KR100240958B1 - Method for controlling a travelling operation of parking system - Google Patents

Abstract

The present invention relates to a driving control technology of a conveying device of a mechanical parking lot, and to accurately control the traveling speed of the conveying device regardless of load fluctuations or changes in the surrounding environment, and to prevent the deceleration time from being unnecessarily long. Determining a driving direction based on a current position and driving a motor at a predetermined maximum speed (S1 to S3); A second step (S2, S5) of checking acceleration in a predetermined period and obtaining an acceleration distance up to the present time when acceleration is performed; It is to provide a driving control method of the parking lot conveying apparatus comprising the third step (S6 ~ S10) to calculate the remaining distance after the acceleration section has elapsed, and to set the deceleration start time based on the acceleration period to stop at the target position. .

Description

Driving control method of parking lot conveying device {METHOD FOR CONTROLLING A TRAVELLING OPERATION OF PARKING SYSTEM}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a traveling control technology for a conveying device for a mechanical parking lot, and more particularly, to a traveling control method for a parking lot conveying device which shortens unnecessary low-speed traveling time to reach a target position in a short time.

Typically, large-scale mechanical parking facilities consist of a vertical elevating device and a conveying device for entering and leaving a vehicle in a parking space. The conveying device travels along the road, and the driving speed should be determined according to the distance between the current position and the target parking space position. At this time, the faster the speed, the longer the deceleration distance.

As an example of a traveling control device of a conveying apparatus (conveying trolley) of a general mechanical parking lot, Japanese Patent Application No. Hei 5-219405 is described. The operation thereof will be described with reference to FIGS. 1 to 6 as follows.

First, as shown in Figs. 1 to 3, the parking facilities are provided with a plurality of storage compartments 2 in each direction on each floor with respect to the rail 1, which is a traveling path, and the transport cart 3 is provided with the rail ( The vehicle 5 is driven in and out while driving along 1).

That is, at the time of receipt, the vehicle 5 is loaded on the conveyance trolley 3 and moved along the rail 1 by the corresponding distance, and then the vehicle 5 is moved by the elevating device 4 and the transverse conveyor 6. This object is stored in the intended storage room 2, and when shipped from the vehicle 5, the vehicle 5 is released through the reverse process.

On the other hand, with reference to Figures 4 to 6 will be described the driving speed control process of the continuous transport cart 3 as follows.

The scanr 12 outputs a high speed, medium speed, and low speed control signal to the inverter 10 through an output module, whereby the motor 9 is rotated at a corresponding speed so that the transport cart 3 has a corresponding speed. Will drive. At this time, the absolute encoder 11 outputs the number of pulses corresponding to the rotational speed of the driven wheel 7B among the wheels of the conveyance trolley 3, the scanr 12 is input through the input module Based on the number of pulses, the traveling position of the current transport cart 3 is recognized.

However, since the distance that the transport cart 3 has to move in order to put the vehicle 5 in or out of the plurality of storage rooms 2 is an absolute distance, in consideration of this, each storage room 2 5, the absolute position of () is stored in advance as shown in Fig. 5, and the deceleration distance Sh at high speed and the deceleration distance Sm at medium speed necessary for the transport cart 3 to decelerate from high speed to medium speed driving to low speed are previously described. Remember

When driving in such a state, if the current position of the transport cart 3 is detected through the absolute encoder 11 and the address of the target parking space is input, the distance obtained by subtracting the current position from the absolute position of the address ( L) is obtained.

In addition, the driving direction corresponding to the positive part and the negative part of the distance L is determined, and the traveling speed of the transport cart 3 corresponding to the value of (L) is selected from high speed, medium speed, and low speed. Deceleration starts at the time when it becomes Sh and decelerates to low speed. In medium speed driving, deceleration starts at the time when L becomes Sm, decelerates to low speed and stops when L becomes zero (0).

However, in the driving control method of the parking lot conveying apparatus according to the prior art, although the deceleration distance must be adjusted according to the weight of the vehicle, the friction coefficient between the wheel and the rail, the ambient humidity, and the like, only at high speed, medium speed, and low speed. Because only three fixed speed control modes are used, accurate position control is impossible due to the change of environment, and there is a defect that unnecessarily requires much down time at low speed.

Accordingly, the technical problem to be achieved by the present invention is to provide a driving control method of a parking lot transport apparatus for setting the deceleration start time point based on the acceleration distance of the transport device and changing the deceleration distance according to the vehicle weight and environmental change.

1 is a plan view of a typical parking facility.

2 is a cross-sectional view taken along line AA ′ in FIG. 1;

3 is a schematic view of a conveying apparatus applied to a general parking facility.

4 is a transfer control block diagram according to the prior art.

5 is an absolute position storage format diagram of each storage chamber according to the prior art;

6 is a control signal flow chart of the transfer apparatus according to the prior art.

7 is a transport device control block diagram to which the traveling control method of the present invention is applied.

8 is a detailed block diagram of the microcomputer in FIG.

9A and 9B illustrate a format of a ROM and a RAM in FIG. 8;

10 is a functional block diagram of a driving control method according to the present invention.

11A is an explanatory diagram of acceleration and deceleration distances according to load variation.

FIG. 11B is a graph of torque generation for load RL1 in FIG. 11A. FIG.

12 is a signal flowchart of a driving control method of a parking lot transport apparatus according to the present invention;

*** Description of the symbols for the main parts of the drawings ***

71: microcomputer 72: inverter

73: motor 74A, 74B: rotary encoder

The driving control method of the parking lot transport apparatus for achieving the object of the present invention comprises the first step (S1 ~ S3) for determining the driving direction based on the target position and the current position and driving the motor at a predetermined maximum speed; A second step (S2, S5) of checking acceleration in a predetermined period and obtaining an acceleration distance up to the present time when acceleration is performed; After the acceleration section has elapsed, a third step (S6 to S10) is performed to set a deceleration start time point based on the acceleration period to stop at the target position.

FIG. 7 is a control block diagram of a parking lot conveying apparatus to which the driving control method of the present invention is applied. As shown in FIG. 7, the rotation speed of the motor 73 and the traveling of the conveying apparatus are based on the detection pulses DP1 and DP2. A microcomputer that recognizes the position, generates the highest speed command (V ^* ), detects the acceleration section until the transport device reaches the preset speed, and determines the deceleration time point based on the detected acceleration section. 71); An inverter 72 for controlling the driving of the motor 73 according to the speed command V ^* ; A rotary encoder (74A) mounted to a drive shaft of the motor (73) for generating a detection pulse (DP1) corresponding to the rotational speed of the motor (73); The rotary encoder 74B mounted on the wheels of the vehicle-mounted conveying device and generating a detection pulse DP2 corresponding to the traveling speed of the conveying device, is provided with the operation of the present invention. A detailed description with reference to 12 is as follows.

When the vehicle is stored in the storage compartment of the parking space, or when the vehicle which has already been received is released to the outside, the microcomputer 71 generates a predetermined speed command V ^* through the output unit 71A and the inverter 72. ) Is driven in the pattern, whereby the conveying apparatus (carrying bogie) driving motor 73 is driven, and the conveying apparatus starts to travel toward the target position.

At this time, the number of pulses DP1 corresponding to the rotational speed of the motor 73 is output by the rotary encoder installed on the drive shaft of the motor 73, and the rotary encoders installed on the non-drive wheel 74B of the transport apparatus ( 75 outputs a number of pulses DP2 corresponding to the rotational speed of the wheel 74B.

Therefore, the microcomputer 71 recognizes the rotation speed of the motor 73 based on the rotation speed detection pulse DP1 input through the input unit 71B, and based on the rotation speed detection pulse DP2. The driving position of the transport apparatus is controlled by recognizing the current position and the traveling speed of the transport apparatus.

That is, as shown in FIG. 12, when a speed command for moving the transport apparatus from the current position to a predetermined target position is generated, the distance to the target position is obtained by subtracting the distance of the current position from the distance of the target position. The direction of travel is determined by the sign ("+" or "-") of the subtraction result value (S1, S2).

In this way when the distance and direction of travel is determined to move to the target position there is generated the speed command (V ^*) of said motor (73), wherein the speed command (V ^*) on to the target position from the current position is in advance It is set as the product of the sign for the predetermined constant maximum speed and the direction of travel (S3).

Thereafter, it is checked whether the conveying device is being accelerated, where acceleration is a state in which the preset maximum speed is not reached and is increased compared to the previous speed. (S4)

As a result of the above check, if the conveying device is currently accelerating, the acceleration distance to the present time is obtained, and this acceleration distance is an absolute value of the difference between the starting position and the present position (S5).

After that, if the remaining distance value to the target position is greater than {acceleration distance + distance X capable of stopping possible speed} and is large, the remaining distance is calculated and then returned to the fourth step S4. The conveying apparatus is decelerated by calculating the speed command V ^* by calculating (stopable speed x direction code) and outputting it to the inverter 72. (S6 to S8)

Thereafter, when the current position is substantially coincident with the target distance, the driving of the motor 73 is stopped to stop the driving of the conveying apparatus.

As a result, by measuring the acceleration distance at a predetermined period and by setting the deceleration distance based on the acceleration distance, it is possible to accurately control the traveling speed of the transport apparatus without using a separate speed pattern.

FIG. 8 is a block diagram illustrating the microcomputer 71 in detail in FIG. 7. As shown in FIG. 7, the central processing unit 81 activates a program stored in the ROM 82 to execute the speed command V ^* as shown in FIG. 11. ), And stores various information necessary for operation in the RAM 83, and communicates with the outside through the communication device 84.

FIG. 9A shows the internal format of the ROM 82 in FIG. 8. As shown in FIG. 8, an initialization area, a communication device drive area, an input / output device drive area, a speed / position operation control area, a safety device confirmation area, It consists of a motor control area, a main control area, and the like. In addition, FIG. 9B illustrates the internal format of the RAM 83 in FIG. 8. As shown in FIG. 8B, regions such as layer meat memory, failure memory, general variables, temporary variables, and stacks are included.

FIG. 10 is an explanatory diagram expressed in functional blocks of a driving control method of a parking lot transport apparatus according to the present invention. FIG.

FIG. 11A illustrates a change in acceleration distance AL according to a change in load RL, and FIG. 11B illustrates a change in torque of the motor 23 with respect to load RL1 in FIG. 11A.

As described in detail above, in the present invention, the acceleration and deceleration time increases as the load of the conveying apparatus increases, thereby checking the acceleration time at a predetermined cycle during acceleration to measure the total acceleration distance of the conveying apparatus, and according to the acceleration distance during deceleration. By setting the deceleration time, it is possible to precisely control the running of the conveying device regardless of the load of the conveying device, the external environment being changed, the friction coefficient is reduced, the mechanical wear of the conveying device, or the performance of the motor is deteriorated. In addition, there is an effect that can reduce the downtime as much as possible.

Claims (3)

A method of controlling the traveling speed of a conveying apparatus installed in a mechanical parking lot, the method comprising: determining a driving direction based on a target position and a current position of the conveying apparatus and driving a motor at a predetermined maximum speed; A second step of checking whether the conveying apparatus is currently being accelerated at a predetermined cycle and calculating an acceleration driving distance when the vehicle is being accelerated; Comprising a third step of determining the remaining distance and the start of the deceleration operation by comparing the operation distance to the target driving position and the acceleration driving distance calculated in the second step, and to start the deceleration operation to stop at the target position The driving control method of the parking lot transport apparatus. The driving control method according to claim 1, wherein the acceleration driving distance is obtained as an absolute value of a difference between a starting position and a current position. The driving control method according to claim 1, wherein the remaining distance is obtained by "acceleration distance + stoppable distance".

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