JPH06321309A - Speed control method for self-traveling carriage - Google Patents
Speed control method for self-traveling carriageInfo
- Publication number
- JPH06321309A JPH06321309A JP5135308A JP13530893A JPH06321309A JP H06321309 A JPH06321309 A JP H06321309A JP 5135308 A JP5135308 A JP 5135308A JP 13530893 A JP13530893 A JP 13530893A JP H06321309 A JPH06321309 A JP H06321309A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- stop point
- traveling
- self
- timer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 15
- 230000001133 acceleration Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 14
- 239000002699 waste material Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 238000013459 approach Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は途中に複数の停止点を設
定してある軌道に沿って走行する自走台車の速度制御方
法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control method for a self-propelled carriage that travels along a track having a plurality of stop points set on the way.
【０００２】[0002]
【従来の技術】近年物品保管場所である棚を縦横にマト
リクス状に配列してなる２つの収納エリアを、その前面
が対向するように所定の空間を隔てて対置すると共に、
その対向空間内に前記２つの収納エリア夫々の前面に沿
うよう垂直コラムを横方向に走行させると共に、このコ
ラムに上，下動自在なピッカーを設け、このピッカーに
より前記２つの収納エリアの各棚に対し物品の出し入れ
を行なうようにした物品格納システムが提案されている
（特開昭63-165205 号公報) 。2. Description of the Related Art In recent years, two storage areas, in which shelves, which are storage areas for articles, are arranged in a matrix in the vertical and horizontal directions, are arranged opposite each other with a predetermined space therebetween so that their front surfaces face each other.
A vertical column is run laterally in the facing space so as to follow the front surfaces of the two storage areas, and a picker that can be moved up and down is provided on the column, and the pickers can move the shelves of the two storage areas. In addition, an article storage system has been proposed in which articles are taken in and out (Japanese Patent Laid-Open No. 63-165205).
【０００３】ところでこのようなピッカーの移動制御方
法として、従来ピッカーのスピードパターンを台形パタ
ーン, 三角形パターン, その他のパターンに弁別すると
共に、弁別したスピードパターンについて、これをタイ
マ列に分割し、その各タイマ値を演算してピッカーの移
動距離に応じた速度制御パターンを発生させ、この速度
制御パターンに基づきピッカーを制御する方法が提案さ
れている。As such a picker movement control method, a conventional picker speed pattern is discriminated into a trapezoidal pattern, a triangular pattern, and other patterns, and the discriminated speed pattern is divided into timer sequences. A method has been proposed in which a timer value is calculated to generate a speed control pattern according to the picker moving distance, and the picker is controlled based on this speed control pattern.
【０００４】[0004]
【発明が解決しようとする課題】しかしこのような従来
方法にあっては、ピッカーのスピードパターンをタイマ
列に分割し、各タイマ値を演算して求めるため、制御部
に大きな演算能力が必要とされ、また制御則も複雑で設
備コストが高くなる等の問題があった。本発明はかかる
事情に鑑みなされたものであって、その目的とするとこ
ろは制御部に特別な演算機能を要せず、制御則も極めて
簡単に構成可能とした自走台車の速度制御方法を提供す
るにある。However, in such a conventional method, since the speed pattern of the picker is divided into a series of timers and each timer value is calculated and obtained, the control unit requires a large calculation ability. In addition, the control law is complicated and the equipment cost is high. The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a speed control method for a self-propelled carriage that does not require a special calculation function in a control unit and can also configure a control law extremely easily. To provide.
【０００５】[0005]
【課題を解決するための手段】本発明に係る自走台車の
速度制御方法は、夫々被検出体が設けられている複数の
停止点を略等間隔に設定されている軌道上を、前記被検
出体を検出する検出体を備え、指示された目標停止点に
向けて加速走行を開始し、目標停止点の手前で減速走行
に切換えて、目標停止点に停止するようにした自走台車
の速度制御方法において、自走台車が停止している停止
点と目標停止点との間の移動距離に対応して予め定めら
れた加速走行又は定速走行から減速走行への速度切換タ
イミングを示す複数のパラメータのいずれか１つを選択
し、選択したパラメータにて規定されるタイミングに基
づき加速走行又は定速走行から減速走行に速度切換えを
行うことを特徴とする。According to the speed control method for a self-propelled carriage according to the present invention, a plurality of stop points, each of which is provided with an object to be detected, are set on the track at substantially equal intervals. A self-propelled vehicle equipped with a detection body that detects a detection body, starts acceleration traveling toward the instructed target stop point, switches to deceleration traveling before the target stop point, and stops at the target stop point. In the speed control method, a plurality of speed change timings from acceleration traveling or constant speed traveling to deceleration traveling that are predetermined according to the moving distance between the stop point where the self-propelled carriage is stopped and the target stop point are indicated. Is selected, and the speed is switched from the acceleration traveling or the constant speed traveling to the deceleration traveling based on the timing defined by the selected parameter.
【０００６】[0006]
【作用】本発明にあってはこれによって、自走台車の走
行距離に対応して定めた速度切換タイミングを示すパラ
メータを選択することで、選択したパラメータにより規
定される速度切換タイミングで自走台車をその停止点か
ら目標停止点に所定の速度パターンで走行させることが
可能となる。According to the present invention, by selecting the parameter indicating the speed switching timing determined in accordance with the traveling distance of the self-propelled vehicle, the self-propelled vehicle can be selected at the speed switching timing defined by the selected parameter. It is possible to drive the vehicle from the stop point to the target stop point in a predetermined speed pattern.
【０００７】[0007]
【実施例】以下本発明をその実施例を示す図面に基づき
具体的に説明する。図１は本発明に係る自走台車の速度
制御方法を適用する軌道及びこれに沿って走行する自走
台車の模式図である。図１において１は軌道、２はイン
バータ駆動される自走台車、Ａ1 ，Ａ2 〜Ａn は略一定
距離Ｌ毎に設定された自走台車２の各停止点であり、軌
道１に沿って略等間隔に設定されている。各停止点Ａ1
〜Ａn にはストライカ等の被検出体３が設けられ、また
自走台車２には前記被検出体３を検出するセンサ等の検
出体４が設けられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below with reference to the drawings showing the embodiments. FIG. 1 is a schematic diagram of a track to which the speed control method for a self-propelled carriage according to the present invention is applied and a self-propelled carriage traveling along the track. In FIG. 1, 1 is a track, 2 is a self-propelled vehicle driven by an inverter, and A 1 , A 2 to A n are stop points of the self-propelled vehicle 2 set for each approximately constant distance L, along the track 1. Are set at approximately equal intervals. Each stop point A 1
A to A n are provided with a detected body 3 such as a striker, and the self-propelled carriage 2 is provided with a detected body 4 such as a sensor for detecting the detected body 3.
【０００８】自走台車２は、速度パターンが三角形をな
す三角形パターン又は速度パターンが台形をなす台形パ
ターンのいずれかの速度パターンで走行する。例えば速
度パターンが三角形をなす三角形パターンでは、停止点
Ａ1 から指示された目標停止点Ａi に向けて加速走行を
開始し、高速設定速度ＶH に達する前に減速走行に移
り、目標停止点Ａi の直前から低速設定速度ＶL での定
速走行に移り、検出体４が目標停止点の被検出体３を検
出すると同時に停止する。The self-propelled carriage 2 travels in either a triangular pattern having a triangular speed pattern or a trapezoidal pattern having a trapezoidal speed pattern. For example, in the case of a triangular pattern in which the speed pattern is a triangle, acceleration travel is started from the stop point A 1 toward the target stop point A i instructed, and deceleration travel is started before the high speed set speed V H is reached. Immediately before A i, the vehicle moves to the constant speed running at the low speed setting speed V L , and the detection body 4 stops at the same time when the detection target body 3 at the target stop point is detected.
【０００９】また速度パターンが台形をなす台形パター
ンの代表例としては、停止点Ａ1 から指示された目標停
止点Ａj に向けて加速走行を開始し、高速設定速度ＶH
に達した後、この高速設定速度ＶH で定速走行し、目標
停止点が近づくと減速走行に移り、目標停止点Ａi の直
前から定速設定速度ＶL での定速走行に移り、検出体４
が目標停止点Ａi の被検出体３を検出すると同時に停止
する。Further, as a typical example of a trapezoidal pattern in which the speed pattern is trapezoidal, acceleration traveling is started from the stop point A 1 toward a designated target stop point A j , and a high speed set speed V H is set.
After that, the vehicle travels at a constant speed at the high speed set speed V H , and when the target stop point approaches, the vehicle moves to decelerating, and immediately before the target stop point A i moves to the constant speed traveling at the constant speed set speed V L , Detecting body 4
Detects the target 3 at the target stop point A i and stops at the same time.
【００１０】そして三角形パターンの場合における加速
走行から減速走行への切換えタイミングは目標停止点Ａ
i の１つ手前の停止点Ａi-1 通過時にタイマーを動作さ
せ、予め定めたタイマーカウント値に達すると、このタ
イミングで加速走行から減速走行への速度切換え操作を
行わせる。また台形パターンの場合における加速走行か
ら減速走行への切換えタイミングは目標停止点Ａj から
２つ手前の停止点Ａj-2 通過時にタイマーを動作させ、
予め定めたタイマーカウント値に達すると、このタイミ
ングで定速走行から減速走行への速度切換え操作を行わ
せる。In the case of the triangular pattern, the timing of switching from the acceleration running to the deceleration running is the target stop point A.
When the stop point A i-1 immediately before i is passed, the timer is operated, and when a predetermined timer count value is reached, the speed switching operation from acceleration traveling to deceleration traveling is performed at this timing. Further, in the case of the trapezoidal pattern, the timing for switching from the acceleration traveling to the deceleration traveling is to operate the timer when the target stop point A j passes through the stop point A j-2 two before.
When the timer count value set in advance is reached, a speed switching operation from constant speed traveling to deceleration traveling is performed at this timing.
【００１１】以下図２〜図５に基づき具体的な速度制御
態様を説明する。なお、以下の説明は相隣する各停止点
Ａ1 〜Ａn 間の距離Ｌは、自走台車２の加速能力、減速
能力にもよるが、予め定めた低速設定速度ＶL を越え得
るが、高速設定速度ＶH に達する前に加速走行から減速
走行に切換える必要がある距離とし、自走台車２が現在
の停止位置Ａi-4 から少なくとも３つ以上先の停止点Ａ
i に移動する場合に高速設定速度ＶH での走行が可能と
なるものとする。A specific speed control mode will be described below with reference to FIGS. Note that the distance L between the stop point A 1 to A n the following description of Neighboring, acceleration capability of self-propelled carriage 2, depending on the deceleration capability, but may exceed the low-speed set speed V L a predetermined , The distance at which it is necessary to switch from acceleration traveling to deceleration traveling before reaching the high-speed set speed V H , and the self-propelled carriage 2 is at least three or more stop points A ahead of the current stop position A i-4.
It is assumed that the vehicle can travel at the high speed set speed V H when moving to i .
【００１２】（停止点Ａ1 から停止点Ａ2 へ移動する場
合）図２は自走台車２が停止点Ａ1 に停止している状態
において、ここからこれに隣接する停止点Ａ2 へ移動す
る場合の速度パターンを示しており、横軸に時間を、ま
た縦軸に速度をとって示している。自走台車２は停止点
Ａ1 に停車している状態から所定比率の加速走行を開始
し、この走行開始と同時に搭載してあるタイマーを動作
させる。タイマーのカウント値が時間ｔ1 （例えば0.92
秒) を計時すると加速走行 (そのときの走行速度Ｖ1 ＜
ＶH ）から所定比率の減速走行（減速比率は加速比率と
略同じ）への速度切換えを行い、以後は減速して予め定
めてある低速設定速度ＶL に達すると、この低速設定速
度ＶL を維持して定速走行し、検出体４が停止点Ａ2 の
被検出体３を検出すると、これと略同時に停止する。(When moving from the stop point A 1 to the stop point A 2 ) FIG. 2 shows that when the self-propelled carriage 2 is stopped at the stop point A 1 , it moves from here to the stop point A 2 adjacent thereto. In this case, the horizontal axis represents time and the vertical axis represents speed. The self-propelled carriage 2 starts accelerated traveling at a predetermined ratio from the state where it is stopped at the stop point A 1 , and at the same time when this traveling is started, the timer mounted therein is operated. The count value of the timer is the time t 1 (eg 0.92
When the time is measured for seconds, the vehicle accelerates (running speed V 1 <
Deceleration of a predetermined ratio from V H) (reduction ratio performs speed switching to substantially the same) as the acceleration ratio and thereafter reaches the low speed set speed V L that is determined in advance by decelerating the slow set speed V L When the detected body 4 detects the detected body 3 at the stop point A 2 , it stops at substantially the same time.
【００１３】（停止点Ａ1 からＡ3 へ移動する場合）図
３は自走台車２が停止点Ａ1 からＡ3 へ移動する際の速
度パターン図であり、横軸に時間を、また縦軸に速度を
とって示してある。自走台車２は停止点Ａ1に停止して
いる状態から、加速走行を開始し、検出体４が停止点Ａ
2 の被検出体３を検出するとタイマーを動作させる。タ
イマーが時間ｔ2 （例えば1.01秒) を計時すると（その
ときの走行速度Ｖ2 ＜ＶH ）加速走行から減速走行へ速
度切換えを行い、停止点Ａ3 に達する直前で低速設定速
度ＶL にまで減速し、その後はこの低速設定速度ＶL を
維持して定速走行し、検出体４が停止点Ａ3 の被検出体
３を検出すると、これと略同時にその位置に停止する。(When moving from stop point A 1 to A 3 ) FIG. 3 is a speed pattern diagram when the self-propelled carriage 2 moves from stop point A 1 to A 3 , where the horizontal axis represents time and the vertical axis represents time. The speed is shown on the axis. The self-propelled carriage 2 starts accelerating while the vehicle 2 is stopped at the stop point A 1 , and the detection body 4 stops at the stop point A 1.
When the object 3 to be detected 2 is detected, the timer is activated. When the timer measures the time t 2 (for example, 1.01 seconds) (travel speed V 2 <V H at that time), the speed is switched from the accelerated travel to the decelerated travel, and the low speed set speed VL is set immediately before reaching the stop point A 3. After decelerating to, the vehicle travels at a constant speed while maintaining the low speed set speed V L , and when the detection object 4 detects the detection object 3 at the stop point A 3 , it stops at that position substantially at the same time.
【００１４】（停止点Ａ1 から停止点Ａ4 へ移動する場
合）図４は自走台車２が停止点Ａ1 に停止している状態
から停止点Ａ4 へ移動する場合の速度パターン図であ
り、横軸に時間を、また縦軸に速度をとって示してあ
る。自走台車２は停止点Ａ1 に停止している状態から加
速走行を開始し、停止点Ａ2 を通過する際、検出体４に
て被検出体３を検出するとタイマー動作させる。走行速
度が高速設定速度ＶH に達すると、この速度で定速走行
に移りタイマーが時間ｔ3 を計時（例えば0.05秒) する
と、高速設定速度ＶH での定速走行から減速走行に速度
切換えを行い、走行速度が低速設定速度ＶL にまで減速
されるとその後はこの速度を維持して定速走行し、検出
体４が停止点Ａ4 の被検出体３を検出すると、これと略
同時に停止する。(When moving from the stop point A 1 to the stop point A 4 ) FIG. 4 is a speed pattern diagram when the self-propelled carriage 2 moves from the state where it is stopped at the stop point A 1 to the stop point A 4 . Yes, the horizontal axis represents time and the vertical axis represents speed. The self-propelled carriage 2 starts acceleration traveling from a state where it is stopped at the stop point A 1, and when it passes through the stop point A 2 , the detection object 4 detects the detected object 3 and causes the timer operation. When the traveling speed reaches the high-speed set speed V H , the constant-speed traveling is started at this speed, and when the timer measures the time t 3 (for example, 0.05 seconds), the speed is switched from the constant-speed traveling at the high-speed set speed V H to the decelerated traveling. When the traveling speed is reduced to the low speed setting speed V L , the traveling speed is maintained at that speed and the vehicle travels at a constant speed. When the detection body 4 detects the detected body 3 at the stop point A 4 , it is omitted. Stop at the same time.
【００１５】（停止点Ａ1 から停止点Ａ4 よりも遠い停
止点Ａi へ移動する場合）図５は自走台車が停止点Ａ1
に停止している状態から停止点Ａ4 よりも以遠の目標停
止点Ａi へ移動する場合の速度パターン図であり、横軸
に時間を、また縦軸に速度をとって示してある。自走台
車２は停止点Ａ1 に停止している状態から加速走行を開
始し、高速設定速度ＶH に達するとその後はこの高速設
定速度ＶHを維持して定速走行し、検出体４が目標停止
点Ａi の２つ手前の停止点Ａi-2 の被検出体３を検出す
るとタイマーを動作させる。タイマーが時間ｔ4 を計時
（例えば0.05秒) するとそれまでの高速設定速度ＶH で
の定速走行から減速走行へ速度切換えを行い、走行速度
が低速設定速度ＶL にまで低下すると、その後はその速
度を維持して定速走行し、検出体４が停止点Ａi の被検
出体３を検出すると、これと略同時に停止する。[0015] (When moving from the stop point A 1 to distant stop point A i than stop point A 4) 5 autonomous guided vehicle is stopped point A 1
FIG. 6 is a speed pattern diagram when moving from a stopped state to a target stop point A i farther than the stop point A 4 , where the horizontal axis represents time and the vertical axis represents speed. The self-propelled carriage 2 starts accelerated traveling from a state where it is stopped at the stop point A 1 , and when it reaches the high-speed set speed V H , thereafter, the high-speed set speed V H is maintained and runs at a constant speed. When the object 3 to be detected at the stop point A i-2 two points before the target stop point A i is detected, the timer is operated. When the timer measures the time t 4 (for example, 0.05 seconds), the speed is switched from the constant speed running at the high speed setting speed V H until then to the deceleration running, and when the running speed drops to the low speed setting speed V L , thereafter. When the detected body 4 detects the detected body 3 at the stop point A i , it runs at a constant speed while maintaining that speed, and stops at substantially the same time.
【００１６】自走台車２が停止点Ａ1 に停止している場
合において停止点Ａ4 よりも以遠の停止点Ａ5 〜Ａn へ
移動する場合は、いずれも速度パターンは台形パターン
となり、上記した場合と実質的に同じとなる。When the self-propelled carriage 2 stops at the stop point A 1 and moves to stop points A 5 to A n farther than the stop point A 4 , the speed pattern becomes a trapezoidal pattern, and It becomes substantially the same as the case.
【００１７】表１には前述した３パターン夫々における
自走台車２の移動距離（停止点の間距離Ｌを単位とする
距離）、タイマー起動位置、タイマーカウント値及びこ
れらを規定するパラメータ値夫々をまとめて示してあ
る。なお、表１中パラメータ値は各条件No.1, No.2, N
o.3夫々の速度パターン、特に速度切換タイミングを特
徴づける値であり、便宜上、数値記号として1092
（γ1 ）, 1101（γ2 ）, 2005（γ3 ）の如く設定して
あるが、この数値は特に限定するものではない。Table 1 shows the moving distance (distance in units of distance L between stop points) of the self-propelled carriage 2 in each of the above-mentioned three patterns, the timer starting position, the timer count value and the parameter values defining these. It is shown collectively. The parameter values in Table 1 are for each condition No. 1, No. 2, N
o.3 It is a value that characterizes each speed pattern, especially the speed switching timing.
The values are set as (γ 1 ), 1101 (γ 2 ), 2005 (γ 3 ), but this numerical value is not particularly limited.
【００１８】[0018]
【表１】 [Table 1]
【００１９】図６は自走台車２に搭載されている速度制
御系のブロック図であり、図中５はマイクロコンピュー
タ等で構成される制御部、６は表１に示した如きパラメ
ータ値を記憶するパラメータ記憶部、７は指示された目
標停止点等を記憶する記憶部、８は自走台車２の現在位
置と目標停止点とからパラメータを選定する選択部であ
る。FIG. 6 is a block diagram of a speed control system mounted on the self-propelled carriage 2. In the figure, 5 is a control unit composed of a microcomputer, and 6 is a parameter value as shown in Table 1. The parameter storage unit 7 is a storage unit that stores the instructed target stop point and the like, and 8 is a selection unit that selects a parameter from the current position of the self-propelled carriage 2 and the target stop point.
【００２０】制御部５は検出体４を通じて停止点Ａ1 〜
Ａn の被検出体３を検出し、自走台車２の現在の停止位
置を認識する一方、目標停止点記憶部７から次に停止す
べき目標停止点Ａi を読出し、パラメータ選択部８にパ
ラメータ記憶部６に格納されているパラメータのうちか
ら走行距離に対応したパラメータを選定させる。パラメ
ータの選定が終了すると制御部５はパラメータの選択部
８からタイマ起動位置，タイマ値を読出し、自走台車２
の走行を開始する。具体的な速度制御は前述した図２〜
図５において説明したのと同じである。The control unit 5 controls the stopping points A 1 to
While detecting the detected object 3 of A n and recognizing the current stop position of the self-propelled carriage 2, the target stop point A i to be stopped next is read from the target stop point storage unit 7, and the parameter selection unit 8 is read. A parameter corresponding to the traveling distance is selected from the parameters stored in the parameter storage unit 6. When the selection of the parameters is completed, the control unit 5 reads the timer starting position and the timer value from the parameter selection unit 8, and the self-propelled carriage 2
Start running. Specific speed control is shown in FIGS.
This is the same as described in FIG.
【００２１】次にこのような速度制御手順を図７に示す
フローチャートと共に説明する。先ず図２、図３及び図
５の３つの速度パターンについて夫々走行距離に対応し
てパラメータγ1 ，γ2 ，γ3 を定め、これを図６に示
す自走台車２のパラメータ記憶部６へ格納しておく。な
お図２〜図５に示す速度パターンは相隣する停止点間の
距離Ｌが短く、自走台車２の停止位置から少なくとも３
つ以上以遠の停止点へ移動する場合に高速設定速度ＶH
での走行が可能な場合を示したが、距離Ｌが大きく、相
隣する停止点間を移動する場合にも台形パターンでの走
行が可能な場合にはパラメータは２つで済む。また逆に
停止点間の距離Ｌが図２〜図５に示す場合よりも短い場
合には図２〜図５に示す場合と同様にパラメータは３つ
で済む。Next, such a speed control procedure will be described with reference to the flow chart shown in FIG. First, parameters γ 1 , γ 2 and γ 3 are determined for the three speed patterns of FIGS. 2, 3 and 5 respectively corresponding to the traveling distances, and these are stored in the parameter storage unit 6 of the self-propelled carriage 2 shown in FIG. Store it. In the speed patterns shown in FIGS. 2 to 5, the distance L between adjacent stop points is short, and at least 3 from the stop position of the self-propelled carriage 2.
High speed set speed V H when moving to a stop point more than 3
Although the case where the vehicle can be traveled in is shown, the number of parameters is two if the distance L is large and traveling in a trapezoidal pattern is possible even when moving between adjacent stop points. On the contrary, when the distance L between the stop points is shorter than the case shown in FIGS. 2 to 5, three parameters are required as in the cases shown in FIGS.
【００２２】自走台車２に、光信号又は電波等の手段に
て各目標停止点Ａ1 〜Ａn を指示する。自走台車２はこ
れを目標停止点記憶部７に格納しておき、これを順次CP
U 等の制御部５に読出し、現在停止している自走台車２
の停止点と目標停止点との間の距離に基づきパラメータ
の選択部８がパラメータ記憶部６から読出したパラメー
タを選定する。自走台車２が走行を開始し、途中検出体
４にて被検出体３を検出する都度、現在の自走台車２の
位置を検出し（ステップS1) 、メモリ内における現在位
置を更新する（ステップS2) 。The target stop points A 1 to A n are instructed to the self-propelled carriage 2 by means of optical signals or radio waves. The self-propelled carriage 2 stores this in the target stop point storage unit 7, and sequentially stores this in the CP.
The self-propelled carriage 2 that is currently stopped and read out to the control unit 5 such as U
The parameter selection unit 8 selects the parameter read from the parameter storage unit 6 based on the distance between the stop point and the target stop point. Each time the self-propelled carriage 2 starts traveling and the detected body 3 is detected by the intermediate detection body 4, the current position of the self-propelled carriage 2 is detected (step S1), and the current position in the memory is updated ( Step S2).
【００２３】選定したパラメータγ1 , γ2 又はγ3 に
より規定される停止点を検出するとタイマー起動位置を
確認し (ステップS3) 、確認したか否かを判断し（ステ
ップS4) 、確認するとそのタイミングでタイマーを起動
する (ステップS5) 。タイムアップか否かを判断し (ス
テップS6) 、タイマーカウント値がパラメータにて規定
される値に達すると同時に、速度切換えを行なう (ステ
ップS7) 。これによって自走台車２はパラメータを選択
することで図２又は図３又は図４（又は図５）に示す速
度パターンでの自走走行を行うこととなる。When the stop point defined by the selected parameter γ 1 , γ 2 or γ 3 is detected, the timer starting position is confirmed (step S3), and it is judged whether or not it is confirmed (step S4). Start the timer at the timing (step S5). Whether or not the time is up is determined (step S6), and at the same time when the timer count value reaches the value specified by the parameter, speed switching is performed (step S7). As a result, the self-propelled carriage 2 will perform self-propelled traveling in the speed pattern shown in FIG. 2 or FIG. 3 or FIG. 4 (or FIG. 5) by selecting parameters.
【００２４】[0024]
【発明の効果】以上の如く本発明方法にあっては、パラ
メータにより自走台車の移動距離に応じた加速走行又は
定速走行から減速走行への切換タイミングの設定が自動
的に行われ、自走台車が目標停止点に向けて所定の速度
パターンで走行し得ることとなり、移動距離の長短の如
何にかかわらず、簡単な制御機器で自走台車の速度制御
を行い得る等、本発明は優れた効果を奏する。As described above, according to the method of the present invention, the switching timing from the acceleration traveling or the constant speed traveling to the deceleration traveling is automatically set according to the moving distance of the self-propelled vehicle by the parameter. The traveling vehicle can travel toward the target stop point in a predetermined speed pattern, and the present invention is excellent in that the speed control of the self-propelled vehicle can be performed by a simple control device regardless of whether the traveling distance is long or short. Produce the effect.
【図１】本発明方法を適用した自走台車及びその走行軌
道を示す模式図である。FIG. 1 is a schematic diagram showing a self-propelled carriage to which the method of the present invention is applied and a traveling track thereof.
【図２】自走台車の走行速度パターン図である。FIG. 2 is a traveling speed pattern diagram of a self-propelled carriage.
【図３】自走台車の他の走行速度パターン図である。FIG. 3 is another traveling speed pattern diagram of the self-propelled carriage.
【図４】自走台車の更に他の走行速度パターン図であ
る。FIG. 4 is another traveling speed pattern diagram of the self-propelled carriage.
【図５】自走台車の更に他の走行速度パターン図であ
る。FIG. 5 is another traveling speed pattern diagram of the self-propelled carriage.
【図６】自走台車の速度制御系を示すブロック図であ
る。FIG. 6 is a block diagram showing a speed control system of a self-propelled carriage.
【図７】本発明方法の制御手順を示すフローチャートで
ある。FIG. 7 is a flowchart showing a control procedure of the method of the present invention.
１ 軌道 ２ 自走台車 ３ 被検出体 ４ 検出体 ５ 制御部 ６ パラメータ記憶部 ７ 目標停止点記憶部 ８ パラメータの選択部 1 Trajectory 2 Self-propelled vehicle 3 Detected object 4 Detected object 5 Control section 6 Parameter storage section 7 Target stop point storage section 8 Parameter selection section
Claims (1)
止点を略等間隔に設定されている軌道上を、前記被検出
体を検出する検出体を備え、指示された目標停止点に向
けて加速走行を開始し、目標停止点の手前で減速走行に
切換え、目標停止点に停止するようにした自走台車の速
度制御方法において、自走台車が停止している停止点と
目標停止点との間の移動距離に対応して予め定められた
加速走行又は定速走行から減速走行への速度切換タイミ
ングを示す複数のパラメータのいずれか１つを選択し、
選択したパラメータにて規定されるタイミングに基づき
加速走行又は定速走行から減速走行に速度切換えを行う
ことを特徴とする自走台車の速度制御方法。1. A detection object for detecting the detection target is provided on a track in which a plurality of stop points each provided with the detection target are set at substantially equal intervals, and a target stop point designated by the detection target is detected. In the speed control method of the self-propelled truck that starts acceleration running toward the target stop point, switches to deceleration running before the target stop point, and stops at the target stop point Select any one of a plurality of parameters indicating the speed switching timing from the acceleration traveling or the constant speed traveling to the deceleration traveling, which is predetermined corresponding to the moving distance between the point and
A speed control method for a self-propelled carriage, characterized in that the speed is switched from accelerated travel or constant speed travel to decelerated travel based on timing specified by selected parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5135308A JPH06321309A (en) | 1993-05-12 | 1993-05-12 | Speed control method for self-traveling carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5135308A JPH06321309A (en) | 1993-05-12 | 1993-05-12 | Speed control method for self-traveling carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06321309A true JPH06321309A (en) | 1994-11-22 |
Family
ID=15148692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5135308A Pending JPH06321309A (en) | 1993-05-12 | 1993-05-12 | Speed control method for self-traveling carriage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06321309A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108840242A (en) * | 2018-08-31 | 2018-11-20 | 三海洋重工有限公司 | Crane, monkey and its control method and device |
| JPWO2019026921A1 (en) * | 2017-08-01 | 2020-02-06 | ヤマハ発動機株式会社 | Autonomous vehicles with manned default routes |
| KR20210033284A (en) * | 2019-09-18 | 2021-03-26 | 세메스 주식회사 | Method of controlling operations of transfer vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6347210A (en) * | 1986-08-18 | 1988-02-29 | Daifuku Co Ltd | Travel control method for introducing and delivering travel crane or the like |
-
1993
- 1993-05-12 JP JP5135308A patent/JPH06321309A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6347210A (en) * | 1986-08-18 | 1988-02-29 | Daifuku Co Ltd | Travel control method for introducing and delivering travel crane or the like |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2019026921A1 (en) * | 2017-08-01 | 2020-02-06 | ヤマハ発動機株式会社 | Autonomous vehicles with manned default routes |
| CN108840242A (en) * | 2018-08-31 | 2018-11-20 | 三海洋重工有限公司 | Crane, monkey and its control method and device |
| CN108840242B (en) * | 2018-08-31 | 2019-08-16 | 三一海洋重工有限公司 | Crane, monkey and its control method and device |
| KR20210033284A (en) * | 2019-09-18 | 2021-03-26 | 세메스 주식회사 | Method of controlling operations of transfer vehicle |
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