JPS5846803A - Drive control method for automated guided vehicles, etc. - Google Patents

Abstract

PURPOSE:To easily adjust the travelling speed of the titled vehicle, by detecting operation directing means provided on the rail, and then controlling the output voltage and frequency of an inverter by the detected signal. CONSTITUTION:Inductive detectors S1, S2 detect the rail laid on the travelling surface or buried thereunder and provides detection signals IS1, IS2 to converters VCV1, VCV2. A detector D1 provides the difference between outputs of the converters VCV1, VCV2 to a control circuit STG, and the control circuit STG control a rudder drive motor M1 and allows a carrying car W to transit along the orbit. Besides, inductive detectors S1, S2 detect operation directing means provided on the rail, and the control circuit STG controls the output voltage and frequency of the inverter VVVF according to the operation directing signal resulting in the speed-control of a travelling motor M2.

Description

[Detailed Description of the Invention] The present invention relates to a method for controlling the drive of an automatic guided vehicle, etc., and in particular, a method for controlling the acceleration and deceleration of one traveling speed as appropriate using a simple device when traveling on a track consisting of straight curves. It's a good thing.

Bon* - Jinichi Ichiban 11 The tracks laid or buried on the floor are detected by electromagnetic guidance, optical transmission, laser beams, ultrasonic waves, etc., and storage batteries etc. are mounted on the transport vehicle. Eight DC motors are driven by the DC power source to run along the track. Therefore, in order to control the acceleration and deceleration of this conveyance vehicle, a deceleration device and a speed control device are required, and these devices are complicated. Additionally, there was no way to easily control behavior by following advanced guidance methods such as electromagnetic guidance, optical guidance, laser beam guidance, and ultrasonic guidance. ) In view of these points, the present invention is consistent with an advanced guidance control method, and is a simple method that 1. detects an operation command signal set in advance on the orbit, 1. increases or decreases the output voltage and frequency of the inverter based on the detected signal, and controls the output voltage and frequency of the inverter in a simple manner. The device performs acceleration/deceleration control according to the straight curve of the vertical electric 1at trajectory for running, thereby saving energy and increasing efficiency.

The present invention will be explained below based on examples.

The figure shows a vtFi automatic guided vehicle, which is equipped with an appropriate trajectory detection device 1, a control device 2, and a DC power source BI, and is capable of detecting a trajectory laid or buried on the running surface and traveling along the trajectory. When the detection device I/Ii and the guided vehicle W deviate from the track fc, the detection signals st and 82 detected by the guidance detectors 81 and 82 are set to a predetermined signal level h v c
Detector DI, control circuit 87G, steering drive monitor Ml, and potentiometer PO which converts into vt, vcvg and receives the signal level and compares and determines the control 11gct2Fi.
T, an inverter VVVF that converts the signal obtained from 8TG into a variable voltage variable frequency, and a travel motor M! Consisted of.

Although the above-mentioned inductive detectors st, 82 FiN@Wj guided type, optical type, and laser beam type may fall down, if the balance of the outputs of the inductive detectors st and sg suitable for each type is lost, that is, the transport vehicle If it deviates from the orbit, the signal level V
A difference is generated between the outputs of OVI and VCV2, and the amount is detected by the detector D.
I is detected, and the control circuit 87GK drives the steering motor M1 in the direction opposite to the direction in which the car is trying to deviate, and also feeds back the signal of the potentiometer POT connected to the motor Ml to the detector DI to set the signal level VOV.
When the deviation values of L and VCV2 match, the presenting motive machine Mlt-is stopped and the transport vehicle wFi is prevented from deviating along the trajectory.

As an operation command means that can be set on this track, for example, the track can be completely cut off at predetermined intervals, a separate signal track can be installed, or a laser beam with a predetermined pulse method perpendicular to the track can be used. There are methods such as deceleration and sending to a stop position.

If the driving command means is defined in advance and stored in a storage device, when the guided vehicle travels and reaches the track where the driving command means is provided, the guidance detectors 81 and 8 The command signal tube is detected by the means and it operates according to the command based on the command from the storage device stored in advance.

As an example, a case will be described in which the guided vehicle reaches a deceleration operation command point (for example, a curved part of the track). The first conductor detector s is activated by a deceleration command means predetermined and stored on the orbit.
1. si#i deceleration signal is detected, and the inverter vv'vy'1 is activated by the detector D1 and the control circuit 87G;
The frequency is converted to a lower frequency than the frequency before detection, and power is supplied to the traveling motor M to reduce the speed of the transport vehicle.

When the acceleration operation command point is reached at the point where the part passes through the pipe and moves to the straight part, the detection signal causes the inverter to increase the frequency and accelerate the first traveling mode.

Although the above description has been made regarding curved sections, similar measures can be taken at branch points of the trajectory.

Also, start and stop can be done in accordance with the above.

In the above description, a change in frequency was described with respect to the inverter, but finer adjustment can be made by changing the voltage tube supplied to the traveling motor M2, or by changing the voltage and frequency. Although this embodiment has been described with respect to an automated guided vehicle, the application is not limited to this device 4, but can also be applied to a mobile device that repeats the same trajectory, and the collision prevention device can also be applied to a plurality of transport vehicles that travel on the same trajectory. This becomes possible by adding a brake safety device.

Further, the present invention deals with the case where there are two induction detectors, and the fC is not limited to this, but the same applies to a plurality of 1 Kel.

The above is the traveling motor M! However, it is possible to optionally adopt an inverter for the steering motor M1 as well.

According to the present invention, the operation is detected by the operation command means whose trajectory is set in advance, and a large signal is used to supply a variable voltage variable frequency power source to the traveling motor by the inverter. Since it is possible to easily adjust the speed and reduce speed, the structure is simpler and the structure is simpler, and the track has a larger proportion of straight sections than curved sections. Furthermore, it has the advantage of being able to exhibit even higher efficiency and energy saving effects.

[Brief explanation of drawings]

FIG. 1(a) (→ is a block diagram of the main parts of one embodiment, and FIG. 8 is a diagram of the main parts of the inverter. 112. Trajectory detection device 20., control device 81.82, III conductor detector LSI, L82, detection signals vcvt, vcvg, converter DI, , , detector 8TG, , control circuit POT 0. Potentiometer vvvFl, inverter Ml, +, steering drive motor Mloo, travel motor Boo, DC power supply Wlo, automatic guided vehicle

Claims (1)

[Claims] In an automatic guided vehicle, etc. that is guided and travels along a trajectory determined on a traveling floor surface, when an AC motor is driven from a DC power supply mounted on the vehicle via an inverter to cause the conveyance platform to travel. In addition, by detecting the operation command signal provided on the track and comparing it with the command signal stored in advance, the output of the inverter is controlled at the pressure frequency at, and the drive motor is controlled to accelerate and decelerate. Drive control method for automated guided vehicles, etc.