JPS6158846B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling body that runs on trackless ground, such as a crane, a transport truck, etc. that runs on tires.

In the conventional trackless crane traveling trajectory correction device, as shown in FIG. The differentiated first-order differential signal and the second-order differential signal obtained by further differentiating this first-order differential value in the second-order differentiation circuit 4 are inputted into an adder via each amplifier 5, 6, and 7, and then A method is adopted in which the output signal of the adder is employed as the signal 10 for correcting the travel trajectory.

These correction principles are as follows: Let D be the positional deviation, V be the traveling speed, θ be the positional deviation angle of the crane with respect to the guide wire, that is, the electric wire cable 9, ω be the angular velocity, and S be the control output.S=D−Vθ− The equation is Vω, and Vω is calculated by differentiating Vθ twice by differentiating the positional deviation amount D once.
However, in reality, as shown in Figure 2, the period of crane correction is long, so the angle θ and angular velocity ω are very small, and in order to detect them, the differentiated signal must be greatly amplified. Further, it was difficult to adjust the degree of increase in width. The circuit configuration was all analog circuits, making it expensive.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to simplify a conventionally used control circuit and to facilitate its adjustment, thereby reducing the cost of the circuit.

The present invention includes a positional deviation detector that outputs a positional deviation signal proportional to the amount of positional deviation in the lateral direction with respect to the traveling direction of a running road, and a positional deviation detector that inputs this positional deviation signal and has a predetermined magnitude. The first stage signal becomes an on signal when the magnitude of the position deviation signal is greater than the first stage specified value, and the on signal is turned on when the magnitude of this positional deviation signal is larger than the second stage specified value, which is set to a value larger than the first stage specified value. A comparator that outputs a second stage signal, and an output signal from this comparator is taken in, and when the first stage signal is on, a signal for correcting the traveling trajectory in the direction of eliminating the positional deviation amount is generated based on this on signal. When the second stage signal is turned on, a signal for correcting the traveling trajectory in the direction of eliminating the positional deviation amount is output based on this second stage on signal, and the second stage signal is The present invention is characterized in that it is provided with an arithmetic circuit that outputs a signal for correcting the traveling trajectory so that the traveling body has a gentle angle of approach with respect to the traveling path when the stage signal is off and the first stage signal is on.

An embodiment of the present invention will be described below with reference to FIGS. 3 to 9.

FIG. 3 shows an example of a trackless crane to which this embodiment is applied. This crane travels inside a container terminal for the purpose of container cargo handling, and its configuration is such that tire-type wheels 11 are provided at each of the four lower corners of the crane legs 12, and the driver's It is operated by controller operation. In addition, in order to load and unload the container 16, the driver hoists and lowers the spreader 15 suspended by the wire rope 17, and the trolley 1.
4. Carry out reckless driving, etc. Therefore, the burden on the driver is extremely heavy, and a great deal of skill is required to drive in a straight line at high speed. However, in recent years, it has become difficult to secure such skilled drivers, and there has been an urgent need to establish an automatic straight-line driving function.

FIG. 4 shows a side view of the trackless crane shown in FIG. 3. The drive motors 18 that drive the wheels 11 of the trackless crane are arranged at two diagonal locations as shown in FIG. 5, and the remaining wheels are driven wheels. Two positional deviation detectors 19 are provided as shown in FIG.
9 and use it. The control device 20 is provided on the connecting frame of the leg 12. In this embodiment, the output of the drive motor 18 is adjusted via the control device 20 based on the signal from the positional deviation detector 19, and the crane is caused to automatically travel in a straight line, thereby providing the crane with the above-mentioned automatic straight travel function.

As shown in FIG.
9, the output signal of the positional deviation detector 19 is passed through the comparator 22 as a contact signal, and the contact signal is sent to the logic operation circuit 23 as a motor torque correction signal 33, which is used as a trajectory correction control signal. be.

Next, the state of the output of the positional deviation detector 19 will be explained using FIG. In this figure, the vertical axis 2
5 is the output (voltage output), and it can be seen that the horizontal axis 26 indicates that as the positional deviation distance increases, it increases in proportion to it. The right side of the vertical axis 25 in FIG. 7 shows the rightward positional deviation and the signal output at that time, and the left side shows the leftward positional deviation and the signal output at that time. The output of the positional deviation detector 19 is sent to the comparator 2.
2, and the specified value in this comparator 22 is shown in FIG. That is, KR1 is
This is the specified value of the first stage shift in the right direction, and the comparator 22
The first stage specified value in the right direction is VR1. KR2
is the specified value of the rightward second stage deviation, and the rightward second stage specified value of the comparator 22 is VR2. Similarly, KL1 is a specified value for the first stage shift in the left direction, and the first stage specified value in the left direction of the comparator 22 for this is VL1. KL2 is a specified value for the leftward second stage deviation, and the corresponding leftward second stage specified value of the comparator 22 is VL2.

Next, input/output of signals in the comparator 22 will be explained. As described above, the comparator 22 has a rightward first stage prescribed value VR1 and a rightward second stage prescribed value VR2.
(However, VR2>VR1), leftward first stage specified value VL1, leftward second stage specified value VL2 (however,
VL2>VL1) is set, and depending on the magnitude of the input positional deviation signal (24 in Figure 7), a rightward first stage signal, a rightward second stage signal, a leftward first stage signal, and Outputs the leftward second stage signal. The rightward first stage signal is always on (ON) signal during the period when the rightward position shift signal larger than VR1 in Fig. 7 is input, and is off (OFF) at other times.
It serves as a signal. The rightward second-stage signal is always an ON signal while a rightward positional deviation signal larger than VR2 in FIG. 7 is being input, and is an OFF signal at other times. In Figure 8,
Reference numeral 27 indicates a horizontal area where the first stage right signal is on, and reference numeral 28 indicates a horizontal area where the second stage right signal is on. Similarly, comparator 2
2 is inputting a leftward positional deviation signal larger than VL1 in FIG. 7, the leftward first stage signal is always on. Furthermore, while the comparator 22 is inputting a leftward positional deviation signal greater than VL2 in FIG. 7, the leftward second stage signal is always on.

Next, the specific configuration and operation of the logic operation circuit 23 in FIG. 6 will be explained using FIG. 9. First, the configuration of each device in FIG. 9 will be explained. 9th
In the figure, contact 27' is a contact that is closed while the rightward first stage signal is ON, contact 28' is a contact that is closed while the rightward second stage signal is ON, and 29' is a contact that is closed while the rightward first stage signal is ON. The contact that is closed during the period, 30' is the second contact on the left side.
This is a contact that is closed during the stage signal ON period. 91-9
7 are each a relay. The contacts of the relay (A) 91 are SA and SA', and are closed while the relay (A) is energized. The contacts of relay (B) 92 are SB and
SB' and remains closed while relay (B) is energized. The contact point of relay (C)93 is with SC,
The contact SC is closed during the period when the relay (C) is energized, and the contact is closed during the period when the relay (C) is de-energized. The contacts of relay (E) 94 are SE and SE', and during the de-energization period of relay (C), the b side contact is closed.
During the energization period of the relay (C), the a side contact is closed. The contacts of the relay (D) are SD and SD', both of which are closed during the energization period of the relay (D). In particular, SD' is the self-holding contact of the relay (D). The contact of the relay 96 is SR, and is closed while the relay 96 is energized. The contact point of relay 97 is SL, and the contact point of relay 97 is SL.
7 is energized, it is closed. Contacts SR and SL
are provided in the middle of the output circuit for the speed correction signal of the left and right running motors 18, respectively, and when this contact opens,
By closing, the speed of the right or left motor 18 is corrected and a travel trajectory correction is realized.

Next, the operation of traveling trajectory correction will be explained using the example shown in FIG. FIG. 8 shows a case where the traveling body is displaced to the right. Now, suppose that the positional deviation exceeds the first stage positional deviation specified value KR1. In this case, the comparator 22 outputs a signal that turns on the rightward first stage signal. As a result, contact 27' in FIG. 9 is closed, and relay (A) 91 is energized. As a result, contacts SA and SA' are closed, and relay 97 is energized. Contact SL is closed by the energization of relay 97, and a signal for correcting the running trajectory (speed correction signal) in the direction of eliminating rightward deviation from the running path is sent to motor 1.
Given to the 8th side. As a result, the shift in the right direction is eliminated, and the traveling body is moved on the traveling road (at least in the eighth position).
The first stage positional deviation on the left and right sides of the figure converges within the specified values KR1 to KL1). Due to delays in the control system, etc.
As shown in the figure, if the rightward positional deviation becomes even larger, it may exceed the rightward second-stage positional deviation specified value KR2. In this case, the comparator 22 outputs a signal that also turns on the rightward second stage signal. As a result, contact 28 in Fig. 9 is also closed, and relay (C) 9
3 is energized. As a result, contacts SA and SC are closed and relay (D) 95 is energized. this relay
By energizing (D) 95, contacts SD and SD' are closed, and relay (D) 95 enters a self-holding state. In this case, the contacts are open, so relay (E) 94 is not energized. As a result, relay 97 is energized,
Since the contact point SL is closed, a signal for correcting the running trajectory in the direction of eliminating the rightward deviation from the running path is given to the motor side in the same way as described above. As the traveling object gradually returns to the guide line 21 side by the control operation in the direction of eliminating the rightward deviation, the on state of the rightward second stage signal eventually changes to the off state. At the stage when the rightward second stage signal is in the off state, the rightward first stage signal is still in the on state. By turning off the second-stage direction signal, the contact 28' is closed and the relay (C) 93 is deenergized. Relay (D)95
is in a self-holding state, so contact SD remains closed. Therefore, contact SD is closed and relay (E) 94 is energized. By this, contact SE,
SE' moves to side a, relay 97 is deenergized, and relay 96 is energized instead. This relay 96
Contact SR closes (SL opens) due to the bias of
This will require corrections in the opposite direction. That is, in FIG. 8, the trajectory returning to the guide line 21 side is along the guide line 21, and the vehicle travels as shown by line 31 in FIG. In this way, the angle of approach of the traveling body with respect to the guide line 21 becomes gentle, resulting in stable traveling operation.

As mentioned above, when the rightward second stage signal changes from on to off, contact SL closes (SR opens) to contact SR.
By switching to the closed position (SL open), it is possible to prevent the so-called hunting phenomenon in which the traveling body drifts to the right. In other words, even if the rightward second-stage signal changes from on to off, if you continue to make corrections to eliminate the rightward deviation, the trajectory will be as shown by line 32 in Figure 8, and the control will become too strong and eventually the leftward This results in a large deviation in the direction, resulting in sideways running, but in the example described above, the correction direction is switched midway, so this does not occur.

Note that although the description has been made regarding the trajectory correction for a rightward deviation, the circuit of FIG. 9 can similarly perform a trajectory correction for a leftward deviation. This operation, instead of the closing operation of contacts 27' and 28',
Relay (B) 92 or 92 and 93 is operated by the closing operation of contact 29' or 29' and 30', and thereby contacts SB, SB' and
SC operates, and finally relay 96 or 97 is energized. Since the concept is the same for trajectory correction for leftward deviations and rightward deviation, a detailed explanation of trajectory correction for leftward deviations will be omitted.

The present invention eliminates the need for a conventional complicated analog control circuit in a traveling trajectory correction device for a trackless vehicle, eliminates the need for difficult adjustments, and makes it possible to easily configure a relay circuit in terms of cost. Therefore, there is an effect that a large reduction can be achieved.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of track correction signal generation in a conventional traveling track correction device, Fig. 2 is a diagram of displacement dimensions of the crane with respect to the induction wire, and Fig. 3 is a front view of the crane to which an embodiment of the present invention is applied. figure,
FIG. 4 is a side view of a crane employing an embodiment of the present invention, FIG. 5 is a plan view of the drive motor of the crane shown in FIGS. 3 and 4, and FIG. 6 is an embodiment of the present invention. Orbit correction signal generation block diagram, No. 7
The figure shows the output graph of the comparator shown in Figure 6, and Figure 8.
9 is a diagram showing a running trajectory correction implementation state according to an embodiment of the present invention, and FIG. 9 is a detailed diagram of the logic operation circuit shown in FIG. 6. 11...Wheel, 18...Drive motor, 19...
Positional deviation detector, 21... Guide wire, 22... Comparator, 23... Logical operation circuit, 24... Positional deviation detector output, 25... Voltage, 26... Positional deviation amount,
27...Right first stage signal, 28...Right second stage signal,
29...Left 1st stage signal, 30...Left 2nd stage signal.

Claims (1)

[Claims] 1 A positional deviation detector that outputs a positional deviation signal proportional to the amount of lateral positional deviation of the traveling body with respect to the running direction of the running path, and a positional deviation detector that inputs the positional deviation signal and determines the magnitude of the positional deviation signal as expected. outputs a first stage signal which turns on when the magnitude of the positional deviation signal is greater than the first stage prescribed value; a comparator that outputs a second stage signal that becomes an on signal when
The output signal from the comparator is input, and when the first stage signal is on, a traveling trajectory correction signal in the direction of eliminating the positional deviation amount is output based on the first stage signal, and the second stage When the signal is turned on, a traveling trajectory correction signal in the direction of eliminating the positional deviation is output based on the second stage ON signal, and the traveling trajectory correction is executed based on this signal, and the second stage signal is turned off. and an arithmetic circuit that turns off the traveling trajectory correction signal in the direction of eliminating the positional deviation while the first stage signal is on.