereof will be omitted. Also, Figure 3 (C), ~ Figure 3 (,)
Similarly, detailed explanation will be omitted.

In process S8, since there is a memory of passing the sensor, the vehicle recognizes that it has actually passed the position where it should stop, runs in the opposite direction to seek sensor input, and returns to process S2 again. A normal stop is performed in process S4 via process S3f.

The above processing 81, S2. S3. The operations up to S5, 86°Bs, and up are shown in FIG. 3(c).

On the other hand, after traveling to the preset positive direction set distance made in process S5, if there is no sensor human power, the negative direction set distance is the opposite direction (double the distance in the opposite direction to the above positive direction correction distance) Run to. Then, in process S9, it is determined whether or not the set distance has been traveled in the opposite direction, and if the set distance has been traveled in the opposite direction,
In either process, if the vehicle fails to stop at the position where it should actually stop [(installation position of the ground side sensor)], the work is interrupted in process S10 and the vehicle is stopped.

The above processing 81, 82083. S5. S9. The operation up to f310 is shown in FIG. 3(d).

If it is determined in step S9 that the vehicle will not travel the set distance in the opposite direction, the process advances to step S11. As shown in Figure 3 (,), this travel corresponds to the case where the target position and the sensor position are far apart from each other on the travel track, and the target position is far ahead of the sensor position. It is. That is, after stopping at the target position, the vehicle travels a set distance in the negative direction, stops traveling when there is no sensor input up to that point, and then travels twice the set distance in the positive direction. If there is no sensor input even at this point, the process advances to step 810.
Stop work and stop.

Above processing S1. S2. S3.35. s9゜811.81
The operation up to 0 is shown in Figure $3 (,).

As described above, according to the present embodiment, it is assumed that the target position information stored in advance in the sequencer 1 becomes incorrect due to an external factor, and when the traveling J? Even if it is not possible to stop at the correct position compared to the Luss, an operation to search for the correct place to stop is activated by inputting information from the ground-side sensor, the on-board sensor, and the sensor. As a result, the mobile device can be reliably stopped at a proper position, and loss of continuity of work can be reduced.

In the above description, a reed switch, which is a mechanical means, is used as the sensor, but an optical, acoustic, etc. switch or detection means may also be used.

〔Effect of the invention〕

As described above, according to the present invention, even if the internally stored information becomes incorrect due to external factors, the sensor installed on the ground side and above the vehicle can recognize the original stop position. It is possible to provide a travel control device for a mobile machine that ensures continuity of work as a mobile machine, improves work efficiency, and enables reliable stopping at a target position.

[Brief explanation of drawings]

FIG. 2 is an operation flowchart and FIG. 3 is a corresponding explanatory diagram for explaining the operation. 1...Sequencer, lh...Travel/Gurus accumulation section,
1b... Purpose/Guru comparison section, IC... Sensor detection section, 1 d 09. Speed command unit, 2...TG (tacho generator), 3...sensor (on top of the vehicle), 4...travel device. Applicant's agent Patent attorney Takehiko Suzue Figure 1, 2F! ! !

Claims (1)

[Claims] Travel control of the mobile device that causes the mobile device to travel to the target position where the mobile device should stop by comparing travel pulse information accompanying the travel of the mobile device with pre-stored destination position information where the mobile device should stop. The apparatus further comprises means for installing a sensor at the target position where the mobile unit should stop, and correcting the position of the mobile unit based on information from the sensor when the mobile unit approaches the target position where the mobile unit should stop. A travel control device for a mobile device characterized by: