JP4140015B2 - Moving body traveling device - Google Patents

Description

  The present invention provides a position detection unit that detects a traveling position of a moving body that moves along a set movement route, and the moving body so as to stop the moving body at a set stop position based on detection information of the position detection unit. The present invention relates to a travel device for a moving body provided with travel control means for controlling travel drive means.

Such a travel device for a mobile object specifies the position of the mobile object based on the detection information of the position detection means, and controls the travel drive means for the mobile object so that the mobile object stops at the set stop position.
As such travel position detecting means, conventionally, a rotary encoder is provided on the moving body side, and a roller installed on the ground side is attached to the rotary shaft of the rotary encoder, so that the moving amount of the moving body from a reference position on the ground side The structure for identifying the travel position of the moving body by attaching the rotary shaft of the rotary encoder to the rotating shaft interlocking with the drive shaft of the driving motor, and the moving body according to the moving amount of the moving body from the reference position on the ground side In addition, in the position detection based only on the detection information of the rotary encoder as described above, the position detection accuracy can be obtained by the above-mentioned roller slipping, etc., particularly when the moving distance of the moving body is long. Therefore, a detection plate for position detection is appropriately installed along the moving path of the moving body, and the detection plate is detected on the moving body. It includes a sensor, by identifying the traveling position of the moving body the position of each plate to be detected as a reference, is also contemplated to improve the position detection accuracy.

However, in the conventional configuration, the traveling position of the moving body cannot be detected with high accuracy, and if the detection accuracy is to be improved, installation of the detected plate is required, and the equipment configuration becomes complicated. there were.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a traveling device for a moving body that can accurately detect the traveling position of the moving body with a simple configuration.

According to a first aspect of the present invention, based on position detection means for detecting the travel position of the moving body moving on the set movement route, and the movement so as to stop the moving body at the set stop position based on detection information of the position detection means. In the traveling apparatus for a moving body provided with a traveling control means for controlling the traveling driving means for the body, the position detecting means measures a distance between the reference position set in the set movement route and the moving body. It is described that an optical distance measuring device is provided to obtain the position of the moving body from position information of the reference position and detection information of the distance measuring device.
By providing the configuration according to claim 1, the distance between the reference position set on the set movement path of the moving object and the moving object is measured based on the detection information of the optical distance measuring device, and the reference position The position of the moving body is obtained from the position information of the distance and the detection information of the distance measuring device.
The travel control means controls the travel drive means of the mobile body so that the mobile body stops at the set stop position based on the information on the position of the mobile body obtained as described above.
Therefore, it is not always necessary to install a plurality of detection plates along the moving path of the moving body, and since the optical distance measuring device can detect the distance with sufficient accuracy, it is accurate with a simple configuration. It has become possible to provide a traveling apparatus for a moving body that can detect the traveling position of the moving body.

Further, in the claim 1, wherein the moving body is constituted by the elevation frame of the stacker crane, the traveling carriage of the stacker crane, the distance measuring device, by projecting light toward the lifting table, and it It is described that it is installed so as to receive the reflected light.
By providing the configuration according to the first aspect, the traveling position (elevating position) of the lifting platform of the stacker crane provided in the so-called automatic warehouse is obtained based on the detection information of the optical distance measuring device.
In this case, since the travel drive means of the lift platform of the stacker crane is generally provided in the travel cart, the optical platform is equipped with an optical distance measuring device and the distance to the lift platform is measured. Compared with the case where an optical distance measuring device is installed, detection information of the distance measuring device can be easily transmitted to the travel control means.

DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment when a traveling device for a moving body of the present invention is applied to an article storage facility will be described with reference to the drawings.
As shown in FIG. 1, in the article storage facility FS, two storage shelves A that are installed so as to face each other in an article loading / unloading direction, and a work passage formed between the storage shelves A. A stacker crane C that automatically travels through B is provided, and each storage shelf A is provided with a large number of article storage portions D that are arranged in multiple stages in the vertical and horizontal directions.

  In the work path B, a traveling rail 1 is installed along the longitudinal direction of the storage shelf A, and a controller for inputting a loading / unloading command to the stacker crane C in the article loading / unloading section E installed on one end side of the work path B. E1 and a pair of loading platforms E2 are provided with the traveling rail 1 interposed therebetween, and the stacker crane C travels along the traveling rail 1 based on the loading / unloading command, and the loading platform E2 and the article storage unit D It is configured as a loading / unloading transport vehicle that loads and unloads articles F placed on the pallet P.

As shown in FIG. 2, the stacker crane C includes a lift 3 on a traveling carriage 2 that travels along a traveling rail 1, and a pair of front and rear masts 4 that guide and support the lift 3 so as to be movable up and down. A fork device 5 for transferring articles is provided on the lifting platform 3.
The lifting platform 3 is suspended and supported by lifting chains 8 connected to the left and right sides thereof. The lifting chain 8 is a guide sprocket 9 provided on the upper frame 7 and a guide sprocket provided on one lifting mast 4. 10 is connected to a take-up drum 11 provided at one end of the traveling carriage 2.
The take-up drum 11 is driven and rotated in the forward and reverse directions by the elevating electric motor M <b> 1, and the elevating platform 3 is driven up and down by unwinding and winding operation of the elevating chain 8.

As shown in FIGS. 2 and 3, the lifting position of the lifting / lowering base 3 is connected to the rotary shaft of the take-up drum 11, and the driving side rotary encoder 18 for detecting the amount of rotation thereof and the traveling carriage 2 Management is based on detection information with the installed optical distance measuring device OS. The distance measuring device OS for detecting the raising / lowering position of the lifting platform 3 is projected from the laser rangefinder 20 that projects the beam light for distance measurement horizontally in the moving direction of the traveling carriage 2, and the laser distance meter 20. And a mirror 22 for irradiating the reflector 21 installed on the lower surface of the elevator 3 by bending the path of the light beam vertically upward.
The detection information of the drive-side rotary encoder 18 and the laser range finder 20 is input to the lift control unit 30 of the crane control device CC as shown in FIG.

As shown in FIG. 3, the traveling carriage 2 is engaged with the traveling rail 1 so that the front and rear wheels 12 that can travel on the traveling rail 1 and the position in the vehicle lateral direction relative to the traveling rail 1 are regulated. A lower position regulating roller 13 provided in a pair of left and right and two left and right front portions and a traveling drive device 14 including a traveling electric motor M2 are provided.
Further, as shown in FIG. 2, the upper frame 7 has a pair of left and right upper positions that sandwich the guide rail 6 from the left and right and roll around the vertical axis along the side surface as the stacker crane C travels. The regulating roller 17 is provided at the front and rear end portions in the traveling direction.
And the wheel of the one end side of the vehicle body front-back direction of the two wheels 12 is comprised by the drive wheel 12a for a propulsion driven with the drive device 14 for driving | running | working, and the wheel of the other end side of a vehicle body front-back direction is comprised. The stacker crane C is configured as a free-wheeling driven wheel 12b, and the stacker crane C is automatically driven along the traveling rail 1 by being driven by the traveling driving device 14 while being prevented from falling by the upper position regulating roller 17 provided on the upper frame 7. It is configured to run freely.

The traveling position of the traveling carriage 2 is managed based on detection information of an optical distance measuring device OS attached to the traveling carriage 2, as shown in FIG. The distance measuring device OS for detecting the traveling position of the traveling carriage 2 is composed of a laser rangefinder 23 that projects beam light for distance measurement horizontally in the moving direction of the traveling carriage 2. As shown in FIG. 2, the laser range finder 23 projects beam light for distance measurement toward a reflecting plate 24 as a light reflecting member installed at the end of the moving path of the traveling carriage 2.
Each of the laser rangefinders 20 and 23 projects beam light modulated at a plurality of frequencies, and the modulation phase of the projected light and the modulation phase of the reflected light reflected by the reflecting plates 21 and 24. The distance from the phase difference to the reflectors 21 and 24 is measured, but other types of distance measuring devices such as a method of measuring the distance by the round trip time of the projected light may be used.
The detection information of the laser rangefinder 23 is input to the traveling control unit 31 of the crane control device CC as shown in FIG.

Next, the lifting control of the lifting platform 3 and the traveling control of the traveling cart 2 by the crane control device CC will be described.
The crane control device CC receives a conveyance command from the controller E1, and the traveling control unit 31 positions the traveling carriage 2 at the designated traveling position, and the elevation control unit 30 designates the elevation position at which the elevation platform 3 is designated. At the same time, the transfer control unit 32 moves the fork device 5 out of the fork device 5 to carry the article F and transfer the article F to / from each article storage part D and the like.

Among these, the traveling control of the traveling cart 2 by the traveling control unit 31 will be schematically described based on FIG. 5 which is a flowchart showing a part of the control of the traveling control unit 31.
When the traveling control unit 31 receives a conveyance command from the controller E1, the traveling control unit 31 sets a deceleration start position for controlling the traveling carriage 2 to decelerate at the stop position and a position before the stop position according to the instructed position of the article storage unit D or the like. Set and start running (step # 1). Hereinafter, the section from the deceleration start position to the stop position is referred to as “deceleration range” for convenience.

After the start of travel, a distance measurement command is output to the laser range finder 23 to receive a distance measurement result (step # 2). If the travel position of the traveling carriage 2 is the above “deceleration range” based on the distance measurement result, (Step # 3) The speed of the “set deceleration pattern” stored in the memory 25 of the travel control unit 31 is commanded to the travel electric motor M2 (Step # 4).
Although not shown, this “set speed pattern” is stored in the memory 25 as a speed pattern that smoothly decreases with respect to the traveling position of the traveling carriage 2.
When the traveling carriage 2 is decelerated as set and the traveling position reaches the “stop position”, the brake is operated to stop the traveling carriage 2 (steps # 5 and # 6), and the transfer control unit 32 completes the traveling. Send a signal.

Next, the raising / lowering control of the raising / lowering stand 3 by the raising / lowering control part 30 of the crane control part CC is demonstrated roughly based on FIG. 6 which is a flowchart which shows a part of control of the raising / lowering control part 30. FIG.
When the lifting control unit 30 receives a conveyance command from the controller E1, the deceleration start position that controls the traveling carriage 2 to decelerate at the stop position and a position before the stop position according to the instructed lifting position of the article storage unit D or the like. Is set to start raising and lowering (step # 10). Here, the “stop position” indicates that the article placement surface of the fork device 5 is the article storage section if the movement at that time is a “rake operation” for transferring the article F of the article storage section D to the lifting platform 3 side. If the article placement surface of the fork device 5 is set to a position slightly lower than the article placement surface of the article and the “fitting operation” is performed to transfer the article F mounted on the lifting platform 3 to the article storage unit, A position slightly higher than the article placement surface of the article storage unit is set. Note that, similarly to the above-described travel control, the section from the deceleration start position to the stop position is hereinafter referred to as a “deceleration range” for convenience.

When the traveling position of the lifting platform 3 obtained by counting the pulses output from the drive-side rotary encoder 18 after the start of lifting is reached the “deceleration range” (step # 11), it is stored in the memory 36 of the lifting control unit 30. A speed based on the stored “set deceleration pattern” is commanded to the lifting electric motor M1 (step # 12).
Although this “set speed pattern” has a different rate of speed reduction with respect to a specific lift position (travel position), its shape is the same as that in the above-described travel control.
When the elevator 3 is decelerated within the allowable range and the elevator position (traveling position) reaches the “stop position”, the brake is activated to stop the elevator 3 (steps # 13 and # 14). The fact that the elevation to the “stop position” has been completed is transmitted to the loading control unit 32.

When the transfer control unit 32 receives the lift completion signal from the lift control unit 30 and the travel completion signal from the travel control unit 31, the transfer control unit 32 causes the fork device 5 to project from the article storage unit D, and the projecting operation Is completed, a protrusion completion signal is transmitted to the elevation control unit 30.
When the lift control unit 30 receives this protrusion completion signal (step # 15), if the transfer operation at that time is a “rake operation” (step # 16), the lift table 3 is placed on the fork device 5 on the article. The placement surface is raised so that it is positioned slightly higher than the article placement surface of the article storage portion D, the article F in the article storage portion D is lifted and scooped (step # 17), and the transfer at that time If the operation is a “grating operation” (step # 16), the lifting platform 3 is lowered so that the article placement surface of the fork device 5 is positioned slightly lower than the article placement surface of the article storage portion D. Then, the article F of the fork device 5 is lowered to the article storage unit D (step # 18), and in either case, after the lifting / lowering is completed, a lifting / lowering completion signal is transmitted to the transfer control unit 32.

The raising / lowering operation of the lifting platform 3 in the state in which the fork device 5 is projected and operated in the “rake operation” and the “grating operation” is based on the detection information of the laser range finder 20, not the detection information of the driving rotary encoder 18. Ask. The laser range finder 20 measures and outputs the distance to the reflecting plate 21 attached to the elevator 3, and corrects this so that the elevation position obtained by the rotary encoder 18 coincides with the elevation origin position, that is, the reference position. And the raising / lowering position (traveling position) of the raising / lowering stand 3 is calculated | required.
When receiving the lifting / lowering completion signal, the transfer control unit 32 causes the fork device 5 to retreat, and transmits a retirement completion signal to the lifting / lowering control unit 30 after the retraction operation is completed.
When the retreat completion signal is received by the lift control unit 30 (step # 19), the process proceeds to the next lift control process.

The crane control device CC repeats the above-described traveling control, elevation control, and transfer control by the transfer control unit 32 to carry in / out the article F instructed from the controller E1.
Accordingly, the traveling control unit 31 functions as traveling control means MC that controls the traveling electric motor M2 that is the traveling drive means MD that travels and drives the traveling body MB using the traveling carriage 2 of the stacker crane C as the moving body MB. The traveling control unit 31, the laser range finder 23, and the reflector 24 function as position detecting means PS that detects the traveling position of the moving body MB.
The lift control unit 30 also functions as a travel control means MC that controls the lift motor 3 that is the travel drive means MD that travels and drives the mobile body MB using the lift 3 of the stacker crane C as the mobile body MB. The elevating control unit 30, the laser range finder 20 and the reflector 21 function as position detecting means PS for detecting the traveling position of the moving body MB.

[Another embodiment]
Hereinafter, other embodiments of the traveling device for a moving body of the present invention will be listed .
In the form above Symbol embodiment, in the lifting control of the elevation frame 3, the detection information of the laser range finder 20, when transferring the articles F against the article lifting unit D, etc., it is protruded fork device 5 Although it is only used for raising and lowering in the state, it is not provided with the drive-side rotary encoder 18, and it is raised and lowered based on the raising / lowering position (traveling position) of the lifting platform 3 obtained based on the detection information of the laser rangefinder 20. You may make it perform all the raising / lowering control of the stand 3. FIG.

1 is a partially cutaway perspective view of an article storage facility according to an embodiment of the present invention. Schematic configuration diagram of a moving body according to an embodiment of the present invention The principal part enlarged view concerning embodiment of this invention The block block diagram concerning embodiment of this invention The flowchart concerning embodiment of this invention The flowchart concerning embodiment of this invention

Explanation of symbols

C Stacker crane MB Moving body MC Travel control means MD Travel drive means OS Optical distance measuring device PS Position detection means 2 Traveling carriage 3 Lifting base 24 Light reflecting member

Claims (1)

Position detecting means for detecting the traveling position of the moving body moving on the set movement path;
A traveling device for a moving body provided with traveling control means for controlling traveling driving means for the moving body so as to stop the moving body at a set stop position based on detection information of the position detecting means,
The position detection means includes an optical distance measuring device for measuring a distance between a reference position set on the set movement path and the moving body, and includes position information of the reference position and the measurement. It is configured to obtain the position of the moving body from the detection information of the distance device,
The moving body is constituted by a lifting platform of a stacker crane,
The distance measuring device is installed on the traveling carriage of the stacker crane so as to project light toward the elevator and receive the reflected light thereof.
The distance measuring device projects the light horizontally in the moving direction of the traveling carriage and receives reflected light, and the path of the light projected from the laser distance meter is bent vertically upward. A traveling apparatus for a moving body, comprising: a mirror for irradiating a reflecting plate installed on the lower surface of the elevator and bending the reflected light from the reflecting plate toward the laser rangefinder .

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