JPH01236313A - Controller for stoppage of mobile body at predetermined position - Google Patents

Abstract

PURPOSE:To quickly decelerate or stop a moving body without increasing the number of sensors by taking the AND and OR of two proximity sensors. CONSTITUTION:When the moving body is detected by either one of two mobile body detecting sensors 2 and 3, a deceleration command circuit 5 detects it and sends a deceleration command to the moving body so as to decelerate the moving body in accordance with the output of an OR circuit 4. When both of the two sensors 2 and 3 detect the moving body thereafter, a stop command circuit 7 detects it and sends a stop command to the moving body so as to stop the moving body based on the output of an AND circuit 6. The 1 shown in the figure is the running path of the moving body which is an unmanned traveling car.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Field of Application) The present invention relates to a fixed position stop control device for a moving body, such as an automatic guided vehicle, which controls the stopping position of a moving body.

(Prior Art) As a stop position control device for an automatic guided vehicle, one shown in FIG. 4 is conventionally known.

The device shown in this figure includes two proximity switches 10 arranged along a travel path 99 of an automatic guided vehicle (not shown).
0.101 and the detection signal S +o 5SK1 output from each of these proximity switches 100 and 101.
A stop command circuit 103 is provided which sends a stop command S++ to cause the automatic guided vehicle to perform a stop operation when the signal S12 is output.

When a stop command is supplied from the control circuit (not shown), the automatic guided vehicle traveling on the traveling path 99 comes to the stop position, as shown in FIGS. The signal S+o from the two proximity switches 100 and 101,
When S++ is output, the stop command circuit 103 detects this based on the output of the AND circuit 102 and issues a stop command S
++ is output to reduce the speed of the automatic guided vehicle and stop it as shown in FIG. 5(C).

(Problem to be Solved by the Invention) By the way, in the conventional fixed position stop control device, when the two proximity switches 100 and 101 detect an automatic guided vehicle, the stop command S+3 is sent to this automatic guided vehicle. ing. The reason why two proximity switches 100 and 101 are used is because the gap from the installation point to the automatic guided vehicle is large, so if the proximity switch alone is used, the detection zone is wider than the desired fixed position zone, and accurate stop control cannot be performed.

However, if the stopping interval (fixed position zone) is narrow or if the speed at which the automatic guided vehicle is brought in is high, it may not be possible to completely stop the automatic guided vehicle within this fixed position zone.

Furthermore, when the braking force of the automatic guided vehicle varies greatly, there is also the problem that the stopping position varies.

In view of the above circumstances, the present invention provides a fixed position stop control device for a moving object that can accurately stop a moving object such as an automatic guided vehicle at a predetermined position without increasing the number of proximity switches. is intended to provide.

[Configuration of the Invention (Means for Solving the Problems) In order to achieve the above object, a fixed position stop control device for a movable body according to the present invention includes two movable bodies disposed along a stop position of the movable body. a detection sensor, an OR circuit that takes the logical sum of the signals output from each of these moving object detection sensors, a deceleration command circuit that sends a deceleration command to the moving object when the OR circuit is logically summed, and each of the aforementioned moving object detection sensors. The present invention is characterized by comprising an AND circuit that takes the logical product of the signals output from the moving object detection sensor, and a stop command circuit that sends a stop command to the moving object when the logical product of the AND circuit is taken.

(Function) In the above configuration, if a moving object is detected by either of the two moving object detection sensors, the deceleration command circuit detects this based on the output from the OR circuit and issues a deceleration command to the moving object. Send it out and slow it down. After this, the above 2
If the moving object is detected by both of the moving object detection sensors, the stop command circuit detects this based on the output of the AND circuit and sends a stop command to the moving object to stop it.

(Embodiment) FIG. 1 is a block diagram showing an embodiment of a fixed position stop control device for a moving body according to the present invention.

The fixed position stop control device shown in this figure includes two proximity switches 2.3 disposed along a travel path 1 of an automatic guided vehicle (not shown), and an output from each of these proximity switches 2.3. An OR circuit 4 that takes the logical sum of the signals S+ and S2, and a deceleration command circuit that generates a deceleration command signal S4 when the "i" signal S3 is output from the OR circuit 4 and sends it to the automatic guided vehicle. 5, and each of the proximity switches 2.
An AND circuit 6 takes the logical product of the signals S+ and S2 output from 3, and when a "1" signal S5 is output from this AND circuit 6, a stop command signal S6 is generated and this is sent to the automatic guided vehicle. It is equipped with a stop command circuit 7 that sends out a stop command.

Then, while the stop command is being supplied from the control circuit (not shown), the automatic guided vehicle traveling on the traveling path 1 approaches the stop position, and one of the two proximity switches 2.3 is activated. For example, the automatic guided vehicle is detected by the proximity switch 2, and the proximity switch 2 outputs a signal S1 as shown in FIG. 2(a). In response, the OR circuit 4 outputs the ``1'' signal S3, and the deceleration command circuit 5
A deceleration command signal S4 is output from.

As a result, the automatic guided vehicle starts decelerating as shown in FIG. 2(C).

Next, when the automatic guided vehicle is detected by the other proximity switch 3 and a signal S2 is output from the proximity switch 3 as shown in FIG. ' Output signal S5 and stop command circuit 7
A stop command signal S6 is output from.

In this case, since the automatic guided vehicle is considerably decelerated by the deceleration command signal S4, the automatic guided vehicle can be immediately stopped when the stop command signal S6 is output from the stop command circuit 7.

As described above, in this embodiment, before outputting the stop command signal S6, the deceleration command signal S4 is outputted to start decelerating the automatic guided vehicle, so that when the automatic guided vehicle reaches the stop position, This can be stopped immediately.

FIG. 3 is a circuit diagram showing another embodiment of the fixed position stop control device according to the present invention. In this figure, parts corresponding to those in FIG. 1 are given the same reference numerals.

The fixed position stop control device shown in this figure has a circuit constructed using various relays, and operates as described below.

First, a stop command CNT is sent from the control device (not shown).
In a state where the stop command circuit 7 is not supplied, the relay contact 8b in the stop command circuit 7 is closed, and the relay contact 8a is open.

Therefore, in this state, the high speed command relay 9 in the deceleration command circuit 5 is energized and the relay contact 9a is closed. Thereby, the signal generator 11 generates a speed signal REF serving as a high speed command based on the speed value set in the speed setter 1Q, supplies this to the automatic guided vehicle, and causes the automatic guided vehicle to travel at high speed.

In this state, if a stop command CNT is output from the control device, the relay contact 8b opens in response to this, and the output of the speed signal REF from the signal generator 11 is stopped.

Also, in parallel with this operation, the relay 8a closes,
Low speed command relay 12 is energized. As a result, relay contact 12a of this low-speed command relay 12 closes, and relay contact 12b opens. As a result, the signal generator 11 generates a speed signal REF serving as a low speed command based on the speed value set in the speed setter 13, supplies this to the automatic guided vehicle, and causes the automatic guided vehicle to travel at a low speed.

In addition, in this state, if the approach of an automatic guided vehicle is detected by one of the proximity switches 2 and 3, for example, the proximity switch 2, and the proximity switch 2 outputs a signal S1, the relay will be activated in response. 14 operates and OR circuit 4
relay contact 14a1 of and relay contact 1 of AND circuit 6
Close 4a2.

As a result, the slow speed command relay 15 in the deceleration command circuit 5
is excited, and relay contact 1 of this slow speed command relay 15
5b is opened, and the excitation of the low speed command relay 12 is stopped.

Further, at this time, the relay contact 15a of the slow speed command relay 15 is closed, and the relay contact 15b is opened.

As a result, the signal generator 11 generates a speed signal REF which becomes a slow speed command based on the speed value set in the speed setter 13.
This is then supplied to the automatic guided vehicle, and the speed of the automatic guided vehicle is reduced to very low speed.

After that, when the approach of the automatic guided vehicle is detected by the other proximity switch 3 and the signal S2 is output from this proximity switch 3, the relay 16 is activated in response to the signal S2, and the relay contact 16a1 of the OR circuit 4 is activated. and the relay contact 16a2 of the AND circuit 6 are closed.

As a result, the stop command relay 17 in the stop command circuit 7
is excited, and relay contact 1 of this stop command relay 17
7b+ and 17b2 are opened, and the excitation of low speed command relay 12 and slow speed command relay 15 is stopped.

As a result, the relay contacts 12b and 15a of the low-speed command relay 12 and the slow-speed command relay 15 are opened, and the relay contacts 12a and 15b are closed, so that the input to the signal generator 11 becomes the value "O''. This causes the signal generator 11 to stop outputting the speed signal REF and stop the automatic guided vehicle.

In this case, before the signal generator 11 stops outputting the speed signal REF, the speed signal REF serving as the slow speed command is output and the speed of the automatic guided vehicle decreases, so the speed signal QRE
When the output of F is stopped, this automatic guided vehicle will stop immediately.

[Effects of the Invention] As described above, according to the present invention, a moving object such as an automatic guided vehicle can be accurately stopped at a predetermined position without increasing the number of proximity switches.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of a fixed position stop control device for a moving body according to the present invention, FIG. 2 is a waveform diagram showing an example of the operation of the same embodiment, and FIG. A circuit diagram showing another embodiment of the position stop control device I, FIG. 4 is a block diagram showing an example of a conventional fixed position stop control device, and FIG. 5 shows the operation of the fixed position stop control device shown in FIG. 4. FIG. 3 is a waveform diagram showing an example. 2.3... Moving object detection sensor (proximity switch) 4...
・OR circuit 5...deceleration command circuit 6...AND circuit 7...stop command circuit

Claims (1)

[Scope of Claims] Two moving body detection sensors disposed along the stop position of the moving body, an OR circuit that calculates the logical sum of signals output from each of the moving body detection sensors, and logic of the OR circuit. a deceleration command circuit that sends a deceleration command to the moving object when the sum is obtained; an AND circuit that takes a logical product of the signals output from each of the moving object detection sensors; A fixed position stop control device for a moving body, comprising: a stop command circuit that sends a stop command to the moving body.