JPH06103191B2 - Self-propelled mileage correction method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a travel distance correction method associated with wear or the like of drive wheels of a self-propelled carriage.

[Prior Art] For example, in a self-propelled carriage used as a carriage, the rotation speed of the driving wheels is detected by a pulse encoder or the like to obtain the travel distance of the self-propelled carriage, that is, the current position. .

In this case, the traveling distance per one rotation of the driving wheel changes due to wear of the driving wheel, etc., and an error occurs between the actual traveling distance and the traveling distance obtained from the detected pulse number. There is.

Therefore, a member to be detected is arranged in the traveling route of the self-propelled carriage, and while the detector provided on the self-propelled carriage is detecting the constant length region of the member to be detected, the drive wheels are A method has been proposed in which the count value of the transmission pulse of the pulse encoder connected to is calculated, and the set value of the transmission pulse is corrected by using this count value as a normal value per the fixed length (Japanese Patent Laid-Open No. 2000-242242). (See JP 63-167602 A).

[Problems to be Solved by the Invention] However, in the above-described conventional technique, the drive wheel spins idle while the detected member is being detected by the detector,
If the count value unnecessarily increases or decreases due to slippage, or if there is a foreign object such as a metal piece in the traveling path and this foreign object is erroneously detected as a detected member and the count value becomes abnormally small. However, there is a problem that the correction work cannot be performed accurately.

Moreover, depending on the material of the drive wheel, the diameter of the drive wheel fluctuates due to the change in the outside air temperature. Therefore, when the correction is performed for each detection work, each count value is different, and the correction work is not effectively performed.

The present invention solves this kind of problem, and eliminates external factors affecting the measurement of the count value as much as possible, and it is possible to accurately perform the correction work. It is an object of the present invention to provide a method for correcting the traveling distance.

[Means for Solving the Problems] In order to solve the above problems, the present invention generates a pulse in accordance with the rotation of a drive wheel, and detects the number of pulses between reference members provided in a correction section. A method of correcting a traveling distance by comparing with a preset pulse number, which includes a step of generating a command for starting a pulse number detection operation, and a step of detecting the pulse number between the reference members. A step of detecting a correction preparation prediction member, a step of detecting the number of pulses between the reference members, and a step of comparing with a set pulse number, when the detected pulse number is within the range of the set pulse number Only in the memory, the step of calculating the average number of detected pulses by dividing the sum of the number of pulses in the memory by the number of valid data in the memory, and dividing the average number of detected pulses by the set number of pulses 1
The method is characterized by including a step of calculating a travel distance coefficient representing an actual travel distance per pulse, and a step of correcting the number of pulses corresponding to the travel distance by the coefficient.

[Operation] In the traveling distance correction method for a self-propelled carriage according to the present invention described above, by detecting the predicting member prior to detecting the number of pulses between the reference members provided in the correction section, Even if there is a foreign substance in it, it will not be mistaken as a reference member. Then, the number of pulses detected between the reference members is
If the number of pulses is out of the range of the set number of pulses, it is not taken into the memory because an abnormality such as a slip of the driving wheel has occurred, but is taken into the memory only when it is determined to be a normal value. Furthermore, since the number of pulses in the memory is averaged, an accurate number of pulses can be obtained without being affected by changes in the outside air temperature. Next, a mileage coefficient representing the actual mileage per pulse is calculated, and the number of pulses corresponding to the mileage is corrected, whereby a highly accurate correction work is performed.

[Embodiment] A travel distance correction method for a self-propelled carriage according to the present invention will be described in detail below with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 indicates a self-propelled trolley for carrying out the mileage correction method according to the present embodiment. This self-propelled trolley 10 travels along a travel path 12,
A pulse encoder 16 is connected to the drive wheel 14, and the pulse encoder 16 is connected to a control unit 18 including a microcomputer.

An optical communication circuit 20 for receiving a pulse number detection start command transmitted from the outside and an optical sensor 22 having a light emitting unit and a light receiving unit are connected to the control unit 18.

On the traveling path 12, a correction preparation predicting member 24 detected by the optical sensor 22 to perform the correction preparation, and reference members 26 and 28 that are separated from the prediction member 24 by a predetermined distance and are separated from each other by a correction section L. Are sequentially arranged along the traveling direction (direction of arrow A).

A method for correcting the traveling distance of the self-propelled carriage 10 thus configured will be described below with reference to the flowchart shown in FIG.

First, a pulse number detection start command is transmitted from the outside to the optical communication circuit 20 of the self-propelled carriage 10 traveling along the traveling path 12 under the rotating action of the drive wheels 14, and the signal is sent to the control unit 18. It is input (step S1).

Next, prior to detecting the number of pulses between the reference members 26 and 28, the optical sensor 22 detects the predicting member 24 (step S
2), preparatory work for correction is performed in the control unit 18 (step S3). Here, if the prediction member 24 is not detected, the pulse number detection work described later is not started, and, for example, even if a foreign object such as a metal piece exists on the traveling path 12, this is mistakenly recognized as the reference member 26. Never. by this,
It is possible to prevent the pulse number detection work from being started via the foreign matter as much as possible.

In step S4, when the optical sensor 22 detects the reference member 26, the control unit 18 starts counting the number of pulses emitted from the pulse encoder 16 with the rotation of the drive wheels 14, and detects the reference member 28 of the optical sensor 22. The counting is performed until it is performed (steps S5 and S6).

It is compared and judged whether the number of pulses detected between the reference members 26 and 28 is within the set pulse number range (step S7). Here, if the detected pulse number is outside the range of the set pulse number, it is not taken into the memory (not shown) of the control unit 18 (step S8). I.e. drive wheels
This is because there are unnecessary factors in addition to the wear of 14. Specifically, there is a decrease in the number of detection pulses due to slipping of the drive wheel 14, a decrease in the number of detection pulses due to the presence of foreign matter between the reference members 26 and 28, and the like.

Therefore, in the present embodiment, the effect of this kind of external factor can be prevented as much as possible, and an effect that a highly accurate pulse number detection operation is performed can be obtained.

On the other hand, when the detected pulse number is within the set pulse number range, it is stored in the memory (step S
9) Next, the total number of pulses in the memory is divided by the number of valid data in the memory to calculate the average number of detected pulses (step S10). By thus averaging the detected pulse numbers, it is possible to accurately perform the pulse number detection work without being significantly affected by various changes such as the difference in the outside air temperature during each detection work.

Further, the average number of detected pulses is divided by the set number of pulses to calculate a travel distance coefficient representing the actual travel distance per pulse (step S11), and the number of pulses corresponding to the travel distance is corrected by this coefficient. (Step S12).

As a result, it becomes possible to easily and accurately correct the number of pulses due to wear of the drive wheels 14.

[Effects of the Invention] As described above, the traveling distance correction method for a self-propelled carriage according to the present invention has the following effects and advantages.

Prior to detecting the number of pulses between the reference members provided in the correction section, by detecting the predicting member, even if foreign matter is present in the traveling path, it is not mistaken as a reference member, It is possible to prevent erroneous detection work. Further, if the number of pulses detected between the reference members is out of the range of the set number of pulses, it is excluded as an abnormality such as slip of the driving wheel, and is stored in the memory only when it is determined to be a normal value. Since the number of detection pulses in the memory is averaged as it is fetched, it is possible to obtain an accurate number of detection pulses without being affected by changes in the outside air temperature and the like. As a result, external influences are eliminated as much as possible, and highly accurate correction work is performed.

[Brief description of drawings]

FIG. 1 is an explanatory view of a self-propelled trolley for implementing a travel distance correction method according to the present invention, and FIG. 2 is a flowchart showing a procedure of the travel distance correction method. 10 …… Self-propelled carriage 12 …… Traveling road 14 …… Drive wheel 16 …… Pulse encoder 18 …… Control unit 20 …… Optical communication circuit 22 …… Optical sensor 24 …… Prediction member 26, 28 …… Reference member

Claims (1)

[Claims] 1. A pulse is generated according to the rotation of a drive wheel, the number of pulses between reference members provided in a correction section is detected and compared with a preset number of pulses, and the traveling distance is corrected. A method of generating a command for starting a pulse number detection operation, a step of detecting a correction preparation predicting member prior to detecting the pulse number between the reference members, and a step between the reference members. Detecting the number of pulses by, and comparing with the set number of pulses, the detected number of pulses, the step of taking into the memory only when the number of set pulses is within the range, the sum of the number of pulses of the memory A step of calculating the average number of detected pulses by dividing by the number of valid data in the memory, and dividing the average number of detected pulses by the number of set pulses to 1
A travel distance correction method for a self-propelled carriage, comprising: a step of calculating a travel distance coefficient representing an actual travel distance per pulse; and a step of correcting the number of pulses corresponding to the travel distance by the coefficient.