JPS63198507A - Travel control system for vehicle - Google Patents

Abstract

PURPOSE:To facilitate an alteration and the increase or decrease of a stopping position by providing address setting means at suitable intervals on a traveling route, and mounting an absolute stop member to be detected and a deceleration member to be detected, according to absolute stop position. CONSTITUTION:Address code plates 18 are so mounted as to divide a traveling route into a plurality of zones on the route. An absolute stop plate 21 and an intermediate start plate 23 are mounted corresponding to the absolute stop position for stopping all vehicles 1. When the vehicle 1 starts, a traveling distance obtained from a zone address to the stop position is stored. A traveling pulse is subtracted from a traveling distance at the time of moving, it is corrected by the output of the plate 18 to control traveling speed. When it receives the outputs of the plates 23 and 21, it is automatically controlled to be decelerated and stopped.

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 the destination stop position.

(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 control) 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 control), such as in automated warehouses.
There is no problem if one moving device (crane) is used for the travel route and the stopping position set during the travel route remains constant, but if the total length is long and the layout is complicated, there is no problem. In such a case, a large number of mobile devices travel along a route, and each mobile device must travel to one of the many stopping positions set on the travel route to another one arbitrarily selected. In conveyance equipment, it is not only impractical to have all moving devices learn travel distance data from the starting point to all stopping positions because it requires a lot of effort and time, but it is also extremely difficult to change the stopping positions. Difficult (Means for Solving the Problems) The present invention proposes a travel control system that can solve the above-mentioned conventional problems, and its characteristics are as follows: In the driving control method of the system,
The travel route of the mobile device is divided into multiple zones by address setting members installed at appropriate intervals, and detected members for absolute stop are installed corresponding to the absolute stop positions where all the mobile devices are stopped, and each absolute stop is set. A detection member for deceleration is installed at an appropriate distance before the detection member for use, and reading means for the address setting member and each detection member is provided on the moving device side, and a detection signal from the reading means and a transmission from the pulse encoder are provided. Data regarding the length of each zone and the distance from the zone start point to the absolute stop position along with the pulse count value is created and stored in advance, and the total traveling distance to the destination stop position input by the zone depth and distance value from the zone start point is calculated in advance. The total travel distance to the stop position and the deceleration stop control position for these stop positions are calculated, and when the moving device reaches this deceleration stop control position, the deceleration stop control is performed and the moving device moves at the position where it has traveled the total travel distance. Control the device to stop automatically,
When data regarding the distance from the zone start end to the absolute stop position is not stored, the moving device is decelerated to a medium speed when the detected member for deceleration is detected, and the moving device is stopped when the detected member for absolute stop is detected. The point is to perform deceleration and stop control from medium speed.

(Operation of the Invention) According to the above-mentioned method of the present invention, the address setting member selectively selects each moving device, such as zero work stations, which may be installed at appropriate intervals, before determining the stop position during the travel route. The stopping position at which the address setting member is stopped can be arbitrarily determined, completely independent of the position of the address setting member. However, from the perspective of ensuring safety, all moving devices must be stopped unconditionally, such as in front of the drop lifter installation location where the moving device is transferred to another route, or in front of the confluence of travel routes. At the stop position, as mentioned above, a detected member for absolute stop is installed separately from the address setting member, and a detected member for deceleration is installed at an appropriate distance before each detected member for absolute stop. Once you have determined the stop positions of the zones, etc., measure how many amjl each stop position is from the starting end position of the zone (address setting member), and set the zone.
If you create stop position data consisting of a combination of and a distance value, and input the data obtained by searching for the stop position data when setting the destination membrane, this input data and the distance data created and stored in advance as described above can be used. And based on the current position of the moving device, the total travel path j! from the destination stop position to the absolute stop position! # (number of pulses) and deceleration stop control positions for these stop positions can be calculated.

Once the total travel distance and deceleration stop control position are known, the rest is similar to the conventional one-type pulse encoder travel control, in which when the moving device reaches the deceleration stop control position, deceleration and stop control is performed to complete the total travel. The moving device can be automatically stopped at the position where the distance has been traveled, that is, at the destination stop position or at the absolute stop position.

The distance data is obtained by actually running the moving device and calculating the length of each zone by using the zone magnetic field read from the address setting member, the detection signal of the absolute stop detection member, and the count of emitted pulses from the pulse encoder. It can be created by measuring the distance from the start of the zone to the detected member for absolute stop using the number of pulses and stored in the controller of each moving device, but it is also possible to measure the distance from a fixed starting point to each stop position. Since this is not necessary, 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.

Moreover, even when the total travel distance to the absolute stop position and the deceleration stop control position for the absolute stop position cannot be calculated in advance, such as when traveling for this distance data creation work, the moving device is able to reach the absolute stop position. When it reaches the "NIl detection member for deceleration" installed in front, the speed of the moving device is reduced to medium speed, and when it reaches the detected member for absolute stop, the moving device is decelerated to a stop from medium speed. Embodiment An embodiment of the present invention will be described below with reference to 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 photoelectric switch 6 which together with the pulse encoder 5 constitutes a reading means;
It is equipped with a controller 7 consisting of a microcomputer, and a slave station 8 for multiplex signal transmission connected to the controller 7. The multiplexed signal transmission slave station 8 of each mobile device 1 is always connected via a collector 10 to two signal lines 9 installed along the travel route, and the two signal lines wA9
It is connected to a master station 11 for multiplex signal transmission on the ground side via the ground side. 12 is R5232 to the master station 11 for multiplex signal transmission.
A sequencer 14 is connected via a communication means 13 such as C, 14 is a host controller that gives commands to the sequencer 12, and 15 is a monitor display. Reference numeral 16 denotes a power line for power supply, which supplies power to the motor 3 of each moving device 1 via a current collector 17 and an inverter 4.

As shown in FIG. 3, the travel route of the mobile device 1 includes:
Temporary address codes 18 as address setting members are installed at approximately equal intervals so as to divide the traveling route into a plurality of zones having approximately the same length, and a drone lifter is provided for transferring the moving device 1 to another route. An absolute stop plate 21 as a detected member for absolute stop is installed at an absolute stop position where all the moving devices 1 must be stopped unconditionally, such as in front of -19 or in front of the confluence point 20 of the traveling route. 1. At the entrance of a section 22 in which the moving device 1 must run at a reduced speed, such as a turn on a travel route, there is a medium-speed start temporary 23, and a section 2
A medium-speed release plate 24 is installed at each of the two exits. still,
As shown in FIG. 6, the absolute stop plate 21 is installed at a certain distance, for example, 500 dragons, in front of the absolute stop position.
The medium speed start handler 23 is installed at a position before 0 m.

These address codes temporary 18, absolute stop 121, medium speed start vi, 23, and medium speed release Fi 24 are detected by the photoelectric switch 6, and have lengths as shown in FIG. 4A-D. In particular, the code plate 18 for each address has a constant overall length, but the code plate 18 for each address has a constant length, but there
is configured to have.

The overall layout of the travel route described above can be replaced with zone connection information (hereinafter referred to as MAP information), and each mobile device 1 placed on the travel route has a master station 11 for multiplex signal transmission, a signal line 9 The controller 7 receives and receives the MAP information from the ground side via the multiplex signal transmission slave station 8.
It is stored in the memory of.

Once the MAP information is given to the mobile device 1, the mobile device 1 is caused to travel over the entire travel route, and the distance between each address code 4Ii, T8, that is, the length of each zone, is determined by the circle 4 to l1h6 in Fig. 5. The length of each zone (4L to 6L) is measured to create distance data for each zone storm, and is stored in the memory of the controller 7 together with the MAP information. Of course, in the zone in which the absolute stop plate 21 is installed, not only the length of the zone but also the distance ml from the starting edge of the zone to the absolute stopping position (in Fig. 6, from the starting edge of zone 17 to the absolute stopping position ^ S1 ASI L ) is measured and stored.

The data regarding the length of each zone and the distance from the start of the zone to the absolute stop position are obtained by the functions programmed into the controller 7, that is, by the photoelectric switch 6 detecting the address code plate 18 as shown in FIG. O while
N, a zone reading function 25 that reads the zone h specific to the address code board 18 based on the OFF signal and the count value of the pulses sent from the pulse encoder 5; the charging switch 6 detects the absolute stop board 21; An absolute stop plate detection function 26 that determines whether the absolute stop plate 21 is the absolute stop plate 21 from the counted value of the pulses transmitted by the pulse encoder 5 between the zones;
By counting the pulses sent by the pulse encoder 5 based on the read signal and the absolute stop plate detection signal, the length of each zone and the distance H(
In FIG. 6, there is a section distance measurement function 27 that measures the distance 7La) from the start of the positive 7 zone to the absolute stop plate 21, and an absolute stop from the zone start based on the measured distance from the zone start to the absolute stop plate 21. Distance M to the position (in Fig. 6, distance jl [AsI L -7L a +50 (1m)
This can be created using the absolute stop position calculation function 28 that calculates the absolute stop position.

When the moving device 1 is running to create and store the above distance data, the medium speed start plate 23 is set based on the detection signal of the photoelectric switch 6 and the count value of the emitted pulses of the pulse encoder 5, as shown in FIG. If it is determined and detected, it is checked from the stored data whether there is an absolute stop position within a certain distance, and since it is currently unknown whether there is an absolute stop position within a certain distance, the traveling speed of the moving device 1 is checked. Automatically decelerates to a preset medium speed. Declaration release board 24
If it is determined and detected, the traveling speed of the moving device 1 is automatically accelerated to a preset high speed. And medium speed starting board 2
If the absolute stop plate 21 is detected after detecting 3, the presence or absence of stored data regarding the absolute stop plate 21 is checked, and since there is no stored data regarding the absolute stop plate 21 at present, deceleration and stop control is immediately performed.

Therefore, as shown by the broken line in FIG. 6, the moving device 1 starts decelerating to a medium speed at the position of the medium speed start plate 23, and is controlled to decelerate and stop from the medium speed at the position of the absolute stop plate 21. The moving device 1 will automatically stop before the absolute stop position. If the speed is not decelerated to a medium speed, the speed will be decelerated to a stop from the high speed at the position of the absolute stop plate 21. Therefore, as shown by the imaginary line in FIG. may end up stopping beyond the absolute stop position. The mobile device 1 that has stopped near the absolute stop position can start traveling again in response to a start command from the ground side, and can then continue to create and store the distance data described above.

The zone read by each moving mobile device by the zone positive reading function 25 is read by a device-specific code unique to each mobile device 1, and a code for multiplex signal transmission from the slave station 8 for multiplex signal transmission via signal &119. It is sent to the master station 11. Then, the master station 11 sends the information to the sequencer 1 via the communication means 13.
2, the sequencer 12 can know what zone number each mobile device 1 is in. Furthermore, if there is a request from the ground side, the distance measured by the division distance measurement function 27, that is, the distance from the start of the zone to which the mobile device 1 belongs to the mobile device 1, is sent to the current detailed position information of the mobile device 1. The signal can be sent to the ground side using the multiplex signal transmission system. In this case, since the distance is processed by the number of pulses, it is desirable to convert it to units of cranes and send it to the ground side, for example.

On the ground side, on the ground side, each stop position (stop positions S2 and S3 in Fig. 5), which is arbitrarily set regardless of the position of each address code plate 1B, is stopped from the start end of the zone to which it belongs. Stop position data consisting of a combination of distances to the position is created and stored in the memory of the host controller 14. The distance to each of the stopping positions is actually measured and input for each fin.

Next, the traveling control method of the mobile device 1 will be explained in detail.
Now, as shown in FIG. 5, if a destination setting is performed for moving the moving device 1, which is stopped at the stop position ls2 in the positive 4 zone, to the stop position S3 in the 6th zone, then As shown in FIG. 8, the stop position is determined from the stop position data 29 created and stored as described above. &S3 data, that is, [zone Na6, 1800 mm], is retrieved, 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. The controller 7 of the mobile device 1 has a total mileage calculation function 3
0a is programmed, and the data of the stop position S3 [zone 6/1800 battle], the length 4L of the seed 4 zone retrieved from the data 31a regarding the length of each zone created and stored as described above, and the section The current position i? of the mobile device 1 obtained from the distance measurement function 27? ? (The number of pulses corresponding to the distance 2200 @■ from the starting end of the N14 zone to the stop position S2) and the length 5L of the magnetic 5 zone,
Total travel path RT L from stop position S2 to stop position S3
a = 4 L -2200 (am) + SL+1
800 (sn) is calculated. Incidentally, since all internal processing including storage data is performed using pulse numbers, the distance value (1800 dragons) given from the stop position data 23 is converted to the pulse number. This total traveling distance (number of pulses)'rt
, a are sent to the remaining mileage calculating subtractor R32a.

On the other hand, the controller 7 of each moving device 1 has various speed values of high speed (conveying speed), medium speed (turning and transfer speed), and low speed (positioning speed) using the dim switch on the microcomputer board of the controller 7. , acceleration and deceleration are set. Therefore, when the total travel distance TLa is mX as described above, the deceleration and stop control position calculation function 33a programmed in the controller 7 calculates the preset travel speed condition and the total travel distance 1l as described above.
Based on TLa, for example, the distance 1ilLsa from the destination stop position S3 to the deceleration start position shown in FIG. 5 is calculated.

From the upper controller 14 on the ground side to the sequencer 12
When a start command is given to the mobile device 1 stopped at the stop position S2 via the multiplex signal transmission system, the mobile device 1 starts traveling. Simultaneously with the start of travel of the moving device 1, the total travel distance fiTLa preset in the subtraction function 32a is subtracted by the transmission pulse from the pulse encoder 5, and the remaining travel distance &ilL ta is output.

The mobile device 1 calculates the remaining travel distance LLa and the calculation path #L3a.
When the moving device 1 travels to a position where are equal, 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 automatically stops at the stop position S3. It turns out. Of course, at this time, the remaining travel distance lta is zero or a value within the allowable error range. The controller 7 controls the inverter 4 by an encoder feedback method using the pulses sent from the pulse encoder 5 so that the mobile device 1 travels accurately under the traveling speed conditions set as described above.

The controller 7 of the mobile device 1 receives the input destination stop position and the current position of the mobile device 1 as shown in FIG.
and the data regarding each absolute stop position created and stored as described above (a function 34 is programmed to search for the absolute stop position from the distance 31b from the zone end and the zone start to the destination stop position). Therefore, the sixth
As shown in the figure, when an absolute stop position ASI exists in the human-powered travel route to the destination stop position, the total travel distance calculation function 30b calculates the total travel distance to the absolute stop position ASI @TLb = NQ7 zone. The total traveling distance to the starting point +451 L is calculated, and this total traveling distance (number of pulses) TLb is preset to the remaining traveling distance calculation subtraction function 32b.

On the other hand, when the total traveling distance TLb is calculated as described above,
The deceleration and stop control position calculation function 33b calculates, for example, the distance Lsb from the absolute stop position ASI to the deceleration start position shown in FIG. calculate.

Simultaneously with the start of travel of the mobile device 1, the total travel distance TLb recently entered in the subtraction function 32b is subtracted by the transmission pulse from the pulse encoder 5, and the remaining travel distance @L
tb is output, and this remaining traveling distance Ltb and the calculation path j
When the moving device 1 travels to the position where lLsb becomes equal, a predetermined deceleration and stop control is performed as shown by the solid line in FIG. 6, and the moving device 1 finally reaches the absolute stop position at a predetermined low speed (positioning speed). ^Achieved S1 and reached the absolute stop position^
It will automatically stop at S1. Of course, at this time, the remaining travel distance @Ltb is zero or a value within the allowable error range.

The mobile device 1 that has automatically stopped at the absolute stop position starts traveling according to the start command given from the ground side, but if there is another absolute stop position before the destination stop position, the same control as above is performed. It will automatically stop again at the absolute stop position, and finally it will automatically stop at the desired destination stop position by the control explained based on FIG.

Incidentally, similarly to when the mobile device 1 is traveling for distance data creation and storage work, a medium speed start plate 23 and a medium speed release plate 24 are placed in the middle of the travel path of the mobile device 1 as shown in FIG. If there is a place where the medium speed start plate 23 is installed, as shown in FIG. At the time when the release plate 24 is discriminately detected, the traveling speed of the moving device 1 is automatically accelerated to a preset high speed.

At this time, the medium speed start vi installed before the absolute stop position
, 23, it is determined that there is an absolute stop position within a certain distance from the stored data, so deceleration to medium speed is not performed.
1 is detected, but since there is stored data regarding the absolute stop plate 21, the travel control associated with the detection of the absolute stop plate 21 is not performed as in the case of traveling for distance data creation and storage work.

(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 for conveyance equipment that must be moved from one of a number of stop positions set to another arbitrarily selected one, it is possible to move the equipment using a so-called one-way encoder-based travel control method. It is possible to control the running of the device. Moreover, the preparation work is easier to perform quickly and accurately 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 of a work station, etc., and it is sufficient to roughly install address setting members at appropriate intervals on the travel path side, regardless of the stop position, so there is no need to install anything at all on the hardware side. However, it is easy to implement, and the stopping position can be easily changed, increased or decreased.

Moreover, in places where all moving devices must be stopped unconditionally from a safety standpoint, that is, at absolute stop positions, if the traveling control is performed using one encoder to automatically stop the moving devices at the absolute stop position. Of course, even if this is not the case, the moving device can always be stopped automatically, so for example, when creating and storing data regarding the length of each zone or the distance from the start of the zone to the absolute stop position, or when the absolute stop position is The moving device can be safely stopped even immediately after setting (immediately after installing the detected member for absolute stop).

Furthermore, according to the method of the present invention, when creating and storing data regarding the length of each zone and the distance from the start of the zone to the absolute stop position, the moving device can be automatically decelerated to a medium speed before the absolute stop position. Therefore, while efficiently performing the above operations by setting the steady running speed of the moving device to a high speed, the required distance to a complete stop when deceleration and stop control is performed at the position of the detected member for absolute stop can be shortened, and the absolute stop position can be increased. Dangerous situations such as overrun and stoppage can be avoided. Moreover, during normal travel control, the deceleration detected member before the absolute stop position does not function in any way.
By directly performing deceleration and stop control from a high speed at a deceleration and stop control position calculated in advance based on the absolute stop position, the conveyance work by the moving device can be carried out efficiently.

[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,
Figure 4 is a side view showing various control boards installed on the travel route side, Figures 5 and 6 are diagrams explaining specific sections in the travel route, and Figures 7 to 9 are functions of the control device. FIG. 10 is a flowchart explaining the speed control procedure. DESCRIPTION OF SYMBOLS 1... Moving device, 2... Driving wheel, 3... Motor, 4... Inverter, 5... Pulse encoder, 6... Photoelectric switch, 7... Controller,
8...Slave station for multiplex signal transmission, 9...Signal line, 11.
...Multiple signal transmission master station, 12...Sequencer-21
3...Communication means, 14...Upper controller, 1
6... Power supply line, 18... Address code plate (address setting member), 21... Absolute stop plate (detected member),
23... Medium speed start plate, 24... Medium speed release plate. Nu Naki Q et al.

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, an address setting member is installed at appropriate intervals along the travel route of the mobile device. The system is divided into multiple zones, and detectable members for absolute stop are installed corresponding to the absolute stop positions where all moving devices are stopped, and detected members for deceleration are installed at an appropriate distance before each detected member for absolute stop. The mobile device is equipped with reading means for the address setting member and each detected member, and the length of each zone and the absolute distance from the zone starting point are determined from the detection signal of the reading means and the count value of the emitted pulses of the pulse encoder. Data regarding the distance to the stop position is created and stored in advance, and the total travel distance to the destination stop position input using the zone number and the distance value from the zone start point, the total travel distance to the absolute stop position, and the total travel distance for these stop positions are calculated. A deceleration and stop control position is calculated, and when the moving device reaches this deceleration and stop control position, deceleration and stop control is performed to automatically stop the moving device at the position where the moving device has traveled the aforementioned total travel distance. When data regarding the distance to the absolute stop position is not stored, the moving device is decelerated to medium speed when the detected member for deceleration is detected, and the moving device is decelerated from medium speed when the detected member for absolute stop is detected. A travel control system for a moving device characterized by deceleration and stop control.