JPH0738133B2 - Trajectory correction device for trackless crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a trackless crane that generates a signal to correct the direction when the trackless crane travels in a direction deviating from a predetermined traveling direction. The present invention relates to a traveling trajectory correction device.

[Conventional technology]

Generally, in container yard, the container collection area has a large area, so the crane used here is often a trackless crane that can be transferred to the required container storage area according to the cargo handling amount. . This crane is driven by rubber tires and can be driven in any direction like an automobile.

[Problems to be solved by the invention]

However, even with a trackless crane, the contents of cargo handling work are the same as those of a conventional tracked crane. There is a drawback that if the cranes are piled up, the outlook becomes worse and the crane contacts the container when an inexperienced driver drives. For this, it is possible to drive automatically,
A gyro is required for this automatic operation. However, the gyro always drifts, and there is a problem that the required accuracy cannot be ensured in a trackless crane that travels on a long road.

[Means for solving problems]

In order to solve such a drawback, the present invention calculates a track deviation amount from a travel reference point detection signal, a traveling speed, and a traveling one-direction angular velocity, and corrects the trajectory according to the deviation amount. .

[Action]

 Drive while correcting track deviations.

〔Example〕

FIG. 2 is a plan view showing an example of a container yard. The container yard in this example has six lanes A to F, two lanes 1a and 1b are provided in one lane, and the trackless crane 2 is provided in the longitudinal direction of the yard 1a and 1b. In addition, the vehicle can travel to another lane by traveling on the traveling path 3 and the shift path 4 provided at a right angle thereto. Further, the traveling passage 3 is provided with traveling reference points 5 at positions a to h at intervals of about 50 meters.

FIG. 3 is a side view of the trackless crane 2. 6a in the figure
Reference numerals 6b and 6b denote rubber wheels for traveling, the traveling direction of which can be set to 0 degree or 90 degrees, and FIG. 3 shows a state in which the traveling direction is set to zero degree. 7 is a trackless crane structure 8
Is a traveling reference point detecting device provided below the vehicle, and detects the reference point position of the trackless crane 2 together with the traveling reference point 5 provided on the ground. Reference numeral 9 is a traveling speed measuring device driven by rubber wheels 6b.

FIG. 1 is a block diagram showing an embodiment of a trackless crane traveling device configured by applying the device according to the present invention. In the figure, reference numeral 10 denotes a travel trajectory correction device, which is a travel reference point detection device 7, a travel speed measurement device 9, a travel direction angular velocity detection device 11, a timer 12, integrators 13 and 14, a track control device 1.
It consists of five.

The traveling reference point detecting device 7 detects the traveling reference point signal i (O) each time the trackless crane 2 passes the traveling reference point 5, the initial trajectory deviation angle θ (O) when the traveling reference point passes, and the initial trajectory deviation amount L. (O) is output. The traveling reference point detecting device 7 may be constituted by, for example, linear magnetic sensors arranged in a direction at right angles to the traveling direction of the trackless crane 2 at a distance of, for example, about 5 mm. With this configuration, one of the magnetic sensors is set to the traveling reference point 5.
Pass over. At this time, the magnetic sensor detects the angle formed by the magnetic sensor and the traveling reference point 5, whereby the initial trajectory deviation angle θ (O) can be detected.

Further, for example, by detecting the positional deviation between the central one of the 80 magnetic sensors provided and the central portion of the travel reference point 5, the initial positional deviation L (O) can be detected. Further, for example, the traveling reference point signal i (O) can be detected by a signal generated when any one of the magnetic sensors first detects the traveling reference point 5. When it is necessary to generate the traveling reference point signal more accurately, it may be the time when any of the magnetic sensors passes through the center of gravity of the traveling reference point 5. The traveling direction angular velocity detecting device 11 is constituted by, for example, a gyro device, and when an angular velocity deviating from a predetermined traveling path 3 acts on the trackless crane 2, a signal proportional to the angular velocity is generated. . The timer 12 is reset as soon as the input signal is supplied, and outputs a signal indicating the elapsed time thereafter. The integrator 13 is adapted to calculate the crane traveling displacement angle from the crane traveling direction angular velocity and the initial displacement angle detected by the traveling reference point detecting device 7. Integrator 14
Is the traveling speed detected by the traveling speed measuring device 9,
The track deviation amount is calculated from the crane travel deviation angle calculated by the integrator 13 and the initial track deviation amount detected by the travel reference point detecting device 7. When the trackless crane 2 deviates from the traveling path 3, the track controller 15 generates a signal for correcting the deviation based on the signal supplied from the integrator 14. Reference numeral 16 is a traveling electric motor control device, and when a trajectory correction signal is generated from the trajectory control device 15, correction control of the traveling electric motors 10a and 17b is performed according to the signal.

The operation of the device configured as described above is as follows.
The trackless crane 2 is now in lane A as shown in FIG.
The operation of traveling in the direction from the traveling reference point 5 at the position a to the traveling reference point 5 at the position d will be described. Each time the trackless crane 2 passes the traveling reference point 5, the traveling reference point detection device 7 generates the traveling reference point signal i (O), so that the timer 12 operates after the traveling reference point signal i (O) is issued. The elapsed time signal i of is output. The traveling speed measuring device 9 and the traveling direction angular velocity detecting device 11 generate a traveling speed signal and a traveling direction angular velocity signal. Then, based on these signals, the elapsed time signal i, and the signal supplied from the traveling reference point detection device 7, the integrator 13 calculates the signal shown in the following expression (1),
The integrator 14 outputs the signal shown in the following formula (2).

Here, each signal is defined as follows.

θ (t): Crane travel deviation angle t seconds after passing the travel direction reference point θ ′ (p): Output signal of travel direction angular velocity detection device 11 θ (O): Initial trajectory deviation angle L when the travel reference point is passed (I): Amount of track deviation after i seconds v (t): Output signal of the traveling speed measuring device 9 after t seconds passing the traveling reference point L (O): Initial amount of track deviation after passing the traveling reference point sin {θ (T): sine of θ (t) obtained by the equation (1) Note that θ ′ (p) represents the angular velocity.

For this reason, the track control device 15 uses the traveling reference point signal, traveling speed,
From the angular velocity signal in the traveling direction to the trackless crane 2 and the traveling path 3
A trajectory correction signal for returning to the motor is generated and supplied to the traveling motor controller 16. As a result, the traveling motor control device
16 is a traveling electric motor 17a, 17 according to the supplied trajectory correction signal.
Control b and pull the trackless crane 2 back to the road 3.
In this case, the traveling electric motors 17a and 17b are provided on both legs of the trackless crane 2, and the control of the electric motors is performed by, for example, controlling the field according to the track correction signal to adjust the speed of each electric motor. Therefore, the orbital deviation can be controlled below a certain value.

FIG. 4 shows the relationship between the predetermined reference line 18 and the crane traveling locus 19 in units of time. P ₀ ~
P ₅ indicates the position of the trackless crane 2 at i = 0 to 5 seconds, v (0) to v (5) are vector indications of the crane traveling speed at each time, v
(0) to v (5) represent the crane travel deviation angle at each time, and L (0) to L (5) represent the trajectory deviation amount at each time. Note that L (0),
θ (0) is a value measured by the traveling reference point detecting device 7 when the trackless crane 2 passes the traveling reference point 20, and P ₀ is a point located on the line perpendicular to the reference line 18 at the traveling reference point 20. .

〔The invention's effect〕

As described above, the running track correction apparatus for a trackless crane according to the present invention resets the timer each time the running reference point signal is generated, and obtains the running speed and running direction angular velocity corresponding to the elapsed time of the timer. Since the track deviation amount is corrected based on them, the error is reset each time the traveling reference point is passed. For this reason, the drift of the gyro is reset and does not accumulate every time when the drift of the gyro passes the running reference point, so that the required accuracy can be ensured even when running on a long track P7. With this configuration, there is an effect that even a driver who is not sufficiently skilled in driving can accurately run the trackless crane in the target direction.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a plan view of a container yard, FIG. 3 is a side view of a trackless crane, and FIG. 4 is a view showing a traveling direction of the trackless crane. is there. 2 ... Trackless crane, 3 ... Traveling path, 5,20 ... Running reference point, 7 ... Running reference point detection device, 9 ... Running speed measuring device, 10 ... Running track correction device, 11 ... Traveling direction angular velocity detector, 12 …… Timer, 13,14 …… Integrator, 15 ……
Orbit controller, 16 …… Traveling motor controller, 17a, 17b…
… Travel motor.

Claims (1)

[Claims] 1. A traveling reference point detecting device, a timer, a traveling speed measuring device, a traveling direction angular velocity detecting device, a computing device, and a track control device, wherein the traveling traveling reference point detecting device is a crane traveling. Each time the vehicle passes a traveling reference point provided on the road, the traveling reference point signal i (O), the initial trajectory deviation amount L (O), and the initial trajectory deviation angle θ.
(O) is generated, the timer is reset every time the traveling reference point signal is generated, and an elapsed time signal after that is generated and supplied to the arithmetic unit. The traveling direction angular velocity detecting device detects the traveling direction angular velocity and generates an angular velocity signal θ ′, and the computing device calculates θ (t): Crane traveling deviation angle t seconds after traveling reference point θ '(p): Output signal (angular velocity) of traveling direction angular velocity detection device L (i): Track deviation after i seconds v (t): Traveling reference point passage Based on the output signal (running speed) of the running speed measuring device after t seconds, based on the running reference point signal, the elapsed time signal, the speed signal and the angular speed signal. Is calculated to obtain the amount of track deviation, and the track controller corrects the track based on the calculated track deviation, the track correction device for a trackless crane.