Travel control system and control method for traveling vehicles
AssigneeMurata Machinery, Ltd.
InventorTakao Hayashi
Life of this patent
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Abstract
A ground controller and traveling vehicles are connected to a communication system on the ground. Position instructions are given to the traveling vehicles in each position control cycle. The traveling vehicles generate a plurality of velocity instructions and torque instructions by themselves to carry out the position instructions.
Claims11
A travel control system for allowing a plurality of traveling vehicles to travel in accordance with instructions from a ground controller for transportation of articles, the travel control system comprising:
- a communication system arranged to enable communication between the ground controller and the traveling vehicles;
- a position instruction generator provided in the ground controller;
- a velocity instruction generator, a torque instruction generator, and a travel motor provided in each of the traveling vehicles;
- the traveling vehicles each being configured to report at least a position of the traveling vehicle in each control cycle through the communication system;
- the ground controller being configured to generate a position instruction for one control cycle for each traveling vehicle based on the report, and provide the position instruction for each traveling vehicle through the communication system;
- the velocity instruction generator being configured to generate a plurality of velocity instructions in one control cycle based on a difference between a position of the position instruction and the position of the traveling vehicle;
- and
- the torque instruction generator being configured to generate a plurality of torque instructions for each of the velocity instructions based on a difference between a velocity of the velocity instruction and a velocity of the traveling vehicle to drive the travel motor in accordance with the torque instructions.
A method of controlling a plurality of traveling vehicles to travel in accordance with instructions from a ground controller for transportation of articles, the method comprising the steps of:
- reporting at least a position of each traveling vehicle from the traveling vehicle to the ground controller in each control cycle through a communication system;
- generating a position instruction for one control cycle for each traveling vehicle by a position instruction generator of the ground controller to provide the position instruction for each traveling vehicle through the communication system;
- generating a plurality of velocity instructions in one control cycle by a velocity instruction generator of each traveling vehicle, based on a difference between a position of the position instruction and a position of the traveling vehicle;
- and
- generating a plurality of torque instructions for each of the velocity instructions by a torque instruction generator of each traveling vehicle, based on a difference between a velocity of the velocity instruction and a velocity of the traveling vehicle to drive a travel motor of the travel vehicle in accordance with the torque instructions.
Dependencies are inferred from the claim text.