JP5029408B2 - Travel control method for moving body - Google Patents
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Description
本発明は、同一軌道上を移動する複数の移動体の走行制御方法に関する。 The present invention relates to a traveling control method for a plurality of moving bodies that move on the same track.
従来、同一軌道上を移動する複数の移動体（例えば、台車やスタッカクレーンなど）の走行制御については、一方と他方の位置情報を互いに送信し、予め設定された一定距離よりも接近したことが確認されると、それぞれの移動体が緊急停止を行うという制御がなされてきた（例えば、特許文献１）。
しかし、上記のような従来の走行制御方法は、位置情報による走行制御を行うものであるため、移動体の状況に応じた制御が難しく、例えば、隣合うベイのように近接した位置に２台の移動体を移動させて作業を行わせる場合、同時期に双方の移動体を指定停止位置に移動させることができない。このため、一方の移動体が指定停止位置で作業中、他方の移動体は所定距離だけ離れた位置で待機し、一方の移動体の作業が終了し所定距離だけ離れた待機位置に移動した後、他方の移動体がその指定停止位置に移動し作業を行うというような作業効率の悪い運転が行われていた。 However, since the conventional traveling control method as described above performs traveling control based on position information, it is difficult to control according to the state of the moving body. For example, two vehicles are located at close positions such as adjacent bays. In the case of performing the work by moving the movable bodies, it is impossible to move both movable bodies to the designated stop position at the same time. For this reason, while one moving body is working at the designated stop position, the other moving body waits at a position separated by a predetermined distance, and after the work of one moving body is completed and moved to a standby position separated by a predetermined distance. However, an operation with poor work efficiency is performed in which the other moving body moves to the designated stop position and performs work.
したがって本発明の目的は、同一軌道内を移動する複数の移動体を、近接した位置関係において安全に且つ効率的に走行させることができる走行制御方法を提供することにある。 Accordingly, an object of the present invention is to provide a travel control method capable of safely and efficiently traveling a plurality of moving bodies that move in the same track in a close positional relationship.
上記課題を解決するための本発明法は、２つの移動体間の相対接近速度に対応した限界接近距離を予め設定しておき、移動中の２つの移動体間の距離が、両移動体間の相対接近速度に対応する限界接近距離よりも小さくなった場合に、両移動体を緊急停止させるような走行制御を行うことにより、２つの移動体が安全に且つ近接した位置関係で効率的に走行できるようにしたものであり、以下を要旨とするものである。 In the method of the present invention for solving the above-mentioned problem, a limit approach distance corresponding to the relative approach speed between two moving bodies is set in advance, and the distance between the two moving bodies being moved is between the two moving bodies. When the distance is smaller than the limit approach distance corresponding to the relative approach speed of the two, the two mobile bodies are safely and efficiently in a close positional relationship by performing a travel control that causes both mobile bodies to stop urgently. It is designed to run and has the following gist.
［1］同一軌道上を移動する複数の移動体の走行制御方法であって、
２つの移動体間の相対接近速度に対応した限界接近距離Ｙ０を予め設定しておき、移動中の２つの移動体間の距離Ｙを測定するとともに、両移動体間の相対接近速度Ｘを演算し、両移動体間の前記距離Ｙを前記相対接近速度Ｘに対応する限界接近距離Ｙ０と比較し、Ｙ＜Ｙ０の場合に両移動体を直ちに停止させるようにした走行制御方法であり、
移動体に搭載されたレーザー距離計による測定値から両移動体間の相対接近速度ｘ １ を演算し、移動体に搭載されたエンコーダによる測定値から両移動体間の相対接近速度ｘ ２ を演算し、前記相対接近速度ｘ １ と相対接近速度ｘ ２ の偏差が基準値以下の場合には、相対接近速度ｘ ２ を相対接近速度Ｘとして両移動体の走行を制御するとともに、相対接近速度ｘ １ と相対接近速度ｘ ２ の偏差が基準値を超える場合には、両移動体を直ちに停止させることを特徴とする移動体の走行制御方法。
［2］上記［1］の走行制御方法において、両移動体間の距離Ｙを、移動体に搭載されたレーザー距離計で測定することを特徴とする移動体の走行制御方法。
[1] A traveling control method for a plurality of moving bodies moving on the same track,
A limit approach distance Y 0 corresponding to the relative approach speed between the two moving bodies is set in advance, the distance Y between the two moving bodies being moved is measured, and the relative approach speed X between the two moving bodies is determined. A travel control method that calculates and compares the distance Y between the two moving bodies with a limit approach distance Y 0 corresponding to the relative approach speed X, and immediately stops both moving bodies when Y <Y 0. Yes,
It calculates a relative approach speed x 1 between the two mobile from measurements by the laser rangefinder that is mounted on a mobile object, calculates a relative approach speed x 2 between both mobile from measurements by the encoder mounted on the moving body and, in the case of less than the relative deviation of the approach speed x 1 and the relative approach speed x 2 is the reference value, controls the driving of both the moving body relative approaching velocity x 2 as a relative approach speed X, a relative approach speed x 1 and when the deviation of the relative approach speed x 2 exceeds the reference value, the traveling control method for a moving body, characterized in that immediately stops both mobile.
[2] The traveling control method for a moving body according to [1], wherein the distance Y between the moving bodies is measured by a laser distance meter mounted on the moving body.
［3］上記［1］または［2］の走行制御方法において、両移動体が互いに接近する方向に指定停止位置まで移動する際に、両移動体の走行を制御することを特徴とする移動体の走行制御方法。 [3] In the travel control method according to [1] or [2], the travel of both moving bodies is controlled when the both moving bodies move to a designated stop position in a direction approaching each other. Driving control method.
本発明によれば、同一軌道内を移動する複数の移動体の走行制御を、２つの移動体間の相対接近速度に対応した限界接近距離に基づいて行うので、複数の移動体を近接した位置関係において安全に且つ効率的に走行させることができる。 According to the present invention, since the traveling control of the plurality of moving bodies moving in the same track is performed based on the limit approach distance corresponding to the relative approach speed between the two moving bodies, the position where the plurality of moving bodies are close to each other. It is possible to drive safely and efficiently in relation.
本発明は、同一軌道上を移動する複数の移動体の走行制御方法であり、２つの移動体間の相対接近速度に対応した限界接近距離Ｙ０を予め設定しておき、移動中の２つの移動体間の距離Ｙを測定するとともに、両移動体間の相対接近速度Ｘを演算し、前記距離Ｙを前記相対接近速度Ｘに対応する限界接近距離Ｙ０と比較し、Ｙ＜Ｙ０の場合に両移動体を直ちに停止させるように制御を行うものである。
移動体は、一般にはスタッカクレーンや台車などであるが、その種類は問わない。また、同一軌道上での２つの移動体の移動形態も、相互接近移動（両移動体が互いに接近する方向に移動）、片側接近移動（一方の移動体が停止中の他方の移動体に接近する方向に移動）、同方向移動（両移動体が速度差をもって同一方向に移動）のいずれでもよい。但し、両移動体が互いに接近する方向に指定停止位置まで移動する場合に、特に、近接した位置関係で安全に且つ効率的に走行させることが求められるため、そのような移動形態の場合に特に有用である。
The present invention is a traveling control method for a plurality of moving bodies that move on the same track. A limit approach distance Y 0 corresponding to the relative approach speed between two moving bodies is set in advance, and two moving bodies are moved. The distance Y between the moving bodies is measured, the relative approach speed X between the two moving bodies is calculated, the distance Y is compared with the limit approach distance Y 0 corresponding to the relative approach speed X, and Y <Y 0 . In such a case, control is performed so that both moving bodies are immediately stopped.
The moving body is generally a stacker crane, a carriage or the like, but the type is not limited. In addition, the moving form of two moving bodies on the same trajectory is also a mutual approaching movement (moving in the direction in which both moving bodies approach each other), one-side approaching movement (one moving body approaches the other moving body that is stopped) Or moving in the same direction (both moving bodies move in the same direction with a speed difference). However, when both moving bodies move to the designated stop position in a direction approaching each other, it is particularly required to travel safely and efficiently in a close positional relationship. Useful.
図１は本発明の基本概念図であり、Ａ，Ｂは走行制御される２つの移動体である。また、図２は、２つの移動体Ａ，Ｂ間の相対接近速度に対応して予め設定される限界接近距離Ｙ０の一例を示すものである。移動体間Ａ，Ｂの相対接近速度に対応した限界接近距離Ｙ０は適宜な形式で設定できるが、図２の場合には、移動体Ａ，Ｂ間の相対接近速度に対応した以下のような規定式が設定され、この規定式に基づき相対接近速度に対応した限界接近距離Ｙ０が求められるようにしてある。この限界接近距離Ｙ０は、移動体Ａ，Ｂの減速パターンと、所定の相対距離確認速度に達した時点での安全停止距離などを考慮して決定される。
・相対接近速度Ｘが0〜30ｍ／minの場合 Ｙ０＝35Ｘ−800
・相対接近速度Ｘが30超〜60ｍ／minの場合 Ｙ０＝33.3Ｘ−700
・相対接近速度Ｘが60超〜120ｍ／minの場合 Ｙ０＝36.8Ｘ−907
・相対接近速度Ｘが120超〜160ｍ／minの場合 Ｙ０＝102Ｘ−8726
・相対接近速度Ｘが160超〜200ｍ／minの場合 Ｙ０＝60.2Ｘ−2038
FIG. 1 is a basic conceptual diagram of the present invention, and A and B are two moving bodies whose traveling is controlled. Also, FIG. 2 shows an example of the approach limit distance Y 0 which is set in advance corresponding to the relative approach speed between the two mobile A, B. The limit approach distance Y 0 corresponding to the relative approach speed between the moving bodies A and B can be set in an appropriate form. In the case of FIG. 2, the following approach corresponding to the relative approach speed between the moving bodies A and B is as follows. Do defined type is set, the limit approach distance Y 0 corresponding to the relative approach speed based on this provision equation are then so determined. This approach limit distance Y 0, the mobile A, the deceleration pattern of B, is determined in consideration of the safety stopping distance at the time of reaching a predetermined relative distance check speed.
・ When the relative approach speed X is 0-30m / min Y 0 = 35X-800
・ When the relative approach speed X is more than 30 to 60m / min Y 0 = 33.3X-700
・ When the relative approach speed X is over 60 to 120 m / min Y 0 = 36.8X−907
・ When the relative approach speed X is over 120 to 160m / min Y 0 = 102X-8726
・ When the relative approach speed X is over 160 to 200m / min Y 0 = 60.2X-2038
２つの移動体Ａ，Ｂ間の距離Ｙの測定法は任意であるが、移動体に搭載されたレーザー距離計で測定することが、測定精度と設備の簡便性の面から好ましい。この方法では、図１に示すように２つの移動体Ａ，Ｂのうちいずれか一方の移動体にレーザー距離計が搭載され、他方の移動体に対するレーザー光の照射および反射光の検出により、両移動体Ａ，Ｂ間の距離Ｙが測定される。
また、２つの移動体Ａ，Ｂ間の相対接近速度Ｘの測定法も任意であるが、例えば、移動体に搭載されたレーザー距離計による測定値、或いは移動体に搭載されたエンコーダによる測定値から求めることができる。移動体に搭載されたエンコーダによる相対接近速度は、２つの移動体Ａ，Ｂの各々エンコーダにより演算された移動体速度の和として求められる。
Although the measuring method of the distance Y between the two moving bodies A and B is arbitrary, it is preferable to measure with a laser distance meter mounted on the moving body from the viewpoint of measurement accuracy and facility simplicity. In this method, as shown in FIG. 1, a laser distance meter is mounted on one of the two moving bodies A and B, and both the moving bodies are irradiated with laser light and reflected light is detected. A distance Y between the moving bodies A and B is measured.
The method of measuring the relative approach speed X between the two moving bodies A and B is also arbitrary. For example, the measured value by a laser distance meter mounted on the moving body, or the measured value by an encoder mounted on the moving body. Can be obtained from The relative approach speed by the encoder mounted on the mobile body is obtained as the sum of the mobile body speeds calculated by the encoders of the two mobile bodies A and B.
本発明法では、移動中の２つの移動体Ａ，Ｂ間の距離Ｙと、両移動体Ａ，Ｂ間の相対接近速度Ｘを測定・演算し、前記距離Ｙが前記相対接近速度Ｘに対応する限界接近距離Ｙ０よりも小さくなった場合に、両移動体Ａ，Ｂを緊急停止させるので、２つの移動体Ａ，Ｂを安全に且つ近接した位置関係で効率的に走行させることができる。
また、走行制御をより安全且つ確実に行うには、前記レーザー距離計による測定値と前記エンコーダによる測定値の両方を用いた、以下のような制御を行うことが好ましい。すなわち、前記レーザー距離計による測定値から両移動体Ａ，Ｂ間の相対接近速度ｘ１を演算し、前記エンコーダによる測定値から両移動体Ａ，Ｂ間の相対接近速度ｘ２を演算する。そして、相対接近速度ｘ１と相対接近速度ｘ２の偏差が基準値以下の場合には、相対接近速度ｘ２を相対接近速度Ｘとして、上述したような両移動体Ａ，Ｂの走行制御を行う。一方、相対接近速度ｘ１と相対接近速度ｘ２の偏差が基準値を超える場合には、何らかの異常事態が生じた可能性があるので、両移動体Ａ，Ｂを直ちに停止させる。
In the method of the present invention, the distance Y between the two moving bodies A and B in motion and the relative approach speed X between the two moving bodies A and B are measured and calculated, and the distance Y corresponds to the relative approach speed X. if it becomes smaller than the critical approach distance Y 0 to both mobile a, the since the emergency stop B, it is possible to efficiently run two mobile a, B safely and close positional relationship .
In order to perform traveling control more safely and reliably, it is preferable to perform the following control using both the measured value by the laser distance meter and the measured value by the encoder. That is, the laser range both mobile from the measured value by the meter A, calculates a relative approach speed x 1 between B, both mobile A from the measured value by the encoder to calculate a relative approach speed x 2 between B. When the deviation of the relative approach speed x 1 and the relative approach speed x 2 is less than or equal to the reference value, a relative approach speed x 2 as a relative approach speed X, both mobile A as described above, the travel control B Do. On the other hand, when the deviation of the relative approach speed x 1 and the relative approach speed x 2 exceeds the reference value, there is a possibility that some abnormality has occurred, both the mobile unit A, immediately stops the B.
ここで、相対接近速度ｘ１と相対接近速度ｘ２の偏差が基準値以下の場合に、相対接近速度ｘ２を用いて走行制御を行うのは、レーザー距離計の測定値から得られる相対接近速度ｘ１よりもエンコーダの測定値から得られる相対接近速度ｘ２の方が演算精度が高いためである。
以上のように、レーザー距離計から得られる相対接近速度ｘ１と、エンコーダから得られる相対接近速度ｘ２の両方を用いた走行制御を行うことにより、走行の安全性をより向上させることができる。
Here, when the deviation of the relative approach speed x 1 and the relative approach speed x 2 is less than or equal to the reference value, perform travel control using the relative approach speed x 2, the relative approach derived from the measured values of the laser rangefinder This is because the relative approach speed x 2 obtained from the measured value of the encoder is higher in calculation accuracy than the speed x 1 .
As described above, the relative approach speed x 1 obtained from the laser range finder, by performing driving control using both the relative approach speed x 2 resulting from the encoder, it is possible to further improve the safety of the traveling .
図３は、本発明法の実施に供される制御装置の一例を示すものである。
１は走行制御装置、２は移動体Ａ，Ｂの駆動制御装置である。前記走行制御装置１は、移動体に搭載されたレーザ距離計８の出力（距離Ｙ）に基づき移動体Ａ，Ｂ間の相対接近速度ｘ１を演算する速度演算部３、移動体に搭載されたエンコーダ９Ａ，９Ｂの出力に基づき移動体Ａ，Ｂ間の相対接近速度ｘ２を演算する速度演算部４、これら速度演算部で演算された相対接近速度ｘ１と相対接近速度ｘ２とを比較し、その結果に応じて走行指令装置２に信号（緊急停止指令）を送る速度差演算部５、前記相対接近速度ｘ２に対応した限界接近距離Ｙ０を演算する限界接近距離演算部６、演算された限界接近距離Ｙ０とレーザ距離計の出力（距離Ｙ）とを比較し、その結果に応じて走行指令装置２に信号（緊急停止指令）を送る比較演算部７などから構成されている。
FIG. 3 shows an example of a control device used for carrying out the method of the present invention.
Reference numeral 1 is a travel control device, and 2 is a drive control device for the moving bodies A and B. The travel control device 1, the mobile A based on the output of the laser rangefinder 8 mounted on the moving body (distance Y), the
図４は、本発明の走行制御法のフローチャートの一例を示すものである。
移動体ＡまたはＢに搭載されたレーザー距離計８により両移動体Ａ，Ｂ間の距離Ｙが、例えば３０ｍsec毎に測定され、その距離計データａが走行制御装置１に取り込まれる。この距離計データａに基づき移動体Ａ，Ｂ間の相対接近速度ｘ１が演算される（Ｓ１）。一方、両移動体Ａ，Ｂに各々搭載されたエンコーダ９Ａ，９Ｂの各エンコーダデータｂ（パルスカウント）が走行制御装置１に取り込まれ、両移動体Ａ，Ｂのエンコーダデータｂに基づき、移動体Ａ，Ｂ間の相対接近速度ｘ２が演算される（Ｓ２）。
FIG. 4 shows an example of a flowchart of the traveling control method of the present invention.
The distance Y between the moving bodies A and B is measured by the laser distance meter 8 mounted on the moving body A or B, for example, every 30 msec, and the distance meter data a is taken into the travel control device 1. Mobile A on the basis of the distance meter data a, the relative approach speed x 1 between B is calculated (S1). On the other hand, the encoder data b (pulse count) of the
次いで、前記相対接近速度ｘ１と相対接近速度ｘ２が比較され（Ｓ３）、その偏差が所定の基準値を超える場合には、駆動制御装置２に信号が送られ、両移動体Ａ，Ｂを直ちに停止させる。一方、偏差が基準値以下の場合には、相対接近速度ｘ２を相対接近速度Ｘとして、以下のような走行制御を行う。すなわち、予め設定された相対接近速度と限界接近距離Ｙ０との関係に基づき、前記相対接近速度Ｘ（相対接近速度ｘ２）に対応する限界接近距離Ｙ０を求める（Ｓ４）。例えば、図２のような規定式が定められている場合には、その規定式により相対接近速度Ｘから限界接近距離Ｙ０が演算される。
次いで、この限界接近距離Ｙ０と前記距離計データａである距離Ｙとが比較され（Ｓ５）、Ｙ＜Ｙ０の場合に駆動制御装置２に信号が送られ、両移動体Ａ，Ｂを直ちに停止させる。一方、Ｙ≧Ｙ０の場合には、以上のようなＳ１〜Ｓ５を繰り返す。
Then, the relative approaching speed x 1 and the relative approach speed x 2 are compared (S3), if the deviation exceeds a predetermined reference value, a signal is sent to the drive control unit 2, both mobile A, B Stop immediately. On the other hand, if the deviation is less than the reference value, a relative approach speed x 2 as a relative approach speed X, performs running control as follows. That is, based on the relationship between the preset relative approach speed and the limit approach distance Y 0 , the limit approach distance Y 0 corresponding to the relative approach speed X (relative approach speed x 2 ) is obtained (S4). For example, when a defining formula as shown in FIG. 2 is defined, the limit approach distance Y 0 is calculated from the relative approach speed X based on the defining formula.
Then, the distance Y between the approach limit distance Y 0 is the rangefinder data a are compared (S5), a signal is sent to the drive control unit 2 in the case of Y <Y 0, both mobile A, B Stop immediately. On the other hand, in the case of Y ≧ Y 0 is repeated S1~S5 described above.
Ａ，Ｂ 移動体
１ 走行制御装置
２ 駆動制御装置
３，４ 速度演算部
５ 速度差演算部
６ 限界接近距離演算部
７ 比較演算部
８レーザ距離計
９Ａ，９Ｂ エンコーダ
A, B Mobile 1 Travel controller 2
Claims (3)
２つの移動体間の相対接近速度に対応した限界接近距離Ｙ０を予め設定しておき、移動中の２つの移動体間の距離Ｙを測定するとともに、両移動体間の相対接近速度Ｘを演算し、両移動体間の前記距離Ｙを前記相対接近速度Ｘに対応する限界接近距離Ｙ０と比較し、Ｙ＜Ｙ０の場合に両移動体を直ちに停止させるようにした走行制御方法であり、
移動体に搭載されたレーザー距離計による測定値から両移動体間の相対接近速度ｘ １ を演算し、移動体に搭載されたエンコーダによる測定値から両移動体間の相対接近速度ｘ ２ を演算し、前記相対接近速度ｘ １ と相対接近速度ｘ ２ の偏差が基準値以下の場合には、相対接近速度ｘ ２ を相対接近速度Ｘとして両移動体の走行を制御するとともに、相対接近速度ｘ １ と相対接近速度ｘ ２ の偏差が基準値を超える場合には、両移動体を直ちに停止させることを特徴とする移動体の走行制御方法。 A traveling control method for a plurality of moving bodies moving on the same track,
A limit approach distance Y 0 corresponding to the relative approach speed between the two moving bodies is set in advance, the distance Y between the two moving bodies being moved is measured, and the relative approach speed X between the two moving bodies is determined. A travel control method that calculates and compares the distance Y between the two moving bodies with a limit approach distance Y 0 corresponding to the relative approach speed X, and immediately stops both moving bodies when Y <Y 0. Yes,
It calculates a relative approach speed x 1 between the two mobile from measurements by the laser rangefinder that is mounted on a mobile object, calculates a relative approach speed x 2 between both mobile from measurements by the encoder mounted on the moving body and, in the case of less than the relative deviation of the approach speed x 1 and the relative approach speed x 2 is the reference value, controls the driving of both the moving body relative approaching velocity x 2 as a relative approach speed X, a relative approach speed x 1 and when the deviation of the relative approach speed x 2 exceeds the reference value, the traveling control method for a moving body, characterized in that immediately stops both mobile.
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