JPH0312726B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fixed position stop control device for a self-propelled transport vehicle traveling along a predetermined route.

Conventionally, in a small self-propelled transport vehicle that is supplied with DC power supply voltage from a power supply rail and travels on a predetermined route, the power supply is turned off on the ground side, and after coasting to a stop, it is pushed by a cylinder device to position it. Was. However, this method requires a boosting device such as a cylinder device, requires a large amount of installation space, and has the problem that it takes time to position the device in a fixed position.

On the other hand, in a traveling body equipped with a microcomputer for control, conventionally, signals from a detector that detects a stop position are scanned every timer interrupt.
However, in this type of system, the time from when the detector operates until the microcomputer outputs the travel stop command varies within the cycle of the timer interrupt, so it is difficult to accurately stop at a fixed position. There was a problem that I couldn't do it.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks, and an object of the present invention is to provide a fixed-position stop control device for a self-propelled transport vehicle that can accurately and quickly stop the vehicle in a fixed position.

In order to achieve the above object, the fixed position stop control device for a self-propelled carrier according to the present invention is provided with a transmitter and a detected object located on the side of the stop position of the self-propelled carrier on the ground side. a receiver capable of receiving a transmission signal from the transmitter at a position a predetermined distance from the stop position on the upper side in the traveling direction of the trolley;
Two detectors are provided that are arranged at a predetermined interval in the running direction of the bogie and that can both detect the detected object at the stop position, and a microcomputer, and when the bogie stops running, the receiver receives the The operation causes the microcomputer to output a low-speed running command and also puts the microcomputer into an interrupt preparation state, and when both of the two detectors detect the detected object, causes the microcomputer to process the interrupt and run. The configuration is such that a stop command is output.

According to this configuration, the interrupt preparation state is set before the stop position, and the microcomputer immediately processes the interrupt when both of the two detectors detect the object to be detected, so that the fixed position can be stopped accurately and quickly. It is possible to do this.

Hereinafter, one embodiment of the present invention will be described based on the drawings.

In Fig. 1, 1 is a small self-propelled carrier that is supplied with DC voltage power by a power supply rail and travels along a predetermined route, and 2 is a small self-propelled carrier that is placed to the side of the stop position of the self-propelled carrier 1 in the traveling direction of the carrier (in the direction of the arrow). A reflector plate 3 installed along the reflector plate 2 is a light emitter that is attached to the reflector plate 2 and emits infrared modulated light. The self-propelled carrier 1 includes a light receiver 4 capable of detecting the infrared modulated light from the light emitter 3 when the self-propelled carrier 1 approaches a stop position to a predetermined distance as shown by the imaginary line, and a light receiver 4 capable of detecting infrared modulated light from the light emitter 3. Two reflective type photo switches 5, 6 located at a predetermined distance in the direction and a microcomputer are mounted. The reflective plate 2 can be detected while the self-propelled carrier 1 is at the stop position.

Figure 2 is a circuit block diagram of the fixed position stop control device mounted on the self-propelled carrier 1, in which 7 is a central processing unit (hereinafter referred to as CPU) of a microcomputer, and 8 is a counter timer controller (hereinafter referred to as CPU).
9 is a signal processing circuit that processes the signal from the light receiver 4 and supplies it to the CPU 7 as a stop preparation command, 10 is a detection signal from the reflective photo switch 5 that is supplied via the terminal 11 and the terminal 12 13 is a travel motor of the self-propelled carrier 1, and 14 is the CPU.
This is a power unit that controls the traveling motor 13 based on commands from the motor.

Next, the operation will be explained with reference to the flowchart shown in FIG. While the self-propelled transport vehicle 1 is running, the CPU 7 determines whether there is a stop preparation command from the signal processing circuit 9 based on a timer interrupt from the CTC 8, for example, every 20 msec. When the self-propelled carrier 1 approaches the stop position and reaches the position indicated by the imaginary line in FIG. 1, the receiver 4 detects the infrared modulated light from the receiver 3, and the signal processing circuit 9 issues a stop preparation command to the CPU 7. Output. If the CPU 7 determines that there is a stop preparation command, it determines whether or not it should stop at the next stop position based on various conditions set in advance, and if it should stop, it issues a constant stop interrupt to the CTC 8. At the same time, a low speed running command is output to the power unit 14. As a result, the self-propelled carrier 1 is decelerated to a low speed. When the self-propelled carrier 1 reaches the stop position, the two photo switches 5 and 6 both enter the detection state, the output of the AND gate circuit 10 triggers the CTC 8, and the CTC 8 sends a regular stop interrupt signal. Output to CPU7. Here, since the constant stop interrupt is set at a higher level than the timer interrupt, the CPU 7 outputs a travel stop command to the power unit 14, and the self-propelled carrier 1 stops at the stop position. Furthermore, the CPU 7 cancels the constant stop interrupt set in the CTC 8 and sets the constant position interrupt flag. CPU7
determines whether or not the fixed position interrupt flag is on based on a timer interrupt, and if so, determines whether both the photo switches 5 and 6 are on. If only one of the photo switches 5 and 6 is on, overrun correction is performed based on a predetermined program, and if both photo switches 5 and 6 are on, the process after stopping at the fixed position is executed. , turn off the positional interrupt flag.

In this way, a constant stop interrupt is set in the CTC 8 by the stop preparation command, and an interrupt is immediately generated when both the light receivers 5 and 6 are turned on, and the CPU 7 outputs the travel stop command to the power unit 14, so that it is possible to accurately Moreover, it is possible to quickly stop at a fixed position. Furthermore, since the stop position is detected using the two photo switches 5 and 6, accurate position detection can be performed and overrun correction can be easily performed.

In the above embodiment, the infrared modulated light emitter 3 and receiver 4 are used as a transmitter and a receiver.
In addition, a photo switch 5 is used as a detector and an object to be detected.
Although an example using the reflector 6 and the reflector 2 has been explained,
Of course, various other devices can be used in place of these. It goes without saying that the installation position of the light emitter 3 can also be set arbitrarily.

As explained above, according to the present invention, since stopping at a fixed position is controlled by a microcomputer, there is no need for a booster for positioning.Furthermore, the stop position is detected by driving at low speed and entering the interrupt preparation state before the stop position. At the same time, since the travel stop command is outputted by interruption, the self-propelled carrier can be accurately and quickly stopped at the stop position.

[Brief explanation of the drawing]

Fig. 1 is a schematic plan view of a fixed position stop control device according to an embodiment of the present invention, Fig. 2 is a circuit block diagram of the self-propelled carrier side of the identification position stop control device, and Fig. 3 is a circuit block diagram of the identification position stop control device. This is a flowchart showing the operation. 1...Self-propelled carrier, 2...Reflector (object to be detected), 3...Emitter (transmitter), 4...Receiver (receiver), 5, 6...Reflective photo switch (detector) ), 7...CPU, 8...CTC.

Claims (1)

[Claims] 1. A transmitter and a detected object located on the side of the stop position of the self-propelled carrier are provided on the ground side, and a transmitter is provided on the self-propelled carrier at a position a predetermined distance from the stop position on the upper side in the trolley traveling direction. , a receiver capable of receiving a transmission signal from the transmitter, and two detectors arranged at a predetermined interval in the traveling direction of the trolley and both capable of detecting the detected object at the stop position. , a microcomputer is installed, and when the vehicle stops traveling,
The receiving operation of the receiver causes the microcomputer to output a low-speed running command and sets the microcomputer in an interrupt preparation state, and
A fixed position stop control device for a self-propelled transport vehicle configured to cause the microcomputer to perform an interrupt process and output a traveling stop command when both of the detectors detect the detected object.