JPH107212A - Mobile device stop control method - Google Patents

Abstract

(57) [Summary] In a stop control method of a traveling crane for entering / leaving a vehicle, since a moving object weight, a traveling resistance, a control delay, and the like are different from values estimated in a design stage, a constant low speed time in a traveling speed pattern is obtained. Becomes longer or shorter,
Various problems have arisen. A traveling plate of the crane 1 is provided with a detected plate 13 having an appropriate length in the crane traveling direction corresponding to each stop position of the crane, and the crane 1 detects the detected plate 13. The pair of front and rear detectors 14 and 15 are the detection plate 1
3 are arranged side by side at intervals shorter than the total length.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stop control system for a moving device such as a traveling crane.

[0002]

2. Description of the Related Art In general, a control method of a moving device such as a traveling crane is such that a detected member having an appropriate length in a traveling direction is disposed at each stop position of the moving device traveling on a fixed route, and a moving device is provided on a moving device side. A pair of front and rear detectors arranged side by side at a shorter interval than the entire length of the detected member are provided, and when the moving device reaches a certain position with respect to the detected member by running the moving device, for example, detection of the front and rear detectors When the signal rises, the moving device is stopped by applying a brake, and after the stop, if the pair of front and rear detectors simultaneously detect the detected member, it is determined that the moving device is stopped at a fixed position. there were.

[0003]

In the prior art moving apparatus, the weight of the moving body, the running resistance, the braking time delay, and the like may be different from the values estimated in the initial design stage in the final design stage. It was getting longer or shorter. The longer the constant low-speed time is, the longer the required travel time is. Conversely, if the constant low-speed time becomes shorter, the moving body vibrates due to rapid acceleration / deceleration when switching from deceleration due to constant deceleration to constant low speed, and stops at the target stop position before this vibration does not attenuate As a result, smooth propulsion of work, such as the inability to move to the next work until the vibration is attenuated at the stop position or the moving device, is hindered. Various stop control methods that can solve such problems have also been put to practical use, but all of them are compared with the simple method using the detected member and the pair of front and rear detectors as in the previous term, and compared with the pulse encoder, There is a drawback that the cost is high, such as the necessity of special electric parts such as the above.

[0004]

SUMMARY OF THE INVENTION According to the present invention, in order to solve the above-mentioned conventional problems, each stop position of a moving device which travels on a fixed path has an uneven surface having an appropriate length in the traveling direction. the detection member is disposed, the mobile device side by driving a pair of detectors before and after juxtaposed at intervals shorter than the total length of the detection member, the moving device at a constant high speed V _1, in advance from the stop position of the object after passing through a particular stop position before the number of determined unevenness, after a delay time T _d1 previously determined, after it becomes a constant low speed V ₂ by decelerated at a constant deceleration at the constant low speed V ₂ When the moving device reaches a predetermined position with respect to the detected member, the moving device is braked to stop the moving device at a position where the pair of front and rear detectors simultaneously detect the detected member.

According to the present invention, the traveling stop control of the moving device can be performed at a low cost, the traveling time can be shortened, and more accurate stop position accuracy can be obtained.

[0006]

FIG. 1 is a block diagram showing an embodiment of the present invention.
This will be described with reference to FIG. In FIG. 1, reference numeral 1 denotes a traveling crane for loading and unloading in an automatic warehouse. The crane 1 is provided with a lifting / lowering body 6 on which a loading fork 5 is mounted, and a loading / unloading table 7 and a shelf 2 disposed adjacent to a home position at one end of the crane traveling path.
Can be carried out with each of the load storage sections 2a. 8 is a traveling drive device of the crane 1,
It comprises a drive wheel 9, a motor 10 for driving the drive wheel 9, a braking means and the like.

Reference numeral 11 denotes a lifting / lowering body 6 lifting / lowering drive, and 12
Is a drive device that moves to and from the fork 5.

As shown in FIG. 2, each stop position of the crane, ie, a home position H. P and each row position on shelf 2 (FIG. 1
In the first to fifth rows, a detection plate 13 having an appropriate length in the traveling direction of the crane is provided, and the crane has a pair of front and rear detectors 14 for detecting the detection target plate 13 having irregularities. , 15 are juxtaposed at an interval shorter than the entire length of the detected plate 13. When the detectors 14 and 15 pass through the detection plate 13, the detection target plate 13 functions as a pulse signal having irregularities, and by storing the numerical values of the pulses in advance by learning, the accurate position is obtained. To stop.

[0009]

According to the stop control method of the present invention, the constant low speed time can be brought close to the on-board design value, a desired cycle time can be obtained, and the start-up adjustment of the device can be performed by learning the traveling. Automation makes it possible to shorten the length.

[Brief description of the drawings]

FIG. 1 is an elevation view of an automatic warehouse.

FIG. 2 is an explanatory diagram of a detected plate.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Crane for loading / unloading, 2 ... Shelf, 8 ... Crane driving drive, 13 ... Plate to be detected, 14, 15 ... A pair of front and rear detectors.

Claims (1)

[Claims] A moving member traveling on a fixed route is provided with a detection member having irregularities having an appropriate length in the traveling direction at a predetermined stop position of the traveling device. A pair of detectors are provided before and after, and the moving device is caused to travel at a constant high speed V ₁ , and after passing a specific position of a predetermined number of irregularities from a target stop position, a predetermined delay. after time T _d1, after becoming slower V ₂ by decelerated at a constant deceleration beta, moving at a low speed V _2, when the said mobile device relative to the detection member reaches the predetermined position, and braked A stopping control method for a moving device, wherein the moving device is stopped at a position where the pair of front and rear detectors simultaneously detect the detected member.