JPS63261404A - Automatic carrying and traveling controller - Google Patents

Abstract

PURPOSE:To automatically allow the titled device to correspond to the variation of a load by calculating an acceleration factor and a deceleration factor based on weight detected by a weight detector. CONSTITUTION:The automatic carrying/traveling controller 5 mounts the weight detector 1 on its load receiving part 2. Weight detected by the detector 1 is sent to an acceleration factor arithmetic part 12 and a deceleration factor arithmetic part 13 and the acceleration and deceleration factors are calculated based on the load signal. A traveling control part 14 determines a speed notch ON/OFF point and a brake driving point based on the acceleration factor or the deceleration factor obtained from the arithmetic part 12 or 13 and applies the determined points to a start/stop control part 9.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an automatic transport travel control device for a transport device that automatically transports a load to a predetermined position upon receiving a load.

[Conventional technology]

Conventionally, there have been devices of this type as shown in FIGS. 7 to io. In the figure, reference numeral 2 denotes a cargo receiving section of the automatic conveyance traveling device (A), 3 a traveling cart, 4 a travel drive section, and 5 an automatic conveyance traveling control device that automatically stops and controls these automatic conveyance traveling devices (A). , 6 is a central command and monitoring device that outputs a movement target point and a start command, and 21 is a running rail.

FIG. 9 is a functional block diagram of the automatic transport travel control device 5, and 7 and 8 are signal receiving units output from the central command and monitoring device 6, a target travel point data receiving unit and a start command receiving unit, respectively. , 11 is the target travel point data receiving section 7
A moving distance, direction, and set speed calculation unit that calculates the distance from the current position to the moving point based on the target point data, and calculates an appropriate speed and moving direction according to the distance, 42.43
14 is an acceleration coefficient fixed table and a deceleration coefficient fixed table that have been determined in advance based on test driving for the purpose of use in running and stopping control, and 14 is a fixed table for the acceleration coefficient fixed table 42 and deceleration coefficient fixed table 43. A travel control section determines important points of the speed notch and brake operation points based on acceleration or deceleration coefficients from the table; 9 is a starting command, movement distance, and direction from a starting command receiving section 8;

Speed and direction from set speed calculation unit 11 and travel control unit 1
a start/stop control section that receives speed notch on/off points, brake activation points, etc. from 4, actually outputs start/stop signals to the travel drive section 4, and receives those answers for control; Reference numeral 10 denotes a position detection unit that indicates the current position to control the automatic conveyance traveling device.

Moreover, FIG. 7 shows a general example of a travel diagram for controlling the automatic conveyance traveling device (A), in which the horizontal axis shows the travel distance S,
The vertical axis shows the speed V. Point 23 is the acceleration running section from start P until the speed stabilizes, and from point 23 to point 24 is the stable running section where the speed is constant, point 2
4 to point 25 indicates a deceleration traveling section from point 24 where the braking operation is started until the vehicle is stopped at the target point at point 25.

Next, the operation will be explained with reference to chart 7a in Figure K10. First, in step 8T3Q, when the target point and starting signal are received from the central command monitoring device 6, the signals are divided into the target driving point data receiving section 7 and the starting command receiving section 8, respectively. Based on the target point data, the moving distance, direction, and set speed calculation unit 11 calculates the moving distance and moving direction based on the current point (step 5T31), and selects an appropriate speed according to the moving distance. (Step 8T32).

Next, when you start driving, the distance S to point 23 in Fig. 7 is the acceleration coefficient, initial velocity vOs, and if the speed at point 23 is Vl, where C is expressed as a proportionality constant, and the acceleration coefficient is Determined accordingly.

Also, point 24 is the braking start point, but the deceleration coefficient is al, and the speed at point 24 is "Is stop point 2.
5 is the velocity VO (therefore, O), where B is expressed by a proportionality constant and is determined by the deceleration coefficient al (step 8T45).

Although the example of FIG. io is described as an example for determining the braking start point 24, the same control content can be used for driving control to reach a target point during acceleration.

Therefore, when braking is explained, step 3T45
A running test is conducted in advance depending on the stage where the current stage is being traveled, from which point to which point it is traveling, and at what speed, and the deceleration coefficient is determined from a fixed table according to each stage. The braking start point is calculated by selecting the deceleration coefficient at that time and using equation (2) above. After that, in step 5T35, the vehicle starts traveling, in step ST35, the vehicle travels, and in step 5T37, it is determined whether or not the previously determined braking start point has been reached.If yes, the brake is activated in step 5T38, and At 8T39, a processing procedure for stopping at the target point is executed.

[Problem that the invention seeks to solve]

Since the conventional automatic conveyance travel control device is configured as described above, it is necessary to carry out a travel test in advance over all stages of travel points to determine fixed acceleration coefficients and deceleration coefficients.

For this reason, when the weight of a part changes, the cargo receiver cannot respond to the weight change, resulting in a problem in that the transport control becomes unreliable.

This invention was made to solve the above-mentioned problems, and it eliminates the trouble of carrying out running tests at all stages of the running point, and also automatically measures the weight of the cargo receiving section, thereby eliminating load fluctuations. The purpose of the present invention is to obtain a highly reliable automatic conveyance travel control device that can automatically handle various situations.

[Means for solving problems]

The automatic transport travel control device according to the present invention installs a weight detector capable of detecting changes in load in a cargo receiving section, and transfers the weight detected by the weight detector to an acceleration coefficient calculation section and a deceleration coefficient calculation section. This system calculates the control points for reaching the destination and controls the transport travel.

[For production]

The acceleration coefficient and deceleration coefficient of the automatic conveyance travel control device in this invention can be calculated by calculating the maximum (MAX) and minimum (MIN) values through actual driving tests, and then using the load weight detector attached to the multi-load receiving section. Acceleration and deceleration coefficients are automatically determined and automatic travel control is performed even when the vehicle is traveling at a given weight.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. In FIGS. 1 and 2, the same parts as in FIGS. 8 and 9 are designated by the same reference numerals. In FIGS. Further, 12 is an acceleration coefficient calculation unit that calculates an acceleration coefficient based on the load signal from the weight detector 1, and 13 is a deceleration coefficient calculation unit.

Furthermore, FIG. 3 is a functional block diagram showing the hardware of the automatic conveyance control device, in which 15 is a central processing unit, 16 is a memory for storing a travel control program memory, and 17 is a functional block diagram showing the hardware of the automatic conveyance control device.
and 18 are an input circuit and an output circuit that respectively perform input and output necessary for driving control, and 19 is a power supply section.

Further, FIG. 4 is an external view of an automatic conveyance travel control device using hardware function blocks as an example, and the reference numerals 15 to 19 are the same as or equivalent to the reference numerals in FIG. 3. However, 20 is a housing.

Next, the operation will be explained with reference to the flowchart shown in FIG. First, steps 5T3Q to 5T32 are the same as the description of the function and operation of the prior art, so they will be omitted, and the explanation will be from step 5T33.

As shown in Fig. 6, the acceleration coefficient or deceleration coefficient is inversely proportional to the weight of the moving traveling device itself.For example, in the case of deceleration, if the deceleration force is 21 and the weight is Wl, the deceleration coefficient a1 is (3). It is expressed by the formula.

However, A is a constant It is expressed as

Here, since the deceleration force F is kept constant, the deceleration coefficient al is determined by the weight W1. Therefore, since the variable weight is only part 2, the weight of part 2 is measured by weight detector 1, and the weight of part 2 is the minimum. A test run is conducted based on the maximum case and the constant A in the above equation (3) is determined. According to equation (3) determined in advance in this way, step 5T
At step 33, the deceleration coefficient a1 is calculated according to the weight of the vehicle at that time.

Next, in step ST34, in order to determine the braking start point 24, the braking start point S is determined from the traveling speed v1, the speed at stop To (=O), and the deceleration coefficient al in step 8T33, using equation (2) above. Ru. After that, step ST35 is similar to the step explained in the conventional example.
~39 and then stop at the target point.

〔Effect of the invention〕

As described above, according to the present invention, the acceleration coefficient and the deceleration coefficient are automatically calculated based on the measurement data of the weight detector attached to the cargo receiving section in accordance with load fluctuations. Since the control device has been configured, there is no need to actually measure the acceleration and deceleration coefficients in all travel stages through test runs, and the speed coefficients can be automatically calculated in the event of unexpected weight changes. This has the effect of providing an automatic conveyance travel control device that can perform calculation control and respond quickly, and is labor-saving and highly reliable.

[Brief explanation of drawings]

FIG. 1 is a model diagram of an automatic conveyance travel control device according to an embodiment of the present invention, FIG. 2 is a functional block diagram of the automatic conveyance travel control device of FIG. 1, and FIG. 3 is a model diagram of the automatic conveyance travel control device of FIG. 2. The software function block diagram in Figure 4 is similar to 7 in Figure 3.
・-Dware external view, FIG. 5 is a flowchart explaining the control contents of the automatic conveyance travel control device according to an embodiment of the present invention, and FIG. 6 is an explanatory diagram of a weight-deceleration diagram according to an embodiment of the present invention. , FIG. 7 is a travel diagram showing a general travel distance vs. speed, FIG. 8 is a diagram of a conventional automatic transport traveling device, and FIG.
The figure is a functional block diagram of a conventional automatic conveyance travel control device, and FIG. 10 is a flowchart illustrating the control contents of the conventional automatic conveyance travel control device. 9 is a start and stop control unit; 12 is an acceleration coefficient calculation unit;
13 is a deceleration coefficient calculation section, 14 is a travel control section, and 15 is a central processing unit. In addition, in the figures, the same reference numerals indicate the same or equivalent parts. Patent applicant Mitsubishi Electric Corporation Representative Patent attorney 1) Hiroshi Sawa: = (2 others)! Man W →

Claims (3)

[Claims] (1) When a destination is specified, the weight of the load is automatically measured in an automatic transport travel control device equipped with a central processing unit that automatically transports the load to the destination according to a predetermined travel chart. a detector; a trolley equipped with the weight detector;
an acceleration coefficient calculation unit and a deceleration coefficient calculation unit that receive measurement values from the weight detector and perform travel control calculations until reaching the destination; and calculation data of the acceleration coefficient calculation unit and the deceleration coefficient calculation unit. a travel control section that calculates and controls a control point for transporting the load to a destination, and a start/stop control section that receives an output signal from the travel control section and controls a travel drive section. An automatic transport travel control device characterized by: (2) The acceleration coefficient and deceleration coefficient calculated by the acceleration coefficient calculation section and deceleration coefficient calculation section are the highest and lowest values calculated in advance by actual driving tests, and the measured values from the weight detector are calculated in advance. Claim 1, characterized in that the acceleration coefficient and deceleration coefficient are automatically determined for
The automatic conveyance travel control device described in . (3) The automatic transport travel control device according to claim 1, wherein the weight detector detects the weight of the load receiving section.