JP3913255B2 - Mobile control system for mobile bleachers - Google Patents

Description

  The present invention relates to a movement control system for a moving bleacher seat for moving a movable bleacher seat linearly.

  Conventionally, as a control system for a moving bleacher with a floor pedestal in which a plurality of chairs are arranged side by side and a drive device for advancing and retreating the floor pedestal, on the left and right sides of the wall surface orthogonal to the moving direction of the mobile bleacher A photoelectric switch that performs the light projecting and receiving operation is arranged for the moving seat, and a reflector is arranged inside the optical axis by the light projection from the left and right photoelectric switches, depending on whether the reflected light is detected by the photoelectric switch A device for correcting meandering of a moving seat is known (for example, see Patent Document 1).

In other words, in this control system, the photoelectric switch does not detect the reflected light from the reflecting plate at normal time (when the moving seat is not meandering). In this control system, when the mobile auditorium is meandering, the photoelectric switch detects the right and left positional deviation by receiving the reflected light reflected by either the left or right reflector, and the right and left according to the detection result. Each of the drive devices is configured to accelerate and decelerate.
JP 2003-155828 A

  However, in the above control system, the optical axis due to light projection from the photoelectric switch and the reflecting plate are shifted, so that the optical axis due to the photoelectric switch is reflected by the reflecting plate. Even if a slight position shift occurs in the moving seat, this position shift cannot be detected. For this reason, when this control system detects a position shift of the moving seat, a relatively large position shift has already occurred, and the amount of correction for correcting this position shift becomes large, and it takes time to correct the position shift. There was a problem that it took.

  If there is such a problem, the storage accuracy when storing the mobile bleachers will deteriorate, so in order to improve the storage accuracy, after all, a guide rail that regulates the direction of movement of the mobile bleachers will be laid. In the present situation, the moving bleachers are moved along the guide rails.

  In order to solve the above problem, the distance between the optical axis from the photoelectric switch and the reflecting plate may be set very small, but in this way, if the photoelectric switch tilts even slightly, There is a possibility that the light projected by the photoelectric switch hits the reflecting plate in a normal state.

  In addition, since the irradiation range of the optical axis from the photoelectric switch increases as the distance between the photoelectric switch and the reflector increases, the photoelectric switch is arranged in consideration of the expansion of the irradiation range. It becomes very difficult to arrange.

For this reason, it is not realistic to set the distance between the optical axis from the photoelectric switch and the reflecting plate very small.
Therefore, in view of such a problem, in a movement control system for a moving bleacher that moves the moving bleacher linearly back and forth, the movable bleacher can be moved without using a guide rail. In addition, it is an object of the present invention to improve the sensitivity for detecting the displacement of a moving seat and to reduce the amount of correction when correcting the displacement.

The invention according to claim 1, which has been made to achieve such an object, includes at least one floor base for supporting a plurality of chairs arranged side by side, and a predetermined installation position between the floor base and a retracted position. In order to advance and retreat, the platform is used for a moving bleaching seat provided with a plurality of driving devices respectively installed at the left and right positions of the floor base when viewed in the forward and backward direction, and the entire floor base is retracted from the installation position. A movement control system for a moving bleacher for moving forward and backward linearly with respect to a position, wherein the retreat side represents a wall surface in the vicinity of a retraction position opposite to the movable fleeting seat or a surface on the retraction position side of the movable bleacher seat Measurements are provided respectively on the left and right sides and the center of the facing surface, and irradiates light to the wall surface or the retreat-side facing surface and receives the reflected light to measure the distance between the wall surface and the retreat-side facing surface. Distance means and the wall surface Is arranged in a region where the light from the central distance measuring means is irradiated on a surface of the retreat-side facing surface where the distance measuring means is not disposed, and at a position in the left-right direction where the light is irradiated. Accordingly, the irradiated surface is formed by stepwisely arranging a plurality of surfaces perpendicular to the advancing / retreating direction of the floor base so that the surveying distance by the central ranging means monotonously increases or decreases. A reference distance to be measured by the central distance measuring means based on a measured value by the left and right distance measuring means, and an actual distance measured by the central distance measuring means, Based on the reference distance, a first detection means for detecting a lateral displacement of the floor base, and a drive speed of each of the drive devices installed on the left and right based on detection information by the first detection means Control the left side of the floor It is characterized by comprising a first driving control means for correcting the positional deviation of direction.

  That is, the horizontal displacement of the floor is detected by comparing the reference distance calculated based on the survey value by the left and right ranging means and the actual survey distance by the center ranging means. Based on the detection result, the driving means is driven and controlled. For this reason, even if a slight positional deviation occurs in the floor pedestal, the first detection means can detect the positional deviation of the floor pedestal from the difference between the reference distance and the actual survey distance.

  Therefore, according to such a movement control system for a moving seat, it is possible to detect the displacement of the moving seat with high sensitivity, and thus it is possible to reduce the correction amount when correcting the displacement.

Further, Oite the movement control system of the moving stand according to claim 1, irradiated member is formed by stepwise arranged in the lateral direction a plurality of surfaces perpendicular to the moving direction of the floor bases be irradiated It has a surface .

Therefore, according to the movement control system for such a moving bleacher seat, the irradiated member can easily reflect the light to the distance measuring means, so that even if the distance between the wall surface and the retreat-side facing surface is increased, it is good. The distance between the two can be measured. For this reason, the position shift of the floor base in the left-right direction can be reliably corrected.
By the way, in the movement control system for a moving bleacher seat according to claim 1, as described in claim 2, the distance measuring means are respectively installed on the left and right sides and the center of the wall surface, and the irradiated member is opposed to the retreat side. It may be arranged on the surface.

  Furthermore, in the movement control system of the mobile auditorium according to claim 1 or 2, as described in claim 3, the steady time representing the time for driving the left and right drive devices at the same speed, and the left and right Storage means for storing acceleration / deceleration times representing times for driving the drive device at different speeds is provided, and the first drive control means corrects the horizontal displacement of the floor base based on the detection information by the first detection means. In this case, one of the left and right drive devices is accelerated or decelerated for the acceleration / deceleration time stored in the storage means, and the left and right drive devices are driven at the same speed for the steady time stored in the storage means, Further, by performing acceleration / deceleration of the other of the left and right drive devices for the acceleration / deceleration time stored in the storage means, parallel movement control is performed to translate the floor base in the left-right direction, Misalignment Modify it is desirable to.

  According to such a movement control system for a moving bleacher, even if each drive device is only provided with a function for moving linearly, the movable bleacher is moved in parallel to correct the positional deviation. be able to. In addition, the inclination of the moving seat can be made the same before and after the correction of the displacement.

  In addition, in the movement control system for a moving bleacher seat according to claim 3, when the first detection means is configured to detect an amount of positional deviation of the floor base in the left-right direction, the first drive control is performed. As described in claim 4, the means calculates the number of times of repeating the parallel movement control based on the deviation amount of the floor detected by the first detection means, and performs the parallel movement control by the number of times based on the calculation result. It is desirable to repeat.

  According to such a movement control system for a moving seat, if the steady time and the acceleration / deceleration time are determined, the correction amount by one parallel movement control can be specified. Therefore, the number of times of parallel movement control is determined based on this correction amount. The misalignment can be corrected simply by setting. For this reason, the 1st drive control means can perform a process easily compared with the case where the distance and time which perform parallel movement control are controlled.

  Further, in the movement control system for a mobile bleacher seat according to claim 3, when the first detection means is configured to detect the amount of positional deviation of the floor base in the left-right direction, the first drive control means is According to claim 5, a steady time representing a time for driving each driving device at the same speed is calculated on the basis of the amount of shift of the floor detected by the first detecting means, and the calculated steady time May be configured to perform parallel movement control based on the steady time stored in the storage unit by the storage control unit.

  According to such a movement control system for a moving seat, the number of times of performing parallel movement control can be arbitrarily set. For this reason, if the position shift is corrected by one parallel movement control, the time required to correct the position shift can be shortened.

  Moreover, in the movement control system of the moving bleacher seat in any one of Claims 1-5, as described in Claim 6, based on each survey value by the left and right ranging means, The second detection means for detecting the inclination in the left-right direction and the inclination of the floor in the left-right direction by controlling the driving speed of each drive device installed on the left and right based on the detection information by the second detection means. It is desirable to include a second drive control means for correcting the above.

According to such a movement control system for a moving seat, when the moving seat is tilted, the tilt can be corrected.
Furthermore, in the movement control system for a moving bleacher seat according to claim 6, when the second detection means is configured to detect the amount of inclination of the floor, as described in claim 7, (2) It is determined whether or not the inclination amount of the floor detected by the detection means is greater than or equal to a preset threshold value, and if it is greater than or equal to the threshold value, the control operation by the first drive control means is not executed. It is desirable to have a prohibition means.

  According to such a movement control system for a mobile auditorium, when the inclination is large, the inclination is corrected with priority, so that the positional deviation can be corrected with the inclination being small. For this reason, it is possible to simplify the arithmetic expression for correcting the misalignment, and to correct the misalignment efficiently.

Embodiments according to the present invention will be described below with reference to the drawings.
In this embodiment, the mobile control system of the present invention is applied to a mobile bleacher set up indoors in a certain facility. FIG. 1 is a plan view showing the periphery of a moving bleacher seat installed indoors, FIG. 2A is a top view of an irradiated member 61 described later, and FIG. FIG. In these figures, the right side represents the front of the moving seat, and the left side represents the rear of the moving seat.

  As shown in FIG. 1 and FIG. 2, the mobile bleaching seat 1 of this embodiment is configured as a so-called telescopic mobile bleaching seat installed indoors, and has a plurality of floors 20 that support a plurality of chairs 10 side by side. I have. That is, the plurality of floor bases 20 are different in height from each other, and the floor bases 20 positioned in front of the floor bases 20 can be sequentially accommodated in the lower interior. The lowest floor base (frontmost) 20a and the highest floor base (rearmost) 20b are respectively supported by driving devices 30 installed on the left and right in the direction of travel. The mobile auditorium 1 can be moved forward and backward between the retracted position in the accommodation space 70 provided indoors and the illustrated installation position by driving the driving device 30.

  In addition, a control device 40 is mounted at the rearmost portion of the mobile auditorium 1, and the control device 40 and each drive device 30 are connected by predetermined wiring (broken lines in the figure). The control device 40 is provided with an operation panel 41 that can be easily operated from the outside by an operator. By operating the operation panel 41, a drive or stop command for the drive device 30, a preset stop position can be set. Selection or setting of the distance from the current position to the stop position, setting of the motor deceleration time T1 and the same speed traveling time T2 used in the right and left side correction processing described later can be performed. The setting content set by the operation panel 41 is readable and stored in a storage device (storage means in the present invention: for example, a memory such as a RAM) in the control device 40.

  Further, in the mobile auditorium 1, an optical surveying instrument SL that measures the distance to the wall surface by performing a light projecting / receiving operation toward the wall surface 71 at the left and right and the center of the retreat-side facing surface 1a facing the wall surface 71. SC, SR (ranging means referred to in the present invention), for example, Leica Corporation, DISTO pro4a) is provided.

  More specifically, these optical surveying instruments SL, SC, SR include a light emitting unit (not shown) for emitting laser light and a light receiving unit (illustrated) for receiving reflected light of the laser light irradiated on the obstacle. (Omitted). These optical surveying instruments SL, SC, SR irradiate the laser beam onto the wall surface 71 (or irradiated member 61 described later) and are slightly reflected by the wall surface 71 (or irradiated member 61). Receives diffusely reflected light. And these optical surveying instruments SL, SC, SR are based on the time difference between the timing of irradiating the laser beam and the timing of receiving the reflected light, and the wall 71 The distance to the (or irradiated member 61) is measured.

In addition, the light projection by these optical surveying instruments SL, SC, SR is reflected well by the wall surface 71 without providing a reflecting plate, and is detected by the optical surveying instruments SL, SC, SR.
Further, when the distance between the optical surveying instruments SL, SC, SR and the wall surface 71 becomes very large (specifically, for example, about 50 m or more), the optical surveying instrument is used to secure the reflected light amount. You may arrange | position a reflecting plate in the area | region where the light projection by SL, SC, SR can be irradiated.

  Here, as shown in FIG. 1, an irradiated member 61 is arranged in a region irradiated with light from the central optical surveying instrument SC. As shown in FIG. 2A, the irradiated member 61 has a plurality of irradiated surfaces arranged in a step shape so as to receive light projected vertically by the central optical surveying instrument SC. For this reason, since the central optical surveying instrument SC always projects light almost perpendicularly to the irradiated surface, it is possible to perform surveying while ensuring a sufficient amount of light reflected from the irradiated surface.

Further, the irradiated member 61 is configured such that the distance between the irradiated surface and the optical surveying instrument SC changes when the irradiated light projection is swung left and right.
In other words, the central optical surveying instrument SC measures a value obtained by subtracting the distance E between the wall surface 71 and the reference surface from the distance to the wall surface 71 when there is no positional shift in the mobile auditorium 1. It will be. Further, when the center optical surveying instrument SC is misaligned in the mobile auditorium 1, and the projected light is irradiated to a position different from the reference plane of the irradiated member 61, the central optical surveying instrument SC is moved to the irradiated position. The corresponding value will be surveyed.

  The optical surveying instruments SL, SC, SR configured in this manner measure the distance to the wall surface 71 at a constant time interval (for example, 0.2 second interval), and when the distance is measured, the survey result is held in itself. When a signal requesting a survey result is received from the outside, a signal representing the survey result is output to the control device 40.

  In the irradiated member 61, the width in the left-right direction of each irradiated surface and the step between the irradiated surfaces are set to 5 mm, for example. For this reason, the mobile auditorium 1 is controlled by the control device 40 to be described later so that the positional deviation is within 5 mm.

In addition, in order to improve the accuracy of detecting the positional deviation of the moving seat 1, it is only necessary to set the width in the left-right direction of each irradiated surface and the step between the irradiated surfaces to smaller values. .
Next, as shown in FIG. 1, a wiring cable 91 in which a power supply power supply cable is accommodated extends from the wall surface 71, and the front ends of each of the power supply cable and the sensor cable are connected to the mobile auditorium 1. It is connected to a predetermined wiring (not shown) provided at the last part. The wiring cable 91 is configured so as to be able to be wound around a drum 95 provided in the mobile auditorium 1. The power supplied via the power cable in the wiring cable 91 is supplied to each drive device 30 and the control device 40, respectively.

  The drive device 30 includes, for example, a carriage that supports the floor 20 below, two wheel shafts including front wheels and rear wheels supported by the carriage, and a drive motor (left drive motor M1) that rotationally drives these axle wheels. Right drive motor M2). The drive device 30 moves the entire floor base 20 by driving the left drive motor M1 and the right drive motor M2 based on a command from the control device 40, respectively. In addition, since the structure of the drive device 30 is a well-known structure as described, for example in patent document 1, illustration and description are abbreviate | omitted.

  Next, details of the movement control and stop control of the mobile bleacher seat 1 when the mobile auditorium 1 is set up or removed will be described with reference to FIGS. 3 and 4. FIG. 3A is a plan view showing a state in which the mobile auditorium 1 is retracted to the retracted position in the accommodation space 70, and FIG. FIG. 4 is a side sectional view showing a state in which the moving seat 1 is moved from the retracted position and stopped at a predetermined installation position.

As shown in FIG. 3, the moving bleacher 1 is in a compact contracted state when not in use, and is retracted to a predetermined retracted position in a storage space 70 provided indoors.
When the mobile auditorium 1 is set up, the driving devices 30 installed on the front left and right and the rear left and right are both driven, and the straight movement to the front installation position shown in FIG. 4 is started. At this time, the mobile auditorium 1 is moved to the target installation position by the drive control (speed control) of each of the four drive devices 30 by the control device 40.

Specific control at this time will be described with reference to FIG. FIG. 5 is a flowchart showing a drive control process executed by the control device 40.
In this drive control process, the process of S210 corresponds to the first detection means in the present invention, and the processes of S220 to S250 correspond to the first drive control means. Further, the processing of S150 corresponds to the second detection means in the present invention, and the processing of S160 to S190 corresponds to the second drive control means.

  This drive control process is started, for example, when the power of the mobile auditorium 1 is turned on via the operation panel 41. First, in S110, the use position data D100, that is, the target movement of the mobile auditorium is moved from the operation panel 41. It is determined whether the distance is input and set in the storage device in the control device 40. If the use position data D100 is set, the process proceeds to S115, and if the use position data D100 is not set, S110 is repeated.

In S115, a drive command is transmitted to the drive device 30, the left and right drive devices 30 are driven at a constant speed, and the process proceeds to S120.
In S120, the survey result is requested to the left optical surveying instrument SL, and when the survey result is received from the optical surveying instrument SL, this value is set as the left surveying value D101 in the storage device in the control device 40. , The process proceeds to S130.

  Next, in S130, when the survey result is requested from the central optical surveying instrument SC and the survey result is received from this optical surveying instrument SC, this value is stored in the storage device in the control device 40 as the central surveying value D102. Set and go to S140. In the process of S130, a value obtained by adding the standard distance E in the irradiated member 61 to the surveyed value by the central optical surveying instrument SC is set. As a result, when the mobile auditorium 1 is not tilted or displaced, the three survey values D101 to D103 indicate the same value.

  In S140, when the survey result is requested to the right optical surveying instrument SR and the survey result is received from the optical surveying instrument SR, this value is stored in the storage device in the control device 40 as the right surveying value D103. Set and go to S150.

In S150, the difference between the left survey value D101 and the right survey value D103 is calculated, and this value is set in the storage device in the control device 40 as the tilt amount D104.
Here, the inclination amount D104 indicates the inclination degree of the moving bleacher 1. That is, if the amount of tilt D104 becomes a positive value, the mobile bleacher 1 is tilted to the right, and if the amount of tilt D104 becomes a negative value, the mobile bleacher 1 is tilted to the left. Will be.

  Then, the larger the absolute value of the tilt amount D104 is, the larger the mobile bleacher seat 1 is tilted, and if the tilt amount D104 is 0, it means that the mobile bleacher seat 1 is not tilted.

For this reason, in S160-S190, control which correct | amends the inclination of the moving bleacher 1 according to the inclination amount D104 is performed.
That is, in S160, it is determined whether or not the inclination amount D104 is greater than zero. If the tilt amount D104 is larger than 0, the process proceeds to S170, the right drive motor M2 is decelerated, and the process proceeds to S200.

On the other hand, when the tilt amount D104 is 0 or less in S160, the process proceeds to S180.
In S180, it is determined whether or not the inclination amount D104 is smaller than zero. If the tilt amount D104 is smaller than 0, the process proceeds to S190, the left drive motor M1 is decelerated, and the process proceeds to S200.

  Here, in S170 and S190, for example, a table in which the deceleration time for decelerating each of the drive motors M1 and M2 in advance according to the absolute value of the tilt amount D104 is stored in the storage device of the control device 40. When this processing is performed, the deceleration time corresponding to the tilt amount D104 is set by reading. For this reason, when the process of S200 is started, the right and left inclination of the moving viewing seat 1 is eliminated, and the wall surface 71 and the retreat-side facing surface of the moving viewing seat 1 are in a parallel state.

Next, in S200, an average value D105 of the left survey value D101 and the right survey value D103 is calculated and set in the storage device in the control device 40.
Then, the process proceeds to S210, and in S210, a value obtained by subtracting the average value D105 from the central survey value D102 is set in the storage device in the control device 40 as the positional deviation amount D106.

Here, the positional deviation amount D106 is a value representing the amount of positional deviation in the left-right direction of the mobile auditorium 1.
In other words, if the displacement amount D106 is a positive value, the mobile bleacher 1 is displaced to the right, and if this displacement amount D106 is a negative value, the mobile auditorium 1 is The position is shifted to the left.

For this reason, in S220-S250, control which correct | amends the inclination of the moving bleacher 1 according to the positional offset amount D106 is performed.
That is, in S220, it is determined whether or not the positional deviation amount D106 is greater than zero. If the positional deviation amount D106 is larger than 0, the process proceeds to S230, a left side correction process (see FIG. 6A) described later is executed, and the process proceeds to S260.

On the other hand, when the positional deviation amount D106 is 0 or less in S220, the process proceeds to S240.
In S240, it is determined whether or not the positional deviation amount D106 is smaller than zero. If the misregistration amount D106 is smaller than 0, the process proceeds to S250, right correction processing (see FIG. 6B) described later is executed, and the process proceeds to S260.

  In S260, it is determined whether the use position data D100 matches the central survey value D102. If these values match, the process proceeds to S270, and if they do not match, the process returns to S120.

In S270, a command to stop all the drive devices 30 is transmitted to the drive device 30, and the drive control process is terminated.
Next, the left side correction process in S230 and the right side correction process in S250 will be described with reference to FIG. FIG. 6 is a flowchart showing the left correction process (a) and the right correction process (b). These processes correspond to the parallel movement control referred to in the present invention.

In the left correction process, as shown in FIG. 6A, the left drive motor M1 is decelerated by the deceleration time T1 stored in the storage device in the control device 40 in S310.
Then, the process proceeds to S320, and the left driving motor M1 is returned to the original speed for the same speed traveling time T2 to move the moving seat 1 linearly.

  Next, in S330, the right drive motor M2 is decelerated this time by the deceleration time T1, and when the deceleration time T1 has elapsed, the right drive motor M2 is returned to the original speed, and the left correction process is terminated.

By this process, the moving bleacher 1 is translated to the left by a distance determined by the deceleration time T1 and the same speed traveling time T2.
In the right correction process, as shown in FIG. 6B, the right drive motor M2 is decelerated by the deceleration time T1 stored in the storage device in the control device 40 in S410.

Then, the process proceeds to S320, where the right drive motor M2 is returned to the original speed for the same speed travel time T2, and the moving seat 1 is moved linearly.
Next, in S330, the left drive motor M1 is decelerated this time by the deceleration time T1, and when the deceleration time T1 elapses, the left drive motor M1 is returned to the original speed, and the left correction process is terminated.

By this process, the moving seat 1 is translated to the right side.
In the mobile auditorium 1 described in detail above, at least one floor pedestal 20 that supports a plurality of chairs arranged side by side, and the floor pedestal 20 is advanced and retracted between a predetermined installation position and a retracted position. For this purpose, the floor pedestal 20 is viewed in the advancing and retreating direction, and a plurality of drive devices 30 installed at the left and right positions of the floor pedestal 20 are provided.

  And it is each installed in the left-right and the center in one of the wall surface 71 near the evacuation position and the evacuation side facing surface 1a of the moving attendant seat 1, and the wall surface 71 or the evacuation side facing surface 1a is irradiated with light and reflected. By receiving light, the optical surveying instruments SL, SC, SR for measuring the distance from the wall surface 71 or the retreat-side facing surface 1a, and the center optical system on the other of the wall surface 71 and the retreat-side facing surface 1a. It is arranged in a region irradiated with light by the surveying instrument SC, and the surveying distance by the central optical surveying instrument SC is monotonously increased or decreased according to the position in the left-right direction where the light is irradiated. An irradiated member 61 having an irradiation surface and a control device 40 are provided.

  In the drive control process (see FIG. 5), the control device 40 calculates a reference distance to be measured by the central optical surveying instrument SC based on the surveyed values by the left and right optical surveying instruments SL and SR. Based on the actual survey distance and the reference distance by the center optical surveying instrument SC, the positional deviation of the floor 20 in the left-right direction is detected. And the control apparatus 40 corrects the position shift of the horizontal direction of the floor 20 by controlling the drive speed of each drive device 30 installed in the right and left based on this detection information, respectively.

Therefore, according to such a moving bleacher seat 1, it is possible to detect the positional deviation of the floor 20 with high sensitivity in the drive control process, so that the correction amount of the positional deviation can be reduced.
Moreover, in the traveling bleacher 1 of the present embodiment, the irradiated member 61 includes an irradiated surface formed by stepwisely arranging a plurality of surfaces perpendicular to the traveling direction of the floor 20 in the left-right direction. .

  Therefore, according to such a moving attendant seat 1, the irradiated member 61 easily reflects the light projection to the optical surveying instrument SC, and therefore, the irradiated member 61 and the wall surface 71 or the retreat-side facing surface 1a are Even if the distance increases, the distance between the two can be measured well. For this reason, the position shift of the floor base 20 in the left-right direction can be reliably corrected.

  Furthermore, in the traveling bleacher 1 of the present embodiment, a motor deceleration time T1 (acceleration / deceleration time) indicating a time during which one of the drive devices 30 is accelerated or decelerated, and each drive device 30 is driven at the same speed. A storage device (control device 40) is provided for storing the same speed traveling time T2 (steady time) representing the time to be operated. When the control device 40 corrects the positional deviation in the left-right direction of the floor 20 based on the detection information in the drive control process, the control device 40 performs each motor deceleration time T1 stored in the storage device in the control device 40. One of the drive devices 30 is accelerated or decelerated, and each drive device 30 is driven at the same speed for the same speed traveling time T2 stored in the storage device in the control device 40, and further stored in the control device 40. By accelerating or decelerating the other of the driving devices 30 by the motor deceleration time T1 stored in the device, left side correction processing or right side correction processing for translating the floor 20 in the left-right direction is performed, and the floor 20 Correct the misalignment in the left-right direction.

  According to such a movement control system for the mobile bleachers, even if each drive device 30 is only provided with a function for moving linearly, the mobile bleachers 1 are moved in parallel, and the position is shifted. Can be corrected. In addition, the inclination of the moving bleacher 1 can be made the same before and after the correction of the displacement.

The embodiment of the present invention is not limited to the above-described embodiment, and can take various forms as long as it belongs to the technical scope of the present invention.
For example, as the irradiated member 61 of the present embodiment, a member having an irradiated surface formed by arranging a plurality of surfaces arranged perpendicular to the traveling direction of the floor 20 in a stepped manner is used. Not limited to the configuration, the survey distance by the central optical surveying instrument SC is configured to increase or decrease monotonously (continuously or stepwise) according to the position in the left-right direction where the light projection is irradiated. I just need it. Specifically, for example, an inclined irradiated surface may be provided.

  Furthermore, in this embodiment, in order to further improve the measurement accuracy, the survey values D101 to D103 obtained by the optical surveying instruments SL, SC, SR may be reset before the process of S200. Further, the survey value D102 by the central optical surveying instrument SC may be reset before the process of S260.

  Further, the processing of S260 and S270 may be interrupt processing, the processing executed in S260 may be repeatedly executed, and the processing of S270 may be executed when the use position data D100 matches the central survey value D102. .

In addition, in the process of S210, the positional deviation amount D106 may be obtained by the following equation.
D106 = D105 + D102 * D104 / K-D102 (where K is the distance between the left optical surveyor SL and the right optical surveyor SR)
When calculating the misregistration amount D106 using such a mathematical formula, the misregistration amount can be detected even if a slight inclination occurs in the mobile auditorium 1. For this reason, in S160 to S190, it is not necessary to correct the inclination so that the inclination amount D104 becomes zero, so that the drive motors M1 and M2 are decelerated for a preset time regardless of the absolute value of the inclination amount D104. It can also be.

Further, in the drive control process, as shown in FIG. 7A, the process of S510 may be performed between the processes of S210 and S220.
That is, in S510, the same speed traveling time T2 is set so that the positional deviation amount D106 becomes zero according to the positional deviation amount D106. That is, the correction amount of the positional deviation amount D106 when the control based on the deceleration time T1 is executed once, and the positional deviation amount D106 when the control based on the same speed traveling time T2 is executed for a unit time (for example, 1 second). The correction amount is stored in advance in a storage device in the control device 40, and the same speed travel time T2 is set based on the calculated displacement amount D106.

  Then, the control device 40 stores the calculated same speed traveling time T2 in the storage device in the control device 40, and based on the same speed traveling time T2 stored in the storage device in the control device 40, the left side correction process. Alternatively, right correction processing is performed.

  For this reason, in S320 of the left correction process and S420 of the right correction process, each driving device 30 is driven based on the same speed traveling time T2 set in S510, so that the positional deviation is corrected by a single process. Can do. For this reason, the time required to correct the positional deviation can be shortened.

In the left correction process, as shown in FIG. 7B, the processes of S310 to S330 may be repeated a plurality of times.
That is, the unit correction amount corrected when the processing of S310 to S330 is executed once is stored in the storage device in the control device 40 in advance, and is calculated in S610 as shown in FIG. 7B. Based on the positional deviation amount D106 and the unit correction amount, the number of repetitions m at which the positional deviation amount D106 is closest to 0 is set.

Then, the process proceeds to S620, where the number of executions n stored in the storage device is set to zero.
Next, the process proceeds to S630, and it is determined whether or not the number of executions n has reached the set number of repetitions m. If the number of executions n is the set number of repetitions m, this process is terminated. If the number of executions n is not equal to the set number of repetitions m, the processes of S310 to S330 are executed.

Thereafter, the process proceeds to S640, the execution count n is incremented, and the process returns to S630.
In the right correction process, similarly to the left correction process, the processes of S610 to S640 may be added so that the processes of S410 to S430 are sandwiched between the processes of S630 and S640.

  Therefore, according to such a moving bleacher 1, the position shift can be corrected only by setting the number of times of the left correction process or the right correction process based on the unit correction amount by one left or right correction process. Therefore, it is possible to satisfactorily correct the positional deviation of the moving bleacher 1. Further, the processing can be easily performed as compared with the case of controlling the distance and time.

Further, in the drive control process, a process for correcting the tilt or a process for correcting the positional deviation may be selected and executed in accordance with the magnitude of the tilt of the mobile auditorium 1.
That is, the threshold value Z is stored in the storage device in advance, and as shown in FIG. 7C, whether or not the calculated absolute value of the tilt amount D104 is greater than or equal to the threshold value Z between S150 and S160. Is added (S155). In the process of S155, if the absolute value of the tilt amount D104 is greater than or equal to the threshold value Z, the process proceeds to S160, and if the tilt value D104 is less than the threshold value Z, the process proceeds to S200.

  That is, in this process, by adding the process of S155, the process of S200 to S250 is not executed when the tilt amount D104 is equal to or greater than the threshold value z (corresponding to the prohibiting means in the present invention).

Then, when the processes of S170 to S190 are finished, the process proceeds to S260.
According to such a moving bleacher seat 1, the time required for one process can be shortened, so that control responsiveness can be improved.

  Further, according to this mobile auditorium 1, when the inclination is large, the inclination is corrected with priority, so that the positional deviation can be corrected with the inclination being small. For this reason, the calculation for correcting the positional deviation can be simplified, and the positional deviation can be corrected efficiently.

  Further, in the above embodiment, an example is shown in which the mobile seat 1 is a so-called telescopic mobile seat. However, there is no so-called telescopic seat that has a telescopic function and has a plurality of chairs arranged side by side. Of course, the present invention can also be applied.

  By the way, the optical surveying instruments SL, SC, SR used for detecting the position of the mobile auditorium 1 may detect a small amount of reflected light depending on the model used as the optical surveying instrument SL, SC, SR. In addition, it may take more time to detect the distance than when the amount of reflected light is large.

  Even in such a case, if the irradiated member 61 of this embodiment is used, the amount of reflected light detected by the optical surveying instruments SL, SC, SR (particularly the central optical surveying instrument SC) can be increased. Therefore, the distance to the wall surface 71 or the irradiated member 61 can be measured satisfactorily.

  Further, as the configuration of the optical surveying instruments SL, SC, SR, as described in the present embodiment, the distance to the wall surface 71 or the irradiated member 61 is measured at every preset time interval, and the survey result is obtained. However, when a request from the control device 40 is received, the distance to the wall surface 71 or the irradiated member 61 is measured for the first time, and the survey result is transmitted to the control device 40. You may comprise.

  Furthermore, the optical surveying instrument SL, SC, SR is a surveying instrument that takes a long time to detect the distance when the amount of reflected light to be detected is small, and receives a request from the control device 40. When measuring the distance to the wall surface 71 or the irradiated member 61 for the first time, the central optical surveying instrument SC is used to measure the distance to the inclined irradiated member. It is expected that the surveying time by the type surveying instrument SC takes longer than the surveying time by the left and right optical surveying instruments SL and SR.

  For this reason, when using such optical surveying instruments SL, SC, SR, first, the central optical surveying instrument SC is surveyed, and then the left and right optical surveying instruments SL, SR are surveyed. You just have to do it.

  In this way, it is possible to shorten the time from the completion of surveying by the optical surveying instrument SC that surveys first to the completion of surveying by the optical surveying instrument SR (SL) that surveys last. Even when such optical surveying instruments SL, SC, SR are used, it is possible to improve the positional deviation detection accuracy.

It is a top view of the periphery of a moving bleacher seat to which the movement control system concerning the example of the present invention is applied. It is the upper side figure (a) of a to-be-irradiated member, and the sectional side view (b) of the periphery of a moving bleachers. FIG. 6 is a plan view (a) illustrating a state in which a moving seat is retracted to a retracted position in the accommodation space 70, and a BB side sectional view (b) thereof. It is a sectional side view showing the state where the moving bleachers moved from the retreat position and stopped at a predetermined installation position. It is a flowchart which shows the drive control process of an Example. It is a flowchart which shows the left side correction process (a) and the right side correction process (b) of the drive control processes of an Example. It is a flowchart which shows the drive control process of a modification.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Moving seat, 1a ... Retreat side opposing surface, 10 ... Chair, 20 ... Floor base, 30 ... Drive apparatus, 40 ... Control apparatus, 41 ... Operation panel, 61 ... Irradiated member, 71 ... Wall surface, 91 ... Wiring Cable, 95 ... Drum, D100 ... Use position data, D101 ... Left side survey value, D102 ... Center survey value, D103 ... Right side survey value, D104 ... Inclination amount, D105 ... Average value, D106 ... Position displacement, E ... Standard distance M1, left drive motor, M2, right drive motor, SL, SC, SR ... optical surveying instrument.

Claims (7)

At least one floor for supporting a plurality of chairs in parallel;
A plurality of driving devices respectively installed at left and right positions of the floor base in the forward and backward direction in order to advance and retract the floor base between a predetermined installation position and a retracted position;
A movement control system for a moving bleacher seat for linearly moving the entire floor base between the installation position and the retracted position,
Installed respectively on the left and right and center of the wall near the retreat position facing the mobile viewing seat or on the retreat side facing surface representing the surface on the retreat position side of the mobile viewing seat, and illuminates the wall or the retreating facing surface. Ranging means for measuring the distance between the wall surface and the retreat-side facing surface by irradiating and receiving the reflected light;
Of the wall surface or the retreat-side facing surface, the surface on which the distance measuring means is not disposed is disposed in a region irradiated with light from the center distance measuring means, and the light is irradiated in the left-right direction. Depending on the position, a plurality of surfaces perpendicular to the advancing and retreating direction of the floor are arranged stepwise in the left-right direction so that the surveying distance by the central ranging means monotonously increases or decreases. An irradiated member having an irradiated surface;
Based on the survey value by the left and right distance measuring means, the reference distance to be measured by the central distance measuring means is calculated, and based on the actual distance measured by the central distance measuring means and the reference distance. First detection means for detecting a lateral displacement of the floor base;
First drive control means for correcting the lateral displacement of the floor base by controlling the drive speed of each of the drive devices installed on the left and right based on the detection information by the first detection means;
A movement control system for a moving bleacher, characterized by comprising: The distance measuring means are respectively installed on the left and right and the center of the wall surface,
The movement control system for a moving bleacher seat according to claim 1 , wherein the irradiated member is disposed on the retreat-side facing surface . Storage means for storing a steady time representing a time for driving the left and right drive devices at the same speed and an acceleration / deceleration time representing a time for driving the left and right drive devices at different speeds;
The first drive control means corrects the horizontal displacement of the floor base based on the detection information by the first detection means, and drives the left and right for the acceleration / deceleration time stored in the storage means. One of the devices is accelerated or decelerated, and the left and right drive devices are driven at the same speed for the steady time stored in the storage means, and further, the left and right drive devices are driven for the acceleration / deceleration time stored in the storage means. The lateral displacement of the floor base is corrected by performing parallel movement control for translating the floor base in the left-right direction by increasing or decreasing the speed of the other drive unit. The movement control system for a moving bleacher seat according to claim 1 or 2. The first detection means detects the amount of positional deviation of the floor base in the left-right direction,
The first drive control means calculates the number of times the parallel movement control is repeated based on the amount of floor base displacement detected by the first detection means, and repeats the parallel movement control by the number of times based on the calculation result. The movement control system for a moving bleacher seat according to claim 3, wherein: The first detection means is configured to detect the amount of positional deviation in the left-right direction of the floor.
Based on the shift amount of the floor detected by the first detection means, a steady time representing a time for driving the left and right drive devices at the same speed is calculated, and the calculated steady time is stored in the storage means. A memory control means;
The movement control system for a moving seat according to claim 3, wherein the first drive control means performs the parallel movement control based on a steady time stored in the storage means by the storage control means. . Second detection means for detecting a horizontal inclination of the floor base on the basis of each survey value by the left and right ranging means;
Second drive control means for correcting the horizontal inclination of the floor pedestal by controlling the drive speed of each of the drive devices installed on the left and right based on the detection information by the second detection means;
The movement control system for a moving seat according to any one of claims 1 to 5, further comprising: The second detection means is configured to detect the amount of inclination of the floor base,
It is determined whether or not the amount of inclination of the floor detected by the second detection means is greater than or equal to a preset threshold value, and if it is greater than or equal to the threshold value, the control operation by the first drive control means is executed. The movement control system for a moving seat according to claim 6, further comprising prohibition means for preventing the movement.

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