JPH0444962B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a device for detecting the traveling position of a controlled object such as a crane or a truck that travels along a track, and particularly relates to an abnormality detection mechanism for detecting the position of the device. It is something.

[Prior art]

In order to control objects to be controlled, such as cranes and trolleys, that travel along a track, it is necessary to accurately know the running position of the objects to be controlled. In order to know this running position, conventionally a roller is provided that rotates in response to the running of the controlled object, and the running distance from the base point is calculated by integrating the number of rotations of this roller, and the current position of the controlled object is calculated. A traveling position detection device is used which is designed to determine the following. On the other hand, by using rollers, slippage occurs in the rotation of the rollers when the controlled object changes speed or stops, or depending on the condition of the track or rollers, making it difficult to accurately determine the running position. A position correction sensor is installed on the controlled object to detect the detected object (doctor) installed over a predetermined area in By making this correction, the driving position can be determined more accurately.

FIG. 1 is a block diagram showing a conventional example of the traveling position detecting device. In the figure, 1 is a roller that rotates in response to the movement of a controlled object such as a crane or a trolley (not shown), and 2 is a position detection means that integrates the number of rotations of the roller and outputs it as a position signal. In the apparatus, 3 is a position correction sensor for detecting a detected object installed over a certain section on the traveling trajectory of the controlled object, and 4 is a data input device having an input section, a display section, etc. On the other hand, 5 is a microcomputer, for example, and the microcomputer 5 is composed of a CPU 6 and a memory 7 as a storage means in which the sensor code of the position correction sensor 3 corresponding to each detected object and its absolute position are stored. . The CPU 6 outputs an absolute position signal corresponding to the sensor code from the position correction sensor 3,
Based on this output, a correction means 6a is provided which replaces (sets) the position signal of the position detection device 2 with the signal of the absolute position.

The conventional device is configured as described above, and each time the controlled object passes the detected object, the position signal corrected by the correction means 6a is displayed on the display section of the data input/output device 4 as the current position of the controlled object. Ru. For example, when the objects to be detected are installed at 50m intervals from the base point based on actual measurements, the object to be controlled is 1
Assume that the position detection device 2 outputs a position signal of 48 m when the object passes through the th object to be detected, resulting in an error of 2 m. In this case, if the position detector 2 continues to step forward, errors will accumulate. In this device, when the sensor 3 detects the first detected object, a sensor code indicating the first detected object is output, and the sensor code corresponding to the installation position of the first detected object is stored in advance from the memory. A signal of the absolute position of 50 m is output, and the correction means 6a detects the position detection device 2.
and control it to output a 50m absolute position signal as a position signal. Thereafter, the position detection device 2 advances from this absolute position. A similar correction is made when the sensor 3 detects the second and subsequent detected objects.

On the other hand, if the raceway and rollers are severely worn or oiled, or if the raceway has cracks,
The slippage of the roller 1 becomes large, and the position detection accuracy of the device is significantly reduced. In other words, even if the positions are corrected to absolute positions by the input from the position correction sensor 3, the detected positions between the objects to be detected will be unreliable, making it impossible to operate the objects to be controlled normally. Therefore, in the conventional device, when inputting the position correction sensor 3, the sensor corrected absolute position and the current position detected at that time are compared, and if the difference exceeds a predetermined tolerance value, it is determined that there is an abnormality in the trajectory or the roll 1, etc. Maintenance is being carried out. However, according to the conventional device, an abnormality in position detection is confirmed by the input of the position correction sensor 3, so if the position correction sensor 3 is malfunctioning or the power is cut off, it is impossible to know whether there is an abnormality in position detection at all. It had drawbacks.

[Summary of the invention]

The present invention includes a storage means for storing a current position tolerance range set corresponding to each detected object;
Abnormality determination means for determining whether or not the sensor output is within a current position tolerance range corresponding to the current position detected by the position detection means; and notification means controlled by the output of the abnormality determination means; The permissible position range is updated based on the sensor output, and will be explained in detail below using an example.

[Embodiments of the invention]

FIG. 2 is a block diagram showing an embodiment of the traveling position detecting device according to the present invention, and the same or corresponding parts as in FIG. 1 are denoted by the same reference numerals, and their explanation will be omitted. In the figure, 6b is an abnormality determination means provided in the CPU 6, and 7a and 7b are memory 7.
In the storage area 7a, the sensor code and its absolute position of the detected object detected by the position correction sensor 3 are stored, and in the storage area 7b, the current information set in advance for each detected object is stored. Position tolerances are stored. Reference numeral 8 denotes an abnormality display device as a notification means controlled by the abnormality determining means 6b, and is configured to turn on when an abnormality occurs.

The current position tolerance range in this embodiment, which is stored in the storage area 7b, is set as shown in FIG. 3 based on the following equation.

Corrected absolute position of n-th detected object - Tolerance ≦Current position ≦ (n+1)th Corrected absolute position of detected object + Tolerance In Fig. 3, Sn, Sn+1, and Sn+2 are n-th, n+1-th, and n+2, respectively. The absolute position of the th detected object P, A is the current position of the controlled object obtained from the position detection device 2, t is the tolerance value, Tn, Tn+
1 indicates the allowable range of current position change. As shown in the formula and the figure, the current position tolerance range Tn is set to include a predetermined tolerance value t between the nth and (n+1)th detected objects P and on both sides thereof.

Next, the abnormality detection operation of this embodiment configured as described above will be explained based on the flowcharts shown in FIGS. 2, 3, and 4. First, step
At S1, the current position change tolerance Tn at the current position A is read out from the storage area 7b of the memory 7 and set in the abnormality determining means 6b. Next, in step S2, it is determined whether the current position input from the position detection device 2 in response to the movement of the controlled object is within the above-mentioned allowable range Tn. If it is within the allowable range Tn, the process advances to step S3, and the abnormality determining means 6b determines whether there is a sensor input corresponding to the absolute position Sn+1. If there is no sensor input, the process returns to step S2, and steps S2 and S3 are repeatedly executed while the current position is within the allowable range Tn. When there is a sensor input for the absolute position Sn+1, the process advances from step S3 to step S4, where the current position change tolerance range Tn is updated to the current position change tolerance range Tn+1 corresponding to the sensor input, and steps S1 to S3 are then repeatedly executed. be done.
During that time, if the current position from the position detection device 2 deviates from the current position change tolerance T even though there is no sensor input, the process branches from step S2 to step S5, the abnormality display device 8 lights up, and an abnormality occurs. You will be notified that the In this case, abnormalities include severe wear and oil on the track and roller 1, or cracks in the track, resulting in large slippage of roller 1, and when the current position from position detection device 2 is within the tolerance value t. If there is no sensor input even though the sensor is normal, that is, if the position correction sensor 3 is malfunctioning or the power is cut off, or if the sensor code is not output due to destruction of the detected object, or if the sensor is If a wrong sensor code is output when detecting the object to be detected, or if the object to be controlled is in the middle of the current position change tolerance range due to a deviation in the installation position of the object to be detected, the sensor code may be output. This also includes cases where the output is hot. Therefore, according to the present invention, an abnormality in position detection of the device and an abnormality in the position correction sensor 3 can be detected together.

〔Effect of the invention〕

As explained above, the running position detection device according to the present invention includes a roller that rotates in response to the running of the controlled object, and a position detection means that sends out an output corresponding to the rotation of the roller as a current position signal. , a sensor that detects a plurality of detected objects installed on the controlled object and installed over a predetermined section on the running track of the controlled object, and an absolute position signal corresponding to the installed position of the detected object. and a correction means for setting the current position signal of the position detecting means using the absolute position signal read from the storage means based on the output from the sensor. A storage means for storing a current position tolerance range set corresponding to each detected object, and a storage means for storing a current position tolerance range set corresponding to each detected object; An abnormality determination means for determining the abnormality and a notification means controlled by the output of the abnormality determination means are provided, and the current position tolerance range is updated when the sensor output is received. If there is an abnormal state in the sensor output, such as misalignment, sensor failure, or forgetting to turn on the sensor power, regardless of the presence or absence of the object to be detected, the notification means is activated to notify the abnormality.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an example of a conventional traveling position detecting device, FIG. 2 is a block diagram showing an embodiment of the traveling position detecting device according to the present invention, and FIG. 3 is a block diagram showing an example of the current position permissible range in the above embodiment. FIG. 4, which is an explanatory diagram of the setting method, is a flowchart showing the abnormality detection operation of the above embodiment. 1...Roller, 2...Position detection device, 3...Position correction sensor, 5...Microcomputer, 6
... CPU, 6a ... Correction means, 6b ... Abnormality determination means, 7 ... Memory, 7a ... Position correction sensor absolute address, 7b ... Current position tolerance range, 8 ... Abnormality display device, P ... Target Detection object. Note that the same reference numerals are used for the same or corresponding parts in the figures.

Claims (1)

[Claims] 1. A roller that rotates in response to the running of the controlled object, a position detection means that sends out an output corresponding to the rotation of the roller as a current position signal, and a position detection means that is installed on the controlled object and located on the running trajectory of the controlled object. A sensor for detecting a plurality of detected objects installed over a section, a storage means for storing an absolute position signal corresponding to the installed position of the detected object, and the above-mentioned storage based on the output from the sensor. In the traveling position detecting device, the traveling position detecting device includes a correction means for setting a current position signal of the position detecting means based on an absolute position signal read from the means, and a current position tolerance range set corresponding to each of the detected objects. a storage means for storing information, and an abnormality determination means for determining whether or not the sensor output is within a current position tolerance range corresponding to the current position detected by the position detection means;
and notifying means controlled by the output of the abnormality determining means, wherein the current position permissible range is updated when the sensor output is received.