JPS598016A - Traveling controller of self-traveling dolly - Google Patents

Abstract

PURPOSE:To ensure the safety traveling at a curve part and at the same time to improve the traveling efficiency for an automatic driving truck, by detecting the deviation value of induced voltage from the antenna and controlling the traveling speed. CONSTITUTION:In a linear traveling mode, a self-traveling dolly travles at the center between left and right receiving antennas 22a and 22b so that the voltage of the same level is induced to both antennas 22a and 22b. In a curve traveling mode when the deviation value of induced voltage between both antennas exceeds the reference level, a command is delivered from a control part 38 to lower the traveling speed of the dolly. Then the checking frequency of the induced voltage is increased for each traveled distance, and the deviation is corrected in a short time.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling control device for a traveling bogie, particularly for an unmanned and automatically traveling bogie.

2. Description of the Related Art Automated warehouses, machine factories, etc. use trolleys that automatically travel under remote control as a means of transporting goods.

Although such self-propelled carts do not have any major problems when traveling in a straight line, they do have problems especially when traveling on curved sections.

In other words, the bogie is forced to run unstable due to centrifugal force on curved sections, and in some cases, a deceleration command is issued to reduce the running speed to 1.
': It is necessary to do so. In other words, if the radius of the curved section is large, there is no need to reduce the speed, but if the radius is small, the centrifugal force may cause the bogie to come off the track, or the cargo placed on the bogie may collapse or fall. If the radius is smaller than a certain radius determined in relation to the traveling speed of the bogie, the traveling speed must be reduced.

An acceleration signal is required at the rear of the curved section, so two signal devices are installed for each curved section, and in order to increase running efficiency, the speed IW setting is adjusted to match the difference in radius of the curved section. There is a hassle that has to be done from outside.

The purpose of the present invention is to solve the problem described in 1-1. The present invention provides a control device in which a truck performs its own speed control.

Embodiments of the present invention will be described below with reference to the drawings.

Figures 1 and 2 show an example of a self-propelled truck.The frame body of the truck is composed of frames (1) (2) and supports (3) (3), and has two drive widths (4). (5) and one or more support wheels (6).
) (5) are each equipped with a Do motor and a brake.Furthermore, the front and rear of the bogie are equipped with antennas (7) and (8), which will be described later. is given and received.

Note that a positioning device (11) for positioning the cart (10) with respect to the ground is provided on the bottom surface of the cart (10). That is, the cones (12) are fixedly installed at the location where the trolley (1-0) is positioned and operated, and the trolley (10) has four cones (12) corresponding to the two cones (12). A conical disk (13) is provided.

1- The conical disk (13) is fixed to the piston rod of the cylinder (14) installed vertically on the truck.

In addition, bumpers (15) are installed at the front and rear of the truck so as to be able to swing in a horizontal plane, causing the bumper to deflect and stop the truck when it comes into contact with an obstacle.

Cart 1 - The guide rollers (16) on which the cargo (16) is placed
17) (18) is placed.

Such a self-propelled trolley (, 1, 0) runs alongside the guide wire (9) while the antenna (7) or (8) searches for the magnetic field generated from the guide wire (9), The two drive wheels rotate at the same speed to travel along a straight path,
By giving a speed difference to the two drive wheels, the vehicle travels along a curved path.

Figure 3 shows the antennas (7) (8) installed before and after the trolley-plane force.
), the antennas (7) and (8) have the same structure, and one antenna in the traveling direction 1111 of the truck acts. That is, the transmitting antenna (1,'l) is a magnetic core (2+1) such as a ferrite core with a coil (21) wound around it, and the receiving [front antenna (22a) (22+
)) are magnetic cores (23) (24) made of ferrite, etc.
) with the same number of turns on the left and right sides of the center (25) (
2(i) is installed in the antenna box of the last deck 4(v).

In addition, the receiving antenna (22,+) (221]l?;
The running induced current flowing in the induction i (9) of the running route J
] 16 Yohichi-L start signal from control device, bogie I,
The transmitting antenna (19) is for transmitting a signal for confirming the location of the bogie itself or a status signal to the ground control station.

Fig. M4 shows a traveling system W'l with such an antenna.
1+10 in a block diagram showing one embodiment of the l device, deviation to check the induced voltage from antenna (7) or (8)) 1
+ detection circuit (27) and the detected deviation is outputted according to the signal amount detection and amplification device (
:U]) (32) and one drive wheel (4) (5) driven by motor Cm (:32+).

Furthermore, the number of rotations of the motors (31) (32), that is, the wheels (
A block circuit that detects the rotation speed of the 4"l (5), inputs the signal detected from the tachometer rotor (33) (3/I), detects the speed and speed difference of both axles, and instructs acceleration/deceleration. (35) and a second control section (37) comprising a block circuit (36) and the like which output acceleration/deceleration signals for the motor (31+(32)) according to output signals from the block (35).

The first and second city control units (30) and (37) are constructed as one microcomputer (38+).

In addition, as shown in FIG.
It is also possible to input the number of rotations of the heavy wheels (4) and (5).

Therefore, as shown in Figure 3, when traveling in a straight line, the left and right receiving antennas (22a) (22+)), that is, the coil L2!5) (%
) so that the same voltage is induced in the antenna (22a
) (221) Drive along the middle road between 1 and 2. In other words, the left and right antennas (22a) (221))
Check the 0'I u・1' bow voltage, and if there is a difference in the voltage,
By controlling the left and right drive motors, the cart travels in a straight line. Theoretically, there should be no voltage deviation in the coil to the right of the knob when driving in a straight line, but in reality there is always a slight deviation due to the influence of the road surface, deviation of the ground guidance line θ), or control time ill. Therefore, there is a 1-level difference, and if this deviation is within the B value, it will not affect the running of the bogie.

-1- The reference value is set as the reference value, and the case where the reference value is raised is when the bogie starts running on a curve.In this case, a command to reduce the running speed of the bogie is issued from the control unit and the bogie starts running. This increases the number of times the induced voltage is checked at different distances and corrects deviations in a short period of time.

In other words, the truck (10) turns to the left as shown in Figure 6.
In this case, the antenna (22a) (22b) and the guide wire (9)
The antenna (22a
), a larger induced voltage (■1) than usual occurs in the antenna (22bl), a smaller induced voltage (V2) than usual occurs in the antenna (22bl), and the -1 - electromotive voltage difference (Vl, -V2) becomes the - foot reference value. (■), so the deviation detection circuit in Figure 4 (27
), a deceleration command is issued to the wheels (4,) (5) 1, the drive motors (3]) (32) decelerate, and
The rotational speed difference between the two wheels for curved travel is applied, the traveling speed of the bogie is reduced, and steering suitable for curved travel is performed.

Note that the method for returning to the original speed after the end of curve travel is performed as follows. In other words, as mentioned above, when a constant (1 or more) deviation occurs between the two coils, the speed increases, and the deviation is smaller during curved travel than when entering a curved section, but - The deviation of more than 10 feet is caused by the bending of the guide wire.

This value can be determined experimentally. P1] The deviation while traveling on a curve can be set based on the traveling speed, radius of curvature, etc.

If this value is (V), then if the voltage difference (Vl - V2) between both coils (25) (2 (3)) becomes smaller than the set value (V), it is assumed that the curve has escaped, and the This will return the running speed to its original speed.

In the second embodiment, a two-wheel drive case has been described, but a two-wheel drive case is also possible.

That is, in Fig. 8, the self-propelled trolley (39) is provided with a drive wheel (4 (1)) and two driven wheels (old) (42), and the drive wheel (40) is driven by a drive motor (43). It rotates and changes its angle from side to side (to the trolley (39)
The antenna (7) provided on the front surface of the is the same structure as in the first embodiment, and there are two receiving antennas (22a) (22+
)l, and runs along the guide line (9).

Furthermore, the induced voltage from the antenna (7) is input to the microcomputer (47) via a separate AD converter.
” - Detect and calculate the difference in voltage in the same way as in the above example,
1-If the deviation speed is less than the set value, then -, give a deceleration command to the 1-movement motor (43) and give one of the rotation commands to the steering motor (44) to enter curve travel. .

1- As mentioned above, the self-propelled bogie itself detects the deviation of the two induced voltages obtained from the antenna, calculates the current value fl, and issues commands for acceleration and deceleration to one driving wheel.
For example, when driving on a curved road as shown in FIG.
The point (1)) is the point in front of the entrance side of the point (1)), which is the rear point of the exit side. Draw a diagram. That is, point (A
) is still in a straight line, so there is no deceleration, but when it enters a curved part, that is, when it passes slightly past point (B), the traveling speed is reduced by 1 part due to the detection of the voltage difference ψ of the antenna. , When the vehicle slightly passes point (C1), a speed increase command is given, and the speed is increased by one speed to return to the normal running speed.

Therefore, the distance 1ii111 traveled at a deceleration speed 11Y higher than the normal straight-line traveling speed becomes Sl.

On the other hand, when using another method, i.e., when an external deceleration command of some kind can be sent on the entrance and exit sides of a curved section, immediately before the curved section (
It is impossible to decelerate at point (A) and then go to In speed immediately after (C), so it is necessary to decelerate at point (A) and give the IJII floor command at point (J)). CO), i'
The Q line becomes smooth as shown by the line (L2) in Figure 10, and the deceleration travel distance j which is slower than normal is not indicated by S\, but becomes r(Σ4,
This is longer than in the case of the present invention, and it takes more time to travel on curved sections.

As described above, the present invention includes an antenna having two receiving coils for detecting a guide wire laid on the floor of a self-propelled trolley;
A control unit is provided that detects the induced current and pressure 0) 1 flat fan from the antenna, and calculates and commands the deceleration of the 1st wheel J wheel υ11 based on the detection signal, so there is no need to issue a command from the outside. In addition, it is possible to automatically control the rotation of the drive wheels in the green curved section to drive at a reduced speed, and the induced voltage (R difference amount differs in relation to the radius of curvature of the curved section, so the bending of the curve is Since the traveling speed can be set according to the degree of travel, the trolley can run stably and efficiently on curved sections, making it extremely suitable for general transportation systems such as factories and gold mines. It is effective and can increase system availability.

[Brief explanation of the drawing]

Figure 1 is a schematic side view showing an example of a self-propelled trolley;
The figure is a front view of the same, Figure 3 is a plan view of the antenna applied to the device of the present invention, Figure 4 is a plan view showing the running state in the main source section, and Figure 7 is a diagram of the antenna and guide wire at line 78. FIG. 8 is a plan view showing the schematic configuration of a single-wheel drive self-propelled bogie, FIG. 9 is a diagram showing the relationship between curved sections and signal points, and FIG. 10 is a diagram showing the running of the bogie on curved sections. It is a diagram showing speed. (4) (51 (40), 11 pivoting wheels <9+ Guide wire (10) Self-propelled trolley for (22a) (22+))...Receiving antenna (25)
(26) Coil (38) (47+・Control 1 Part 3 Figure 5 Figure 6

Claims (1)

[Claims] It is equipped with an antenna that has two receiving coils that detect the guiding wire, and a control unit that detects the deviation of the induced voltage from the antenna and calculates and commands the acceleration and deceleration of the drive wheels based on the detected signal. A traveling control device for a self-propelled trolley, which is characterized by: