JPH0726485B2 - Car carrier travel control method for parking facilities - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a traveling control method for a transportation vehicle of a parking lot facility for loading and unloading a vehicle by a transportation vehicle that travels on a travel route.

(Prior Art and Problems Thereof) In this type of parking lot facility, a large number of vehicle storage compartments are provided along the traveling route of the transport vehicle, and the transport of the vehicle to and from the transport vehicle is performed. The carrying vehicle travels back and forth between the loading / unloading home position and an arbitrary storage compartment, and the vehicle received at the home position is stored in a specific storage compartment (hence the return is empty) or a specific storage location. Although the work of leaving the vehicle received from the compartment at the home position is carried out (there is an empty vehicle on the way out), it is required to speed up the traveling speed of the carrier truck to shorten the cycle time at the time of loading and unloading.

However, in the conventional traveling control of a carrier vehicle in this kind of parking lot facility, the acceleration / deceleration time is set according to the loading state with a large torque demand without distinguishing the empty loading vehicle. Therefore, it was not possible to sufficiently shorten the entire cycle time at the time of loading or unloading, even though the one-way vehicle was in an empty state in which the speed could be increased.

(Means for Solving the Problems) In order to solve the above-mentioned conventional problems, the present invention provides
The acceleration time to the maximum speed of the carrier and the deceleration time from the maximum speed to the stop are set in advance so as to be short when the vehicle is empty and long when the vehicle is loaded. Based on the acceleration / deceleration, the acceleration / deceleration pattern for each mileage of the transport carriage is set separately for the empty time and the loaded time, and the movement between the current position and the target position of the transport carriage given the loading / unloading command is set. Proposed a transporting vehicle traveling control method for a parking lot facility, characterized in that one of the acceleration / deceleration patterns is selected according to the traveling distance and the empty vehicle loading, and the traveling speed of the transportation vehicle is controlled according to this acceleration / deceleration pattern. To do.

(Operation of the Invention) For example, when a warehousing command is given, the mileage from the home position where the vehicle is received to the specific storage compartment for warehousing is calculated, and the acceleration / deceleration pattern at the time of loading corresponding to this mileage is selected. It

However, the carrier vehicle travels under the acceleration control and the deceleration control according to the selected acceleration / deceleration pattern, and stops at the specific storage section of the storage target. After warehousing, it will return to the home position with an empty car, but in this case, the acceleration / deceleration pattern at the time of empty vehicle corresponding to the traveling distance at this time is selected, and the carrier truck is larger than the loaded vehicle according to the acceleration / deceleration pattern. Acceleration / deceleration is controlled by the acceleration and deceleration, and the home position is returned to the original home position in a time shorter than the time required from the home position to reach the storage compartment of the storage target.

At the time of shipping operation, the carrier vehicle that travels toward the specific storage compartment that is the target of shipping is controlled in accordance with the acceleration / deceleration pattern when the vehicle is empty corresponding to the travel distance at that time, and receives the vehicle from the specific storage compartment. When the transport vehicle returns to the home position, the traveling control is performed according to the acceleration / deceleration pattern during loading.

(Example) Hereinafter, one example of the present invention will be described with reference to the accompanying drawings.

In FIG. 1 showing the basic configuration of a parking lot facility, 1 is a self-propelled carrier vehicle for entering and leaving which travels back and forth along a travel route 2, and 3 is an automobile storage compartment provided along the travel route 2. Is. The traveling route 2 and the storage section 3 of the transport vehicle 1 are provided on each floor, and 4 is an elevator for moving up and down the loading and unloading vehicles over each floor, which is disposed at one end of the traveling route 2 adjacent to the home position 5. ing. Conveyors 6 to 8 for laterally transferring and transferring an automobile are mounted on the transport carriage 1, the storage compartments 3, and the elevator cages of the elevator 4.
Is provided.

As shown in FIG. 2, the transport vehicle 1 has drive wheels that roll on guide rails 9 laid along the travel route 2.
10, a motor 11 for driving the drive wheel 10, a motor controller 12 such as an inverter, and a microcomputer 13 for controlling the motor controller 12 are mounted, and the host computer 14 on the ground side and the on-vehicle microcomputer 13 run They are connected by a signal transmission means 17 composed of a signal line 15 installed along the path 2 and a trolley-side current collector 16.

In addition, a code plate 18 for setting a unique address is provided at a stop position of the carrier truck corresponding to each storage section 3 on the traveling route 2, and an intermediate position between the stop positions (each code plate 18) is provided. A speed control detected plate 19 is provided. On the other hand, a code reader 20 for reading a unique address from each of the code plates 18 and a proximity switch 21 for detecting the plate to be detected 19 are attached to the carriage 1.

As shown in FIG. 3, the traveling microcomputer (the difference in the addresses between the stop positions) has a difference of 1 in the on-vehicle microcomputer 13 as shown in FIG.
Acceleration / deceleration pattern PAF1 for loading up to 10 differences
As shown in FIG. 4, PAF10 and acceleration / deceleration patterns PAE1 to PAE6 when the vehicle is empty for travel distances (address differences between stop positions) ranging from address 1 to address 6 are set. Acceleration / deceleration patterns PAF1 to PAF10 when loaded are set so that the acceleration time to the maximum speed (5 m / s) is about 11 seconds, and the deceleration time from the maximum speed to the stop is about 9.5 seconds. Set the deceleration so that the maximum speed is SPF13 and SPF1
~ 13 speeds up to SPF13 are combined so that a given mileage (address difference between stop positions) can be traveled in the shortest time. Also, the acceleration / deceleration pattern when the vehicle is empty
For PAE1 to PAE6, the acceleration time to the maximum speed (5m / s) is about 6
The acceleration is set to be larger than that when loaded, and the deceleration is set to be larger than when loaded so that the deceleration time from maximum speed to stop is about 5.5 seconds. , SPE1 ~ SPF10 speeds are combined so that a given travel distance (address difference between stop positions) can be traveled in the shortest time.

Next, a basic loading / unloading operation of the carriage 1 that always starts from the home position 5 and returns to the home position 5 will be described.

As shown in the flowchart of FIG. 5, when the host computer 14 is set to enter the warehouse, one of the empty storage areas 3 is selected, and an instruction to enter the empty storage area 3 is sent via the signal transmission means 17 to the carriage. Given to the upper microcomputer 13. Trolley-mounted microcomputer
13 is the home position 5 (indicated by HP in FIG. 5).
The same applies hereinafter) to the storage compartment 3 for storage and the mileage (address difference) is calculated, and the acceleration / deceleration pattern during loading shown in Fig. 3 is calculated.
One acceleration / deceleration pattern corresponding to the traveling distance is selected from PAF1 to PAF10 in accordance with the acceleration / deceleration pattern selection subroutine at the time of loading shown in FIG. For example, the address difference (ADV) is 7
If the travel distance is 7 difference, the acceleration / deceleration pattern
PAF7 is selected and the address difference (ADV) is 11 or more (the mileage is 1
Acceleration / deceleration pattern PAF10 is selected when the difference is 1 or more.

Then, when the unloading vehicle is transferred from the elevator 4 onto the carrier vehicle 1 waiting at the home position 5 via the conveyors 8 and 6, the traveling control of the carrier vehicle 1 is started. This traveling control is performed according to the traveling control subroutine for loading a vehicle shown in FIG. For example, when the home position 5 is set to the 1st address and the vehicle is stored in the storage section 3 at the 8th address, the traveling distance becomes the address difference (ADV) 7, and therefore the 6th
The acceleration / deceleration pattern PAF7 is selected in the subroutine shown. Therefore, the on-vehicle microcomputer 13 first instructs the motor controller (inverter) 12 to the speed SPF10 (4.15 m / s) according to the acceleration / deceleration pattern PAF7, and accelerates the carriage 1 to the speed SPF10. And when the proximity switch 21 detects the plate to be detected (the plate to be detected between the 4th and 5th addresses) 19 after the carriage 1 has passed the 4th address and the address difference (ADV) becomes 4, One step lower speed SPF9
(4.05m / s) is commanded to the motor controller 12,
The deceleration of the carrier vehicle 1 is started. Then, if the code reader 20 detects the code plate 18 at the 5th address and the address difference becomes 3, the speed SPF2 (1.59m / s) becomes the motor controller 12
Is instructed to, and the carriage 1 is further decelerated. This speed SP
After deceleration to F2, bogie runaway detection can be performed.
For example, when the proximity switch 21 detects the next detected plate 19 within the set time after the start of deceleration to the speed SPF2, it is possible to take an appropriate action such as making the vehicle runaway and making an emergency stop.

When the proximity switch 21 detects the plate 19 to be detected after the deceleration traveling carriage 1 has passed the address 7 with an address difference of 1, that is, the plate 19 in the middle of the addresses 7 and 8 is switched to the proximity switch.
When 21 is detected, the speed is SPF1 (0.117m / s), which is one step lower.
Is commanded to the motor controller 12, the carriage 1 is decelerated to the minimum speed, and when the code reader 20 next detects the code plate 18 at the address 8 for storage, the power supply to the motor 11 is cut off and the brake is applied at the same time. The carrier vehicle 1 is stopped.

If the carriage 1 stops at the storage compartment 3 of the storage target address 8, as shown in FIG. 5, the conveyor 6 on the carriage 1 and the conveyor 7 on the storage compartment 3 of the address 8 carry the carriage 1 The above car is transferred to the storage compartment 3 at the address 8. After the warehousing is completed, the carriage 1 is made to return to the home position 5. In this case, the vacant acceleration / deceleration patterns PAE1 to PAE6 shown in FIG. 4 to the vacant acceleration / deceleration pattern selection subroutine shown in FIG. According to the mileage,
That is, one acceleration / deceleration pattern P corresponding to the address difference (ADV) 7
AE6 is selected, and the reverse traveling of the carrier 1 to the home position 5 is performed according to the acceleration / deceleration pattern PAE6.

The traveling control by the acceleration / deceleration pattern PAE6 when the vehicle is empty is performed in accordance with the traveling control subroutine when the vehicle is empty shown in FIG. That is, the on-vehicle microcomputer 13 first commands the motor controller (inverter) 12 to the speed SPF10 (5 m / s) according to the acceleration / deceleration pattern PAE6, and accelerates the carrier vehicle 1 to the speed SPE10. If the carrier 1 reaches the address 4 and the address difference (ADV) becomes 3, the speed SPE8
(4.2 m / s) is commanded to the motor controller 12, and deceleration of the carrier vehicle 1 is started. Here, it is possible to perform the bogie runaway detection function described above. And the carriage 1 is 3
If you reach an address and the address difference (ADV) becomes 2, speed SPE3
(2.08m / s) is commanded to the motor controller 12,
The carriage 1 is further decelerated. After this, the carrier 1
After reaching the address and the address difference (ADV) becomes 1, when the proximity switch 21 detects the detected plate (detected plate between the 2nd and 1st addresses) 19, the minimum speed SPE1 (0.117m / s) is commanded to the motor controller 12, the carriage 1 is decelerated to the minimum speed, and when the code reader 20 detects the code plate 18 at the home position 5 which is the first address, the power supply to the motor 11 is cut off. At the same time, a brake is applied to stop the carrier 1 at the home position 5 to complete a series of warehousing operations.

The warehousing work is carried out in the procedure just opposite to the warehousing work, as shown in the flowchart of FIG. Therefore, at the time of this leaving operation, when the transport vehicle 1 travels forward toward the instructed storage compartment 3 of the leaving target, one of the empty acceleration / deceleration patterns PAE1 to PAE6 corresponding to the travel distance is selected. When the carriage 1 is moved backward to the home position 5 after receiving the vehicle from the storage compartment 3, the traveling control is performed according to the acceleration / deceleration pattern when the vehicle is loaded, according to the pattern selected from the acceleration / deceleration patterns PAF1 to PAF10 when the vehicle is loaded. Driving is controlled.

Also, in the warehousing work, the vehicle is designated as the storage compartment 3
It is also possible to carry out the delivery operation without returning the transport carriage 1 to the home position 5 after the transfer to and from the warehouse. In this case as well, the traveling method and the traveling distance of the transportation vehicle 1 are discriminated from the difference between the current address of the transportation vehicle 1 and the address of the shipping target storage section 3, and based on this, the transportation vehicle 1 is automatically operated as described above. The traveling can be controlled.

Further, in the above-mentioned embodiment, the running distance, which is the condition for selecting the acceleration / deceleration pattern, is determined by the difference of the unique addresses set for each stop position. A method of detecting the detection unit with a detector on the side of the carriage and calculating the traveling distance by comparing the count value (current position) of this detection signal with the set value set for each stop position,
It is also possible to adopt a method of counting the transmitted pulses of a pulse encoder that is linked to the traveling of the carrier vehicle 1 and calculating the traveling distance by comparing the counted value (current position) with the number of pulses set for each stop position. I can.

(Effects of the Invention) As described above, according to the method for controlling travel of a carrier vehicle of a parking lot facility of the present invention, an acceleration / deceleration pattern is set when the vehicle is empty and can be reasonably driven at a high speed separately from when the vehicle is loaded with a large torque demand. Therefore, it is possible to increase the traveling speed when the vehicle is empty, shorten the cycle time of the entire loading and unloading work, and improve the work efficiency.

[Brief description of drawings]

FIG. 1 is a schematic plan view illustrating the basic configuration of a parking lot facility,
FIG. 2 is a block diagram illustrating a traveling control system of a carrier vehicle, FIG. 3 is a graph showing an acceleration / deceleration pattern when a vehicle is loaded, FIG.
FIG. 9 is a flowchart explaining the travel control method. 1 ... carrier truck, 2 ... travel route, 3 ... storage compartment, 4
...... Elevator, 5 (H / P) …… Home position, 6 to 8 …… Car transfer conveyor, 10 …… Drive wheels, 11 …… Motor, 12 …… Motor controller (inverter, etc.), 13 …… Microcomputer on trolley, 14 ... Host computer, 17 ... Signal transmission means, 18 ... Code plate, 19 ... Detected plate, 20 ... Code reader, 21 ... Proximity switch.

Claims (1)

[Claims] 1. In a parking lot facility for loading and unloading automobiles by a carrier truck that travels on a travel route, the acceleration time to the maximum speed of the carrier truck and the deceleration time from the maximum speed to the stop of the carriage are It is set in advance so that it will be long when loading short,
Based on the set acceleration / deceleration during empty vehicle and acceleration / deceleration during vehicle loading, the acceleration / deceleration pattern for each mileage of the carrier is set separately for the empty vehicle and the vehicle loaded, and the loading / unloading command is given. One of the acceleration / deceleration patterns is selected according to the travel distance between the current position and the target position of the transport vehicle and the empty vehicle loading, and the traveling speed of the transport vehicle is controlled according to this acceleration / deceleration pattern. A method for controlling traveling of a carrier of a characteristic parking lot facility.