JPS63167612A - Travel control system for moving device - Google Patents

Abstract

PURPOSE:To alter a stopping position and to simply and easily increase or decrease the position by controlling the speed of a moving device in response to the address of address setting members mounted at a suitable interval at a traveling route and distance data between the address setting members. CONSTITUTION:A traveling route is divided by address code plates 18, and address Nos intrinsic for the plates 18 become zone Nos. A moving device 1 receives MAP information from the ground and stores it in the memory of a controller 7. lt further measures a distance between the plates 18 on the basis of the information to form distance data for each address No., and stores it in the memory of the controller 7. The speed of the device is controlled in response to the distance data, the output of an address No. reading function 6 for reading the address No. intrinsic for the plate 18, and the counted value of the oscillation pulse of a pulse encoder 5, and the device is automatically stopped at the set destination stopping position.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention provides a mobile device with a pulse encoder that interlocks with wheels, and uses pulses sent from the pulse encoder to determine the travel distance of the mobile device. This relates to a travel control method that controls the vehicle to stop at its destination.

(Prior art and its problems) In this type of conventional travel control system, which is generally called a pulse encoder one-way system, distance data from a starting point (home position) set in the travel route to each stop position is
It was created and memorized using a learning method in which the mobile device was actually run and the pulses emitted by the pulse encoder were counted.

Such conventional travel control systems are relatively short and have one end as the starting point (home position), such as in automated warehouses.
One moving device (crane) is used on the travel route,
Moreover, there is no problem if the stopping position set during one traveling route remains constant, but when a large number of moving devices travel along a traveling route that is long and has a complicated layout, and each moving device is In transport equipment that must be moved from one of a number of stopping positions set on the travel route to another arbitrarily selected one, all moving equipment must be Learning travel distance data to a stopping position requires a great deal of effort and time, which is not only impractical, but also extremely difficult to change the stopping position (Means for solving the problem) The present invention proposes a travel control method that can solve the conventional problems as described above, and its characteristics are that in the pulse encoder one-type travel control method as described above,
Address setting members are installed at appropriate intervals on the travel route side of the mobile device, and means for reading the address of the address setting member is provided on the mobile device side, and the current position of the mobile device is determined by the distance from the immediately preceding address setting member. Further, distance data between each address setting member is created in advance, and the destination of the mobile device is inputted by the address and the distance value from the address setting member corresponding to the address, and this input data and the distance value from the address setting member corresponding to the address are input. The total distance traveled to the destination is calculated based on the distance data and the current position, the speed of the moving device is controlled based on this total distance traveled, and the moving device is automatically stopped at the set destination position.

(Operation of the Invention) According to the method of the present invention, the address setting member may be installed at appropriate intervals during the travel route before determining the stop position, and the stop position is the same as the position of the address setting member. can be determined arbitrarily, regardless of the number, and by measuring how many millimeters the determined stopping position is from the number setting member, stopping position data consisting of the address and distance value for each stopping position is generated. If you create a destination and enter the address and distance value obtained by searching the stop position data when the destination is set, the total distance traveled to the destination will be determined based on this input data, the distance data, and the current position of the moving device. Path # (number of pulses)
can be calculated. Once this total travel distance is known, the speed of the moving device is controlled so that it stops at the position where the total travel distance has been traveled, similar to conventional travel control using one pulse encoder, and the set destination is stopped. It can be automatically stopped at a certain position.

The distance data is obtained by actually driving the mobile device and using the detected address of the address reading means and the count of emitted pulses of the pulse encoder to calculate the distance (number of pulses) between each address setting member.
However, it is not necessary to measure the distance from a fixed starting point to each stop position, so
The measurement work can be performed from any position, and since the distance measurement section is short, the measurement can be performed with high accuracy. Furthermore, even when a plurality of mobile devices are on the same traveling route, each mobile device can be caused to travel simultaneously and distance data can be measured and stored for each mobile device.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a plurality of moving devices running on the same travel route, and an inverter 4 for controlling the speed of a motor 3 that drives a drive wheel 2, which is interlocked with the drive wheel 2. A code plate detection photoelectric switch 6 which together with the pulse encoder 5 constitutes an address reading means, a controller 7 comprising a microcomputer, and a slave station 8 for multiplex signal transmission connected to the controller 7. There is. A slave station 8 for multiplex signal transmission of each mobile device 1 is connected to two stations installed along the travel route.
A master station 1 for multiple signal transmission on the ground side is always connected to the main signal line 9 via a collector 10, and is connected via the two signal lines 9
Connected to 1.

12 is a sequencer connected to the multiplex signal transmission master station 11 via a communication means 13 such as R5232C;
14 is a host controller that gives commands to the sequencer 12, and 15 is a monitor display. 1
Reference numeral 6 denotes a power line for power supply, which supplies power to the motor 3 of each moving device 1 via the current collector 17 and the inverter 4.

An example of the layout of the traveling route of the moving device 1 is shown in FIG. 3. As shown in FIG. code plates 18 are installed at appropriate intervals. Although not shown, each code plate 18 is configured to have a unique code number, and 1 to 23 shown in FIG. 2 are address circles assigned to each code plate 18. . S1 to S10 indicates a stopping position determined during the travel route regardless of the code plate 18.

The traveling route is divided by each address code plate 18, and the address sequence unique to each address code plate 18 becomes the divided zone magnet of each code 18 on the traveling direction side of the moving device. Therefore, the layout of the entire driving route is based on the address connection information (hereinafter referred to as MAP).
Each mobile device 1 arranged on the travel route receives the M information from the ground side via the multiplex signal transmission master station 11, the signal line 9, and the multiplex signal transmission slave station 8.
The AP information is received and stored in the memory of the controller 7.

Once the MAP information is given to the mobile device 1, the mobile device tl is run over the entire travel route, and the distance between each address code board 18 is measured for each address (for each zone).
distance data is created and stored in the memory of the controller 7 together with the MAP information. This distance data is determined by the function programmed in the controller 7, that is, by determining the detection signal of the photoelectric switch 6 based on the emitted pulse of the pulse encoder 5, as shown in FIG. The address positive reading function 19 reads the address number and starts counting the pulses sent by the pulse encoder 5 by reading the address m from the address code plate 18, and counts by reading the address number from the next address code plate 18. Function to measure distance between cord plates 2
It can be created using 0.

Further, the address hidden (zone) read by each mobile device using the address reading function 19 is multiplexed from the multiplex signal transmission slave station 8 via the signal line 9 along with the device-specific code unique to each mobile device 1. The signal is sent to the master station 11 for signal transmission. Then, the master station 11 sends the information to the sequencer 1 via the communication means 13.
As a result, the sequencer 12 can know in which zone address each mobile device 1 is located. Furthermore, if there is a request from the ground side, the distance measured by the code board distance measurement function 20, that is, the distance from the starting point of the address (zone) to which the mobile device 1 belongs to the mobile device 1, is sent to the mobile device 1. The current detailed position information can be sent to the ground side by the multiplex signal transmission system. In this case, the distance is processed by the number of pulses, so for example n
It is preferable to convert it into units and send it.

On the ground side, on the ground side, stop position data is created consisting of a combination of the address magnetic field (zone 1lh) belonging to each stop position 5l-810 and the distance from the address code plate 18 which is the starting point of the zone, and It is stored in the memory of the controller 14. Code board 1 for the address
The distance from 8 to the stop position is actually measured in n units and input.

Next, the traveling control method of the mobile device 1 will be explained in detail.
As shown in FIG. 5, if the mobile device 1 stopped at the stop position S2 in the 4th zone (zone block 4) is moved to the 6th zone (
When the destination setting for driving the vehicle to the stop position S3 within the zone magnetic field 6) is performed, as shown in FIG. 6, 1800 m) is searched, and this data is sent from the ground side to the mobile device 1 to be controlled, which is stopped at the stop position S2, via the multiplex signal transmission system. A total travel distance calculation function 23 is programmed in the controller 7 of the moving device 1, and the stop position S
3 data [6th address, 1800fi), the distance 4L of the 4th address retrieved from the distance data 22 created and stored as described above, and the current position of the mobile device 1 (4th address) obtained from the code board distance measurement function 20. from the starting point to the stop position S2
TL-4L-2200 (Tsuru) +
S L +tsoo (m) is .

Calculated. Incidentally, since all internal processing including storage data is performed using pulse numbers, the distance value (1800 m) given from the stop position data 21 is converted to the pulse number.

The total travel distance TL calculated in this way is presented to the subtraction function 25 for calculating the remaining travel distance.

On the other hand, in the controller 7 of each moving device 1, each speed value of high speed (conveying speed), medium speed (turning and transfer speed), and low speed (positioning speed) is set by a dip switch on the microcomputer port of the controller 7. Acceleration and deceleration are set. Therefore, when the total travel distance TL is calculated as described above, the speed control position calculation function 24 programmed in the controller 7 calculates the total travel distance MTL based on the preset travel speed conditions and the total travel distance MTL. For example, as shown in FIG. 5, the distance Ls from the destination stop position S3 to the deceleration start position is calculated from the ground-side host controller 14 through the sequencer 12 and the multiplex signal transmission system, and the movement is stopped at the stop position S2. Device 1
When a start command is given to the moving device 1, the moving device 1 starts traveling. At the same time as the moving device 1 starts traveling, the total travel distance TL preset in the subtraction function 25 is subtracted by the number of pulses sent from the pulse encoder 5, and the remaining travel distance jilLL is output. When the remaining travel distance #Lt becomes equal to the calculated distance Ls, a predetermined deceleration and stop control is performed, and the moving device 1 finally reaches the destination stop position S3 at a predetermined low speed (positioning speed), and It will automatically stop at the stop position S3. Of course, at this time, the remaining travel distance Lt in the subtraction function 25 is zero or a value within the allowable error range. The controller 7 controls the inverter 4 by an encoder feedback method using pulses sent from the pulse encoder 5 so that the mobile device 1 travels accurately under the traveling speed conditions set as described above.

As in the above embodiment, each moving device 1 is provided with distance data 22, and the total traveling distance TL to the set destination stop position is
It is desirable to have each mobile device 1 calculate the distance data 22, but in some cases, the ground side controller has the distance data 22, and the ground side controller calculates the destination set for each mobile device 1. It is also possible to calculate the total traveling distance TL to the stop position and transmitting this total traveling distance TL to a predetermined moving device 1.

(Effects of the Invention) As described above, according to the travel control system of the present invention, a large number of mobile devices travel along a travel route that is long in overall length and has a complicated layout, and each mobile device is moved along the travel route. Even in transport equipment that must be moved from one of a number of stop positions set to another arbitrarily selected one, the moving device can be controlled using a so-called encoder-based travel control method. It can be controlled with high precision.

Moreover, the preparation work is quick and accurate (and easy to perform) even with the above-mentioned conveyance equipment compared to the learning work in the conventional one-encoder system.

In addition, there is no need to install anything at each stop position, and it is sufficient to roughly install address setting members at appropriate intervals on the travel route side, regardless of the stop position, so it is easy to implement in terms of hardware. Moreover, it is easy to change and increase/decrease the stop position.

[Brief explanation of the drawing]

Figure 1 is a schematic diagram explaining the signal transmission system between the ground-side control device and each mobile device, Figure 2 is a schematic diagram explaining the configuration of the mobile device, and Figure 3 is a layout of the travel route. figure,
4 and 6 are block diagrams explaining the functions of the control device, and FIG. 5 is a diagram explaining a specific section in the travel route. DESCRIPTION OF SYMBOLS 1... Moving device, 2... Drive wheel, 3... Motor, 4... Inverter, 5... Pulse encoder, 6... Photoelectric switch for code plate detection, 7... Controller, 8...Slave station for multiplex signal transmission, 9...
Signal line, 11... Master station for multiplex signal transmission, 12... Sequencer 113... Communication means, 14... Upper controller, 16... Power line for power supply, 18... Address code Board (address setting member).

Claims (1)

[Claims] The mobile device is equipped with a pulse encoder that works with the wheels.
In a travel control system that uses pulses sent from the pulse encoder to determine the travel distance of a mobile device and controls the mobile device to travel a set distance, address setting members are placed at appropriate intervals along the travel route of the mobile device. The mobile device is equipped with an address reading means for this address setting member, so that the current position of the mobile device is detected by the distance from the immediately preceding address setting member, and distance data between each address setting member is also read. The destination of the mobile device is entered in advance using a street address and a distance value from the address setting member corresponding to the street address, and the total travel distance to the destination is calculated based on this input data, the distance data, and the current position. A travel control method for a mobile device, which calculates the total travel distance, controls the speed of the mobile device based on the total travel distance, and automatically stops the mobile device at a set destination position.