JPH0729687Y2 - Travel control device for self-propelled carriage - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for traveling a self-propelled vehicle traveling on a fixed route at a predetermined speed while maintaining an inter-vehicle distance with a forward vehicle at an arbitrarily set value. Is.

[0002]

2. Description of the Related Art Conventionally, as a method of controlling an inter-vehicle distance from a front bogie in a track type self-propelled bogie traveling on a fixed route, for example, JP-A-56-53959 and JP-A-57-3420 are known.
As disclosed in No. 5, etc., a self-propelled vehicle traveling on a fixed route is provided with an inter-vehicle distance detecting means for a front bogie, and the inter-vehicle distance present value and inter-vehicle distance set value detected by the inter-vehicle distance detecting means are set. There is known a control method for automatically adjusting the traveling speed of the self-propelled vehicle based on the comparison result so that the current inter-vehicle distance value becomes equal to the inter-vehicle distance set value.

[0003]

In such a conventional control method, it is necessary to set the traveling speed and the inter-vehicle distance in advance in the control means mounted on the self-propelled carriage. However, in the layout in which a plurality of work sections are set on the traveling route of the self-propelled carriage, the traveling speed according to the type of work and the length of the work to be mounted (the length of work protrusion from the front and rear of the carriage is different. ) And the presence or absence of work on the end of the work, or the inter-vehicle distance (distance between works) according to the production plan of the day, etc., is set in real time for each work section to control the traveling of the self-propelled carriage, In some cases, it may be desirable to improve work efficiency as a whole. In such a case, in the conventional control method as described above, it is practically impossible to change the traveling speed at any point in each work section and arbitrarily set the inter-vehicle distance for each work section. Therefore, the work efficiency as a whole could not be improved by the above method.

[0004]

The present invention has been made in order to solve the above-mentioned conventional problems, and its features are shown in parentheses with reference numerals of embodiments described later. As shown, the traveling control device for a self-propelled vehicle according to the present invention is provided with inter-vehicle distance detecting means (12, 13, 16) for a front bogie on a self-propelled vehicle (1) traveling on a fixed route. (12,
Based on the result of comparison between the current inter-vehicle distance (16a) detected by (13, 16) and the inter-vehicle distance set value (14a), the running speed of the self-propelled carriage (1) is changed to the inter-vehicle distance (16a). Distance setting value (1
4a) is a traveling controller equipped with a control means for automatically adjusting so as to be equal to 4a), wherein the self-propelled carriage (1)
External speed command signal (18a) and inter-vehicle distance command signal (1
5a) is provided with a receiving means (11, 14), and a speed command signal (18a) is given to the receiving means (11) of the self-propelled carriage (1) in the truck traveling control section in the section. A speed command signal transmitting means (10) is provided, and an inter-vehicle distance command signal transmitting means for providing an inter-vehicle distance command signal (15a) to the receiving means (14) at or before the starting point of the carriage traveling control section.
It is characterized in that (15) is installed.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 is a self-propelled carriage, a guide rail 2 and wheels 3 engaged with the guide rail 2. To drive a certain route. Reference numeral 4 is a traveling drive gear that meshes with a rack gear 5 laid along the traveling route of the carriage, and is linked to a motor 6. Reference numeral 7 is a pulse encoder that is interlocked with the rack gear 5. Reference numeral 8 denotes a power supply line laid along the traveling route of the truck, which supplies electric power to the motor 6 via the collector 9 of the self-propelled truck 1. Traveling drive gear 4
Instead of using the rack gear 5 and at least one of the wheels 3, at least one of the wheels 3 may be driven by the motor 6.

Reference numeral 10 denotes a signal line as speed command signal transmitting means for giving a speed command signal to the self-propelled carriage 1 in the carriage control section, which is laid along the carriage travel route in the carriage control section. Then, the speed command signal is given to the self-propelled vehicle 1 via the collector 11 of the self-propelled vehicle 1. Reference numeral 12 is a photoelectric distance sensor attached to the front end of the self-propelled carriage 1, and 13 is a reflector attached to the rear end of the self-propelled carriage 1.

Numeral 14 is an inter-vehicle distance command signal receiving means attached to the self-propelled carriage 1. The inter-vehicle distance instruction is installed at the starting point of the bogie traveling control section or at a fixed position in front of it to correspond to the receiving means 14. The inter-vehicle distance command signal 15a is received from the signal transmitting means 15, and the inter-vehicle distance set value 14a converted into a binary value is continuously output until the next new inter-vehicle distance command signal 15a is received.

The photoelectric distance sensor 12 receives the reflected light beam from the reflecting plate 13 of the self-propelled carriage 1 in front, and thereby outputs 12a corresponding to the distance to the reflecting plate 13, that is, the distance L to the front carriage. The output 12a is converted into a binary inter-vehicle distance current value 16a in the conversion unit 16 as shown in FIG. The comparison unit 17 compares the inter-vehicle distance set value 14a output from the inter-vehicle distance command signal receiving unit 14 and the inter-vehicle distance current value 16a, and outputs the speed correction value 17a.

As shown in FIG. 2, the speed command signal 18a converted into a serial pulse signal by the converter 18 is supplied to the signal line 10, and the speed command signal (serial pulse signal received by the collector 11 is supplied. The signal) 18a is converted by the conversion unit 19 into a speed setting value 19a which is converted into a binary value. The speed setting value correction unit 20 corrects the speed setting value 19a with the speed correction value 17a from the comparison unit 17, and outputs the speed target value 20a.

The output 7a of the pulse encoder 7 is the converter 2
The value is converted into the current speed value 21a by 1 and compared with the speed target value 20a in the comparison unit 22. This comparison unit 22
Outputs the speed control value 22a obtained by correcting the speed target value 20a according to the difference between the speed target value 20a and the current speed value 21a. The rotation speed control device for the motor 6 is controlled by the speed control value 22a. 23 is controlled, and the rotation speed of the motor 6 is automatically adjusted so that the current speed value 21a becomes equal to the speed target value 20a. That is, so-called feedback control is performed.

According to the above construction, when each of the self-propelled vehicles 1 traveling on the same traveling route passes the starting point of the vehicle traveling control section or a fixed position in front thereof, the inter-vehicle distance command signal receiving means 14 is transmitted from the transmitting means 15. Inter-vehicle distance command signal 15a
Is received and the inter-vehicle distance set value 14a is sent to the comparison unit 17 in the next stage. When the self-propelled vehicle 1 enters the vehicle traveling control section, the current collector 11 receives the speed command signal 18a supplied to the signal line 10, and the speed set value 1 from the conversion unit 19 is received.
9a is output.

On the other hand, the inter-vehicle distance current value 16 is caused by the operation of the optical distance sensor 12 of each self-propelled carriage 1 and the conversion unit 16 in the next stage.
a is sent to the comparison unit 17, which compares the inter-vehicle distance set value 14a with the current inter-vehicle distance value 16a, and the speed correction value 17a corresponding to the deviation is compared with the next speed set value. It is sent to the correction unit 20. This speed correction value 17
a is a speed set value 19a in the speed set value correction unit 20.
Is added to or subtracted from, and the target speed value 20a is output. This target speed value 20a becomes larger than the speed set value 19a when the current inter-vehicle distance value 16a is larger than the inter-vehicle distance set value 14a, and conversely, the inter-vehicle distance current value 16a becomes the inter-vehicle distance set value 1
If it is smaller than 4a, it is corrected to be smaller than the speed setting value 19a. The correction amount is proportional to the deviation between the current inter-vehicle distance value 16a and the inter-vehicle distance set value 14a.

Since the traveling speed of the self-propelled carriage 1, that is, the rotation speed of the motor 6 is feedback-controlled so that the current speed value 21a becomes equal to the target speed value 20a as described above, the self-propelled carriage 1 moves forward. When the inter-vehicle distance L to the dolly is larger than the set inter-vehicle distance given by the inter-vehicle distance command signal 15a, the vehicle travels at a speed higher than the set speed given by the speed instruction signal 18a, and the inter-vehicle distance L approaches the set inter-vehicle distance. The vehicle is decelerated accordingly, and when the inter-vehicle distance L becomes equal to the set inter-vehicle distance, the vehicle travels at the set speed.

When the inter-vehicle distance L to the front bogie is smaller than the set inter-vehicle distance, the vehicle travels at a speed lower than the set speed,
The speed is increased as the inter-vehicle distance L approaches the set inter-vehicle distance,
When the inter-vehicle distance L becomes equal to the set inter-vehicle distance, the vehicle travels at the set speed. By such control, each self-propelled vehicle 1 on the same bogie traveling control section travels while automatically maintaining the set speed and the set inter-vehicle distance.

Of the plurality of self-propelled carriages 1 traveling on the carriage traveling control section while maintaining a constant inter-vehicle distance, the leading self-propelled carriage 1 has an inter-vehicle distance current value 16a of infinity or zero, which is normal. Control cannot be performed. Therefore, at the starting point of the bogie traveling control section or at an appropriate position before that, a signal indicating that the vehicle is the leading vehicle is given to the leading traveling vehicle 1, or an inter-vehicle distance command signal 15a is given to the leading traveling vehicle 1.
The vehicle having no inter-vehicle distance set value 14a is determined to be the leading vehicle, or the inter-vehicle distance detecting means does not detect the inter-vehicle distance to the front bogie (the inter-vehicle distance current value 16a is infinity or zero). It is determined that the vehicle is the leading vehicle by the following conditions), or the presence of a front vehicle is detected by a sensor added separately, and the vehicle is determined to be the leading vehicle. The target value of the speed 20a
Must be made equal to the speed set value 19a so that the vehicle always runs at the set speed.

In the above embodiment, the inter-vehicle distance detecting means is composed of the photoelectric distance sensor 12, the reflector 13 and the converter 16.
However, the present invention is not limited to this. Further, the control device of the present invention can be implemented by program control using a microcomputer mounted on the self-propelled carriage 1.

[0017]

As described above, according to the traveling control device of the present invention, the self-propelled vehicle is provided with the receiving means for receiving the speed command signal and the inter-vehicle distance command signal from the outside, and the vehicle travel control section , A speed command signal transmitting means for giving a speed command signal to the receiving means of the self-propelled vehicle in the section, and the inter-vehicle distance command signal to the receiving means at or before the starting point of the vehicle traveling control section. Since the inter-vehicle distance command signal transmitting means for giving the following is installed, the traveling speed of the self-propelled carriage traveling in the carriage traveling control section can be arbitrarily changed by giving a speed instruction from the outside at any time while in the section. Further, the inter-vehicle distance of the self-propelled carriage traveling in the section can be arbitrarily set by the inter-vehicle distance command given from the outside when entering the section.

Therefore, in the case where a plurality of work sections having different work conditions are set in the continuous truck travel route, each work section is set as the truck travel control section so that each work section can be operated. , The traveling speed and the inter-vehicle distance that are optimal for the working conditions can be freely set from the outside, or freely changed depending on the situation, and the traveling control of the self-propelled carriage in each working section can be maintained. Therefore, the work efficiency as a whole can be easily increased.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing the configuration of a self-propelled carriage.

FIG. 2 is a block diagram illustrating a control system.

[Explanation of symbols]

 1 Self-propelled vehicle 4 Traveling drive gear 5 Rack gear 6 Motor 7 Pulse encoder 8 Power supply line 9 Current collector 10 Signal line for speed command signal transmission 11 Current collector 12 Optical distance sensor 13 Reflector 14 Vehicle distance command signal receiving means 14a Vehicle distance Set value 15 Inter-vehicle distance command signal transmitting means 15a Inter-vehicle distance command signal 16 Conversion unit 16a Inter-vehicle distance current value 17 Comparison unit 17a Speed correction value 18 Conversion unit 18a Speed command signal 19 Conversion unit 19a Speed set value 20 Speed setting value correction unit 20a Speed target value 21 Converting section 21a Current speed value 22 Comparing section 22a Speed control value 23 Motor rotation speed control device.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G05D 1/02 J 7740-3H P 7740-3H 13/62 G 7740-3H // B60R 21/00 C 9434-3D B61B 13/00 V 7706-5H B61L 23/14 7740-3H G05D 1/02 P 7740-3H J

Claims (1)

[Scope of utility model registration request] 1. A self-propelled vehicle (1) traveling on a fixed route is provided with an inter-vehicle distance detecting means (12, 13, 16) for a front bogie, and is detected by the inter-vehicle distance detecting means (12, 13, 16). Based on the comparison result between the current inter-vehicle distance (16a) and the inter-vehicle distance set value (14a), the running speed of the self-propelled carriage (1) is changed to
(a) is a traveling control device in which a self-propelled carriage is equipped with control means for automatically adjusting so that it becomes equal to the inter-vehicle distance set value (14a), and the self-propelled carriage (1) is provided with an external speed command signal (18a). ) And an inter-vehicle distance command signal (15a) are provided in the receiving means (11, 14).
A speed command signal transmitting means (10) for giving a speed command signal (18a) to the receiving means (11) of (1) is provided, and the receiving means (14) is provided at or before the starting point of the carriage traveling control section. ) Is provided with a vehicle-to-vehicle distance command signal transmitting means (15) for giving a vehicle-to-vehicle distance command signal (15a).