JPS62274315A - Run position detecting method for moving device - Google Patents

Abstract

PURPOSE:To improve the operation efficiency of the recovery of a moving device to its initial state by detecting both ends of a member to be detected which is arranged on a run path by the detector of the moving device in moving operation, and comparing the arithmetic value of a counted value corresponding to the run distance with the stored counted value of each member and deciding the current run position. CONSTITUTION:A self-running conveying carriage 1 is moved forth and back through a motor 7 and wheels 3, and the pulse counted value of a function 17 when the carriage 1 stops at each stop position arranged on the run path, the counted value of the function 17 when the detector 12 detects a member 11 to be detected, and a counted value corresponding to the length of the detected member which is computed from the pulse counted value when both ends of the detected member 11 are detected by the detector 12 are stored in a storage part 19 as learned values. When the destination stop position of the carriage 1 is set during the actual movement of the carriage 1, the stop position learned value is retrieved in the storage part 19. The learned value is compared by an arithmetic function 20 with the pulse counted value corresponding to the current position and a controller 16 stops the carriage 1 at the destination stop position according to the difference.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention (Industrial Application Field) The present invention provides a system in which a mobile device that travels along a fixed route, such as a self-propelled carrier or a lane, divides the traveling route. This invention relates to a method for detecting which driving zone the vehicle is in among a large number of driving zones.

(Prior art and its problems) As a travel control system for a mobile device as described above, a pulse encoder is provided which is linked to the travel of the mobile device,
A travel control system is known in which the count value of the pulses transmitted by the pulse encoder is used for control as the current position of the mobile device. In such a travel control system, a pulse count value is learned and stored in advance for each stop position of the mobile device, and the stored value corresponding to the target stop position and the actual value are combined so that the mobile device stops at the target stop position. The speed change and braking of the moving device are controlled according to the difference from the pulse count value (current position), but there are the following problems.

In other words, 1! When the mobile device stops due to a power outage, the counting function that counts the emitted pulses (generally counted by a microcomputer counting program) becomes unable to count due to the power outage, and The pulse count value representing the current position disappears. Therefore, even if the power is restored, the current position of the mobile device is unknown, so the mobile device must be returned to its origin (generally one end of the travel route), the pulse count value must be reset to zero or a predetermined value, and the The moving device must travel toward the desired stopping position. Therefore, especially when the total length of the traveling route is long and the moving device is at the end of the traveling route, it takes a considerable amount of time to recover to the desired state. Loss occurs and work efficiency is inevitably reduced significantly.

(Means for Solving the Problems) The present invention proposes a method for detecting the running position of a mobile device that can solve the above-mentioned problems, and its characteristics are as follows:
In a travel control system for a mobile device, a pulse encoder is provided which is linked to the travel of the mobile device traveling on a fixed path, and the count value of the pulses emitted by the pulse encoder is used for control as the current position of the mobile device. Members to be detected having different lengths are arranged at appropriate intervals along the traveling path of the moving device, and a detector for detecting the members to be detected is provided on the moving device side, so that when detecting the traveling position of the moving device, , calculating the pulse count value corresponding to the traveling distance during which the detector sequentially detects both ends of the detected member by running the moving device, and storing this pulse count value in advance for each detected member; The point is that the current traveling position of the mobile device is determined by comparing it with a certain count value.

(Example) An example of the present invention will be described below based on the attached illustrative drawings. In FIG. 1, reference numeral 1 denotes a mole rail type self-propelled transport vehicle of a suspended transport type, including a driving trolley 4 having driving wheels 3 that fit on a guide rail 2, a driven trolley 6 having driven wheels 5, and a driven trolley 6 having driven wheels 5. A motor 7 drives the drive wheel 3, and the guide rail 2 is connected to the guide rail 2 via both trolleys 4.6.
It is composed of a hanger frame 8 that is suspended from the hanger frame 8, and an object support stand 9 provided on the hanger frame 8. Reference numeral 10 indicates a pulse encoder interlocked with the driven wheel 5, and reference numeral 11 indicates a plate-shaped member to be detected, which is attached to the guide rail 2 so that the plate surface is parallel to the length direction of the guide rail 2. ing. Reference numeral 12 denotes a detector for detecting the members 11 to be detected, and is attached to the hanger frame 8. Reference numeral 13 denotes a rail for power supply and control signal exchange laid on the side surface of the guide rail 2, and 14 is a current collection unit that slides into contact with the rail 13, and is attached to the drive trolley 4. The pulse encoder 10 may be operatively connected to the drive wheel 3, or a wheel exclusively for the pulse encoder may be separately provided and operatively connected to this wheel.

As shown in FIG. 2, the self-propelled carrier 1 is equipped with a microcomputer 15 and a control device 16 for the motor 5 that drives the drive wheels 3. As shown in FIG. 3, all of the detected members 11 are configured to have different lengths, and the detected members 11 having different lengths are arranged at appropriate intervals (for example, at equal intervals) along the travel route. The driving route is divided into a large number of zones. Further, a large number of bogie stop positions +11, +21, . . . are set on the travel route, regardless of the respective travel zones.

Next, to explain the learning work and the functions of the microcomputer 15, the microcomputer 15 has a counting function 1 that counts the pulses sent by the pulse encoder 10 in such a manner that when the trolley moves forward, it adds it up and when it moves backward, it subtracts it.
7, and a counting function 18 that counts the detection signal of the detector 12 so as to add the detection signal when the bogie is moving forward and subtract it when the bogie is moving backward.

In the learning work, first, the self-propelled carrier 1 is located at the origin position at one end of the travel route, and the counting function 17 at this time is
．． Cents are made so that the count value of 18 becomes zero or a predetermined value. In this state, the drive wheel 3 is rotated by the motor 7 to move the self-propelled carrier 1 forward, and the self-propelled carrier 1 is fixed at each stop position (11+21...) set on the travel route. The counting function 17 when located at the position
When the detector 12 detects each detected member 11 (when the detection signal rises,
or at the time of falling) in the counting function 17 as a learning value, the counting value in the counting function 18,
That is, it is stored in the storage unit 19 in correspondence with each detected member portion.

In addition, when the self-propelled carrier 1 passes the position of each detected member 11, the pulse count value in the counting function 17 at the rise of the detection signal of the detector 12 (at the time of starting edge detection) and the pulse count value of the detector 1
Counting function 1 when the detection signal of 2 falls (when detecting the end)
By calculating the difference with the pulse count value at step 7, a learned value (80) (92) corresponding to the length of each detected member 11 is obtained.
(100)... is determined and stored in the storage unit 19 in correspondence with each detected member portion.

The control during actual operation of the self-propelled transport vehicle is performed as follows.

That is, when the destination stop position of the self-propelled carrier 1 is set, the stop position learning value corresponding to the destination stop position is retrieved from the storage unit 19. For example, the destination stop position is set to the stop position (4) in FIG. ), the learning value (16300) corresponding to the stop position (4) is retrieved from the storage unit 19. Then, the pulse count value corresponding to the current position in the counting function 17 and the destination stop position learning value (1630
0) is compared by the arithmetic function 20, and a running direction, speed change, and braking command according to the difference is given to the control device 16, and the self-propelled carrier 1 returns to the set destination stop position (
4), the speed is automatically changed, and the vehicle is braked so as to stop at the destination stop position (4) with a predetermined precision. Therefore, when the self-propelled carrier 1 stops at the destination stop position (4), the pulse count value corresponding to the current position in the counter g17 matches the destination stop position learned value (16300) or is within the allowable error range. It is in.

When the detector 12 detects the detected member 11 while the self-propelled transport vehicle 1 is traveling, that is, each time the detected member detected by the counting function 18 changes, the correction function 21 The learning value corresponding to the member part is stored in the storage unit 19.
At the same time, the pulse count value corresponding to the current position in the counting function 17 at that time is replaced and corrected with the search learning value. Therefore, an error may occur between the current position of the self-propelled transport vehicle 1 and the pulse count value corresponding to the current position in the counting function 17 due to slipping of the driven wheels 5 interlocked with the pulse encoder 10 or malfunction of the pulse encoder itself. Also, each time the self-propelled carrier 1 passes a position corresponding to each member to be detected 11, the pulse count value corresponding to the current position is automatically corrected to the learned value, and the errors accumulate and the self-propelled carrier 1 This will not result in a situation where the accuracy of the stop position is reduced.

While the self-propelled carrier 1 is running, the power is cut off and the self-propelled carrier 1 stops in the middle of the travel route, and the counting function 17113
When the count value in , disappears, the current position of the self-propelled carrier 1 becomes unknown. A countermeasure for this case will be explained next.

When the power is restored, the self-propelled carrier 1 is first moved forward, for example. Now, if the self-propelled carrier 1 is in the travel zone shown in Figure 3■
If the detected member 11 is stopped due to a power outage within the vehicle, the detected member 11 is the first to be reached by the forward movement of the self-propelled transport vehicle 1.
That is, the pulse count value corresponding to the travel distance during which the detector 12 sequentially detects both ends of the detected member 11 located between the travel zones 00 is calculated in the calculation function 22 shown in FIG.

That is, as shown in the flowchart of FIG. 4, first, when the detector 12 detects the front end of the detected member 11 between the travel zones 00 and the detection signal rises, the pulse count value in the counting function 17 is reset to zero. Then, by reading the pulse count value of the counter a function 17 when the detector 12 comes off from the rear end of the detected member 11 and the detection signal of the detector 12 falls, A pulse count value [92] corresponding to the length of the detected member 11 is obtained. Of course, there is a counting function 17 at the time of detection and signal rise.
Even if the pulse count value is once stored and the difference between the pulse count value in the counting function 17 at the next detection signal falling edge and the memorized count value is calculated in the calculation R function 22, the detected member A pulse count value [92] corresponding to the length of 11 is obtained.

The pulse count value [92] obtained in this way is learned and stored in advance in the storage unit 19 for each detected member (80) (92) (100)...
. . . are compared in the computer P, 22, and the failed detected member is searched for. As a result, it is found that the self-propelled carrier 1 is in a position beyond the detected member 11 between the travel zones 00 and 11 toward the zone ■ side, but based on the search results, the count value of the counting function 18 is If the point of the detected member 11 corresponding to the detected member 11 between the zones 00 and 11 is detected, the self-propelled transport vehicle 1 continues to move forward and detects the second detected member 11 between the travel zones 00 and 11. When the detector 12 detects the detection, the correction function 21 searches the storage unit 19 for the learning value corresponding to the detected member part between the travel zones 00 and the current value in the counting function 17 at that time. The position-corresponding pulse count value is corrected by converting it into the search learning value. With this correction, the self-propelled carrier 1
The current position and the stone pulse count value in the counting function 17 will recover to the expected state corresponding to one defeat, so the self-propelled carrier 1 will be stopped and the countermeasure work for when the power is restored will be completed. I can do it.

In addition, another detector and a member to be detected are installed to detect when the self-propelled carrier 1 has reached the origin position or the terminal position at one end of the travel route, and the counting functions 17 and 113 are restored to the expected state. When the origin position or end position of one end of the travel route is detected on the way, the count value of the counting function 17.18 is immediately corrected to the learned value set corresponding to the origin position or end position. You can also do that.

Furthermore, the above-mentioned traveling position detection is performed continuously even when the self-propelled carrier 1 is traveling under normal conditions, and it is continuously checked in which travel zone the self-propelled carrier 1 is currently located. You can also do it.

(Operations and Effects of the Invention) As described above, according to the present invention, even if the current position of the moving device becomes unknown due to a power outage, there is no need to return the moving device to its origin, and at least the current position of the moving device The traveling position of the moving device can be detected by simply traveling a short distance to a position beyond the detected member adjacent to the position. Therefore, based on this detected traveling position, it is possible to immediately correct the numerical value corresponding to the current position of the moving device obtained by counting the pulses sent by the pulse encoder, so when returning the moving device to its origin as in the conventional case. In comparison, even if the travel route is very long and the mobile device is located near the end of the travel route, it is possible to reduce the time loss required to restore the numerical value corresponding to the current position of the mobile device to the desired state. It can be significantly reduced in size and work efficiency can be improved.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an example of a moving device, FIG. 2 is a block diagram explaining the control mechanism, FIG. 3 is a diagram explaining the arrangement of detected members on the travel route, and FIG. It is a flowchart explaining a control procedure. 1...Self-propelled carrier, 2...Guide rail, 3...
・Drive wheel, 5゛...driven wheel, 7...motor,
1o...Pulse encoder, 11...m detection member, 12...detector, 15...microcomputer-116...motor control device, 17.18...counting function, 19...・Storage unit, 20.22...Calculation function, 21...Correction function. Figure 1 Figure 2 g, Figure 7

Claims (1)

[Claims] In a travel control system for a mobile device, a pulse encoder is provided which is linked to the travel of the mobile device traveling on a fixed route, and the count value of the pulses emitted by the pulse encoder is used for control as the current position of the mobile device. Detected members of different lengths are arranged at appropriate intervals beside the traveling route of the moving device, and a detector for detecting the detected members is provided on the moving device side, so that when detecting the traveling position of the moving device, , calculating the pulse count value corresponding to the traveling distance during which the detector sequentially detects both ends of the detected member by running the moving device, and storing this pulse count value in advance for each detected member; A method for detecting a traveling position of a mobile device, characterized in that the current traveling position of the mobile device is determined by comparing it with a certain count value.