JPS61267104A - Railless self-travelling truck - Google Patents

Abstract

PURPOSE:To obtain the direction and distance to run without making absolute value control of the direction of running by converting traveled distance of a driving wheel to pulses and measuring the number of pulses. CONSTITUTION:When running from a starting position P0 to a target position P8 following a specified running route, the running route is divided into running sections for each unit time t1. The distance corresponding to (x) component and (y) component of each section (P0-P1)...(Pz1-Pz) is calculated as a target running distance of driving wheels 2, 3. The measured value of distance measuring rollers connected to the driving wheels 2, 3 is made to pulse signals through respective pulse encoders 8, 9 and outputted by the driving wheels and controlled to make the number of pulses target running distance.

Description

[Detailed description of the invention] [Technical field to which the invention pertains] The present invention relates to a trackless self-propelled trolley that has a built-in control function and travels to a target position along a preset travel route without receiving commands from the outside. . It is desirable for this type of self-propelled cart to have the desired self-propelled ability with the simplest possible configuration.

[Prior art and its problems]

As a bogie that travels along a preset travel route, a tracked bogie that travels on firmly laid rails in accordance with instructions from the outside is generally used. However, this type of tracked vehicle requires a great deal of labor and expense to lay the tracks, and because it is inflexible with respect to the environment, it tends to cause obstacles to other facilities and operations. They have drawbacks such as a lack of flexibility in changing the track and a strong tendency for the equipment to become rigid, so it is often necessary to change the running route in response to requests, and coordination with the environment is required. In such cases, either tracked bogies, which are much more flexible in terms of track installation, or new trackless bogies, which do not require any tracks at all, are introduced.

An example of the former case is to install a white line on the running floor or attach silver tape or the like to provide a simple running guide path instead of the usual rails. There are known types that run along the guide path, or types in which a guiding cable is laid under the running floor instead of the rails, and a signal is sent to the cable from the outside to guide the running of the bogie along the cable. In the latter case, a transmitter or reflector for communication media such as sound, light, or radio waves is installed on the ceiling or wall, and the transmitted signal from the transmitter or the reflected signal from the reflector is transmitted to the trolley side. There is a so-called lighthouse-based type, which is controlled so that the lighthouse receives the signal and travels in a predetermined manner according to the signal.

Among the above-mentioned examples, the former method of laying a running guideway or laying a guide cable is much more flexible than laying conventional rails, and the equipment cost is relatively low. has the advantage of ensuring reliable travel guidance for the trolley, but
On the other hand, the travel guide path and the guide cable still require inspection and maintenance, and although changing the travel path is easy, it still requires labor and expense. The latter lighthouse-based fishing method has the advantage of low equipment costs and easier route changes, but the travel control signal is weak against disturbance noise and shadows the signal path. In some parts, the trolley becomes uncontrollable, and
It has the disadvantage of having troublesome problems such as legal regulations regarding signal energy and restrictions on implementation in some areas. Furthermore, in any of the above-mentioned systems, it is necessary to send commands from the outside in order to control the traveling of the bogie in a predetermined manner, which requires additional labor and expense.

It avoids the above-mentioned defects of conventional bogies, does not require fixed rails or guide equipment, and does not require receiving commands from outside, and can run on a predetermined running path. In recent years, a so-called gyro-type self-propelled trolley equipped with a gyro and a distance measuring function has been developed as a trackless trolley that can be used as a trackless trolley. An example of this type of self-propelled trolley is shown in Figure 5 (
The one shown in Alt-uniform is known. That is, Figure 5C
AI, (In Bl, the bogie mark is supported by a pair of t/1 wheels 32 degrees and 1 wheels arranged on the left and right at appropriate intervals, and the casters 40 in d.
3 are connected to a main electric motor 36 via gear devices M and 35, respectively.
, 37 are connected, and the torque of the main electric motors 36, 37 serves as the driving force for the forward and backward movement or left and right rotation between the bogies. At this time, the actual traveling distance of each of the driving wheels 32 and 33 is transmitted as a pulse number signal by a pulse encoder 39 connected to the driving wheels 32 and 33 and mutually written in German.
The data is input to the central processing unit 42 (FIG. 8) built in the platform 1jL50.

On the other hand, a gyro 41 (eighth
), and the running direction of the truck 31 is always transmitted as a pulse number signal from the pulse encoder 41a of the gyro 41.

As shown in Figure 7, the running mode of the trolley blade is as shown in Figure 7.The position of the trolley blade each time is the distance from the travel start position to the target position.R1The angle that the travel path to the target position makes with the original line (x-axis) Pl(Rt, α□
), the distance R1 as a radius vector and the direction angle α1 as a declination angle are respectively given as target values in the form of a pulse number signal by the central processing unit 42 of FIG.

In contrast, first, the actual running direction angle β1 of the bogie (equipment) is
The pulse number signal of is compared with the pulse number signal of the target traveling angle α1 in the summing amplifier I, and the deviation is inputted to the speed adjusting means 46 consisting of a proportional-integral calculator, and the output thereof is such that the deviation becomes O. In other words, the driving wheels 32 are adjusted through the respective amplifiers 47 and 48 so that the actual running direction angle βl of the bogie (equipment) matches the target running angle αl.
, 33's main motors A, 37 are controlled. As a result, at the time when it is determined that the actual running direction angle β1 of the bogie blade matches the target running direction angle α1, the actual running distances SL and SR of the driving wheel proverb 33 which have already been calculated within the central processing unit 42 are calculated. The pulse number signal of the actual travel distance S1 of the bogie blade given by the average of the pulse number signal and the pulse number signal of the target travel distance R1 are compared in the summing amplifier core, and the deviation is calculated via the same speed adjustment means 6 as described above. Main motor I, 3
7, the main electric engine 37 is controlled so that the actual traveling distance S coincides with the target traveling distance R1 in the target traveling direction, and the bogie (material) moves forward or backward and moves from position Po to position Pl. leading to. In this case, logic is built into the central processing unit such that the pulse number signal that commands the target traveling distance of the bogie force is not transmitted unless the actual running direction angle βl of the bogie (equipment) matches the target direction angle α1. It is.

Furthermore, the next position P2 (R2+α2
), and further position P3< R3, α3 for position tP2
) and a plurality of positions by repeating the same procedure, the cart blade can reach the final target position.

Above, the trolley (capital) is from the original position Po to pHp2...
・A case has been described in which the vehicle travels along a straight line in a broken line until it reaches the final target position Pz.

When traveling on a curve from to the final target position Pz, the number is as follows.
The distance from the original position Po to the final target position Pz may be approximated by a series of many minute straight sections, and the vehicle may travel through these minute sections using the same procedure as described above.

In the above-described self-propelled bogie using the gyro traveling system, it usually takes a relatively long time for the gyro 41 to point north and for the vehicle to stabilize. It is important to suppress slippage between the 32° and the running floor surface as much as possible, and for this purpose, the program in the central processing unit 42 outputs pulses commanding the target running direction and target running distance as gradually as possible. The distance traveled from the original position Po to the target position Pz is further subdivided into P1rP2+...
・Even when controlling by providing an intermediate position of P2-1, the same procedure as described above is applied between Po-Pu and Pi-22.
By creating a program for each section and controlling the program by sequentially switching the program for each section at the starting position of each section, each drive wheel 32, 33 can be prevented from slipping or wearing out the tires of the drive wheels. When the running error increases and it becomes difficult to accurately control the target position, a correction signal is input by external force in each section to forcibly correct the error, and finally the target position is reached. It has the advantage that it is possible to reach the target accurately, and that after the above-mentioned correction input is performed based on the results of the first running test, smooth running control can be obtained with almost no correction. However, the system that dually controls the traveling direction and traveling distance of the truck blade is relatively complicated, and the gyro 41
Since the self-propelled trolley itself is expensive, it has the disadvantage that it is a significant impediment to the economicalization of this type of self-propelled trolley.〇 [Object of the Invention] The present invention has the advantage that the conventional gyro-type self-propelled trolley has in terms of its economicalization. In view of the above-mentioned drawbacks, it is simple and economical to have control that allows traveling to a target position on a preset traveling route with high traveling accuracy without using a gyro that causes a high economic burden. The purpose of the present invention is to provide a trackless self-propelled trolley that is advantageous in terms of performance.

[Key points of the invention]

In order to achieve the above object, the present invention provides the above-mentioned self-propelled truck, comprising: at least one pair of mutually exclusive driving wheels arranged at appropriate intervals on the truck and each having its own driving means; A mutually unique distance measuring means that is provided close to each of the driving wheels and measures the actual travel distance of each driving wheel, and a unique pulse encoder that outputs the measured value of each of the distance measuring means as a pulse number signal. and represents the target distance that each of the driving wheels should travel within the unit time for each of a plurality of unit times obtained by dividing the traveling time of the trolley into the direction in which the trolley should travel and the distance it should travel. A central processing unit is provided to provide a pulse number signal to the driving means of each of the driving wheels, and an output pulse number signal of each of the pulse encoders corresponds to the actual traveling distance of each of the driving wheels measured by the distance measuring means every unit time. However, the central processing unit usually executes a program for individually controlling the driving means of the valley driving wheels so as to match the pulse number signal of the target travel distance of each driving wheel which is applied to the driving means of the driving wheels of the central processing unit. Therefore, without using an external force to control the absolute value of the traveling direction of the bogie, only the traveling distance of each of the driving wheels from the starting position of the truck is set as a target value for each unit time. The actual traveling distance of each of the driving wheels within the unit time is captured as a pulse number signal by each of the pulse encoders, and the driving wheels are outputted in the form of a pulse number signal such that the pulse number signal matches the target value pulse number signal. The driving means of the truck is controlled to achieve the desired direction and travel distance of the truck itself.

[Embodiments of the invention]

Next, the present invention will be explained in detail based on embodiments shown in the drawings.

As shown in FIGS. 1(3) and 1(B), the truck 1 is supported by three wheels, two driving wheels 2.3 and one caster support, which are arranged on the left and right at appropriate intervals, and the driving wheels 2, 3 is connected to a driving means consisting of respective gear devices 4, 5 and main motors 6, 7, and the torque of the main motors 6, 7 is transmitted to the driving wheels 2, 31 to drive the bogie L. It serves as the driving force for forward and backward movement or left and right rotation.

At this time, the traveling distance of the driving wheels 2.3 is measured by a distance measuring roller 16 provided for each driving wheel 2, 3 separately from the respective driving means.
, 17 and the rollers 16 and 17 with sprockets to prevent them from slipping) 12.13 and synchro belts 14 and 15
The measured values are transmitted from the pulse encoder 8.9 as a pulse number signal.

On the other hand, as shown in FIG. 2, the distance measuring rollers 16 and 17 are supported via support arms 18 and 19 by support shafts 20a+21a located approximately in the center of a support arm holder 21 provided on the truck l. @20 a+ 21 The coil springs n, 2 are capable of rotating around the fulcrum with the support shafts 20a, 21a holding the central axes.
3 is supported with the tip of one leg by the truck L and the tip of the other leg with the support arms 18 and 19, so that the distance measuring rollers 16 and 17 are always directed toward the running floor in the direction of the arrow shown in the figure. It feels like it's pressing down.

In that case, the weight of the stand ILI is supported by the driving wheels 2, 3 and casters, and is hardly applied to the distance measuring rollers 16, 17 which are pressed against the floor surface by the coil springs n, 23. The distance measuring rollers 16, 17 rotate due to the almost constant frictional force between them, and their slippage is negligible.
5, the amount of rotation of the driving wheels 2, 3 can be accurately transmitted to the pulse encoder 8.9.

To control the self-propelled trolley l of the present invention configured as described above, as shown in FIG.
When traveling along a predetermined travel route until reaching , the travel route is divided into a large number of section distances to be traveled every unit time 11, and each section distance (PG-Pi) + (Pl-Pz),
・・・・・・・・・・・・・・・The distance corresponding to the X component and the y component in the rectangular coordinates of e(Pz-IPz) can be calculated as the target traveling distance of the driving wheels 2゜3. The control system shown in FIG. 4 is programmed in advance in the central processing unit 5 shown in FIG. to the next target position P2. Furthermore, from the P2 position to the next target position P3
and the target travel distance is calculated by the drive means of the driving wheels 2 and 3 immediately at the start of the section for each section distance corresponding to the unit time ti, until reaching the final target position Pz through the respective section distances. Do as instructed.

On the other hand, the actual traveling distance of each driving wheel 2.3 per unit time 11 is the distance measuring roller 1 connected to the driving wheels 2, 3.
The measured values of 6 and 17 are transmitted to each pulse encoder 8.
A pulse signal is output through 9, and the driving means of the driving wheels 2 and 3 is controlled so that the pulse number signal always matches the pulse number signal of the target travel distance. However, if an error occurs between the target travel distance of each driving wheel 2, 3 and the actual travel distance, the actual travel distance will be calculated at the start of the unit distance traveled within the unit time 11 immediately after that. A new target mileage is given to correct the error with respect to the target mileage, and a program is adopted that automatically corrects the error between the target mileage of the driving wheels 2.3 and the actual mileage to always be minimized. There is.

The fifth IN shows an example of a procedure for correcting the error between the actual traveling distance and the target traveling distance of the driving wheels 2 and 3. In this case, in the diagram of the control system of the self-propelled trolley l of the present invention shown in FIG. The target travel distance M given to the driving wheels 2 and 3 at the time, that is, l=Q! .

Assuming that the actual traveling distance of the driving wheels 2.3 at the end of the traveling section (between position P and point tP1), that is, 1=11, is ml and hl for Hl, each driving wheel at that time Distance deviation of 2 and 3 (Ml −ml
) + (Ht ht ) is applied to the pulse signal summing amplifier 27 and fed to the central processing unit 5 . The feeder allows the central processing unit 5 to determine the next traveling section (position f
tPl and position P2), that is, 1 = 1
In place of the target traveling distance M2 and H2 initially set at 1+Δt1, the aforementioned traveling error (Mlmt),
(Ht ht) In order to eliminate the problem, the revised target mileage K (
M2+M1 mt ) + (H2+8l-hl) are commanded to the main motors 6 and 7, respectively. Further, at the end of the traveling section (between positions P and P2), that is, t:=
At 2t1, the actual traveling distance of driving wheel 2.3 is m2, h
z, the summing amplifiers 26 and 27 as before
Due to the deviation fed to the central processing unit by the deviation, at the start of the next traveling section (between positions P2 and P3), that is, t=2t, +Δt! The target regular traveling distance M3. which is initially set as the target traveling distance in M3. H31 t: Error at 2 steps 1 o'clock (M2 +M1-m, -
mz ) e In order to eliminate (H2+H1-hl-hz), we have newly revised the target mileage distance (M3+M2+M1 ml
-m2L (H3+H2+H1h□-hz) are each commanded to the main motor 6.7. Similarly, (between position P3 and position P4), (position 248 [I Ps to 0:)
(between position &Pz-t and position Pz), the target travel distance of each of the left and right driving wheels 2 and 3 is automatically adjusted as necessary. The correction is made at the start of traveling in the relevant travel section, and based on the corrected target travel distance, the main electric motors 6, 7 for driving the driving wheels 2.3 are adjusted via the speed adjusting means side, which is a proportional integral calculator, as shown in FIG. By controlling each of these, it is possible to drive the trolley 1 to the final target position Pz while maintaining high running accuracy.

Furthermore, due to an overload on the bogie IICG or an obstacle on the running path, the cumulative value of the running error is increased by the driving wheels 2 and 3.
If the distance exceeds the allowable range for controlling the drive means, the normal travel control program is temporarily stopped and the target travel distance at the start of unit section travel for each unit time tl is calculated. Only corrective running is performed to correct the cumulative value of the running error without giving any
The program of the central processing unit is switched so that 1 can be repeated as many times as necessary. By doing this, even if an unexpected situation occurs, the time required from the initial starting position WIPo to the final starting position Pz is only increased by the number of repetitions of the unit time t1 for corrective travel. If a certain amount of time delay is tolerated, the trolley 1 can travel without significantly deviating from its predetermined travel path or target position.

Furthermore, in the trackless self-propelled trolley of the present invention, as in the conventional self-propelled trolley of this type, means for mechanically forcing the running direction of the trolley 1 at the initial starting position tikPo and a unit section corresponding to the standard time 11 are provided. It is possible to forcibly correct the running direction and running stop position of bogie I by eliminating the cumulative error value that occurs every time it runs. It is advantageous to provide a means for improving the traveling accuracy of the ball diameter by inputting corrections to the ball diameter, and this does not contradict the gist of the present invention.

〔Effect of the invention〕

As explained above, the present invention provides a trackless self-propelled trolley that has a built-in control function and travels to a target position along a preset travel route without receiving commands from the outside. at least one pair of mutually nine-pronged driving wheels each having its own driving means, and mutually independent distance measuring means provided close to each of the driving wheels and measuring the actual travel distance of each driving wheel. .

a pulse encoder that outputs the measurement value of each of the distance measuring means as a pulse number signal; A central processing unit is provided which supplies the driving means of each of the driving wheels with a pulse number signal representing a target distance traveled by each of the driving wheels for each unit of time, Drive each of the driving wheels such that the output pulse number signal of each of the pulse encoders corresponding to the traveling distance always matches the pulse number signal of the target traveling distance of each driving wheel that is applied to the driving means of each of the driving wheels of the central processing unit. By equipping the central processing unit with a program for individually controlling the means, there is no need for a fixed orbit with various disadvantageous conditions, no external control signals, and no need for an expensive gyro. Since the drive means for the driving wheels and the distance measuring means are mutually connected, it is economical and flexible because it is not affected by slippage or abrasion of the driving wheels, and it is possible to centrally control the running direction and distance. This has the effect of providing a trackless self-propelled trolley equipped with

[Brief explanation of the drawing]

FIG. 1(A) (Bl is a schematic diagram showing the outer shape of the side and back surfaces of the trackless self-propelled trolley of the present invention, respectively, and FIG. 82 is a schematic diagram of the outer shape showing the attachment relationship of the distance measuring roller of the present invention to the trolley. , FIG. 3 is a schematic diagram showing the external shape of the side and back surfaces of the conventional gyro-type self-propelled trolley of the self-propelled trolley of the present invention, and Figure i@7 is a model diagram of the running path of the self-propelled trolley. , FIG. 9 shows a block diagram of the control system of the automatic trolley. 1...Self-propelled bogie, 2.3...Driving wheels, 4.5...Gear device, 6.7...Main electric motor , 8, 9... Pulse encoder, 16, 17... Distance measuring roller, 5... Central processing unit, 26.27... Summing amplifier, field, 29
...proportional integral calculator. Figure 1 (B) Figure 3 Figure 4 Figure 5 (A). Figure 6

Claims (1)

[Scope of Claims] 1) In a trackless self-propelled trolley that has a built-in control function and travels to a target position along a preset travel route without receiving commands from the outside, the trackless self-propelled trolley is arranged at appropriate intervals on the trolley. at least one pair of mutually independent driving wheels each having its own driving means, mutually independent distance measuring means provided close to each of the driving wheels and measuring the actual travel distance of each driving wheel, and the measuring means. an independent pulse encoder that outputs the measurement value of each distance means as a pulse number signal, and a plurality of units of time each of which is determined by dividing the traveling time of the trolley into the direction in which the trolley should travel and the distance that the trolley should travel. and a central processing unit which supplies the driving means of each of the driving wheels as a pulse number signal representing the target distance that each of the driving wheels should travel within the unit time, and the central processing unit provides a pulse number signal representing the target distance that each of the driving wheels should travel within the unit time, and The output pulse number signal of each of the pulse encoders corresponding to the actual traveling distance of each driving wheel always matches the pulse number signal of the target traveling distance of each driving wheel that the central processing unit gives to the driving means of each of the driving wheels. A trackless self-propelled trolley, characterized in that the central processing unit is equipped with a program for individually controlling the drive means of the driving wheels. 2) In the self-propelled trolley according to claim 1,
As the target travel distance of the driving wheels in any unit time, a target travel distance is always provided that automatically corrects the error of the actual travel distance of the driving wheels in the unit time preceding the unit time with respect to the target travel distance. A trackless self-propelled trolley, characterized in that the central processing unit is provided with a program. 3) In the self-propelled trolley according to any one of claims 1 to 2, after a specific number of units of time that can be determined arbitrarily has elapsed, accumulation occurs during the unit time of the specific number of units. The trackless self-propelled vehicle is characterized in that the central processing unit is equipped with a program that allows interruption of the unit time or a plurality of unit times in order to correct an error between the actual travel distance of the driving wheels and the target travel distance. Dolly. 4) In the self-propelled truck according to any one of claims 1 to 3, the target travel distance of the driving wheels can be arbitrarily corrected based on the results of an initial running test of the truck. A trackless self-propelled trolley, characterized in that the central processing unit is provided with a program. 5) In the self-propelled trolley according to any one of claims 1 to 4, the traveling direction required of the trolley at the time of first traveling of the trolley is forcibly and mechanically selected. A trackless self-propelled trolley characterized by being equipped with a means for obtaining.