Movement control system for moving machine and movement control method for moving machine

Abstract

To provide a movement control system for a moving machine that can reduce an error of a stop position.SOLUTION: A movement control system 100 for controlling a moving machine 92 that moves on a movement path 91 extending in a first direction along a plurality of kilns 90, comprises: a plurality of detection targets 2 disposed at predetermined intervals in the first direction; a detection unit 3 mounted on the moving machine 92 and configured to detect each detection target 2; a distance measurement unit 4 configured to measure a separation distance Ds between the detection target 2 and the detection unit 3; and a control unit 7 for determining braking start timing Ts for stopping the moving machine 92, by using a detection result by the detection unit 3 and a measurement result by the distance measurement unit 4.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a movement control system for a mover for a coke oven and a movement control method for a mover. [Background technology]

[0002] A mobile machine that runs on rails installed along multiple kilns in a coke oven is known. The applicant disclosed a mobile control device for a mobile machine in a coke oven in Patent Document 1. This control device includes a position detection unit that detects the position of the mobile machine in the traveling direction by a position sensor, and a stop command unit that stops the mobile machine at a target position, and corrects the stop position according to the amount of deviation of the mobile machine in the approaching or separating direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-219935 A Summary of the Invention [Problem to be solved by the invention]

[0004] The movement control system of the mobile machine moves the mobile machine left and right on the rails and controls it to stop at the target kiln core position (target position) in front of the kiln. Since the mobile machine moves a certain braking distance from when braking begins until it stops, the system controls it to start braking before the target position. For this reason, the system predicts the target position and starts braking based on the prediction result. However, if the characteristics of the system change due to aging or other reasons, the prediction accuracy of the target position decreases and the error in the stopping position increases.

[0005] The present invention has been made in consideration of such problems, and has as an object to provide a mobility control system for a mobile device that is capable of reducing errors in stopping positions. [Means for solving the problem]

[0006] In order to solve the above problems, one embodiment of a mobile control system of the present invention is a mobile control system that controls a mobile machine that moves along a moving path extending in a first direction along multiple kilns, and includes a plurality of detectable objects installed at a predetermined interval in the first direction, a detection unit mounted on the mobile machine that detects the detectable objects, a distance measurement unit that measures the separation distance between the detectable objects and the detection unit, and a control unit that determines the timing to start braking to stop the mobile machine using the detection results of the detection unit and the measurement results of the distance measurement unit.

[0007] Another aspect of the present invention is a movement control method for a mobile machine that moves along a movement path extending in a first direction along a plurality of kilns, the method including a detection step of detecting a plurality of detectable objects installed at a predetermined interval in the first direction by a detection unit mounted on the mobile machine, a measurement step of measuring the distance between the detectable objects and the detection unit, and a step of determining a braking start time for stopping the mobile machine using the detection result of the detection step and the measurement result of the measurement step.

[0008] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc. are also valid aspects of the present invention. Effect of the Invention

[0009] According to the present invention, it is possible to provide a mobility control system for a mobile device that is capable of reducing an error in a stopping position. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a plan view illustrating a mobility control system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing the mobility control system of FIG. 1. [Diagram 3] 2 is a side view showing an example of a detection object, a detection unit, and a distance measurement unit. FIG. [Figure 4] 4 is a diagram showing the positional relationship between a detection object and a magnetic detection unit. FIG. [Diagram 5] 5 is a diagram showing the relationship between the amount of displacement of a detection object and a detection signal. FIG. [Figure 6] 2 is a flowchart showing an example of the operation of the mobility control system of FIG. 1. [Figure 7] 4 is a time chart showing an example of the operation of the mobility control system.

[0011] First, the background to the present disclosure will be described. In a coke oven, a moving machine is moved in the left-right direction on the rails of a moving path, stopped at a target kiln core position in front of the oven, and a predetermined operation is performed. At this time, it is desirable that the deviation of the moving machine's stopping position from the kiln core position is within an allowable deviation. As an example, the allowable deviation is ±5 mm to ±10 mm. If the deviation exceeds the allowable deviation, the position of the moving machine will be adjusted by an operator, and this adjustment requires extra man-hours. In addition, the moving machine cannot be stopped immediately, and moves a certain braking distance from the start of braking until it stops.

[0012] Therefore, the inventors of the present application came up with a configuration in which the position of the moving machine is identified, and based on the identification result, the braking start time (braking start timing) of the moving machine is determined, and braking starts just before the stopping position. With this configuration, the braking start time of the moving machine can be adjusted according to the braking distance, and the stopping position of the moving machine can be brought closer to the kiln core position.

[0013] The inventors of the present application have also come up with a configuration in which a plurality of detectable objects are placed at predetermined intervals on the movement path of a mobile device along the extension direction of the movement path (hereinafter referred to as the "first direction"), the detectable objects are detected by a detection unit mounted on the mobile device, the position of the mobile device is identified using the detection results, and the time to start braking the mobile device is determined based on the position of the mobile device.

[0014] However, it was found that the distance (separation distance) between the object to be detected and the detection unit changes due to the deformation of the coke oven over time, affecting the detection results of the detection unit and reducing the accuracy of identifying the position. It is also possible to estimate the separation distance using information processing, but this entails problems such as the long processing time and the difficulty of ensuring the accuracy of the estimation.

[0015] In light of these circumstances, the inventors of the present application came up with a configuration in which a distance measuring section is provided to measure the separation distance between the detected object and the detection unit, and the measurement results of the distance measuring section are used to adjust the timing at which the brakes of the moving machine start to be applied. With this configuration, the process of estimating the separation distance can be almost entirely omitted, and the effects of changes in the separation distance over time can be reduced, so that the stopping position of the moving machine can be brought closer to the target kiln core position.

[0016] In addition, it was found that the position of the core changes from its initial position in the first direction due to the deformation of the coke oven over time, and the relative position of the core position and the detection unit changes. For this reason, there is a method of carrying out construction to correct the position of the detection object, but this construction is labor-intensive and complicated.

[0017] Therefore, the inventors of the present application have come up with a configuration further including a memory unit that stores a plurality of correction values ​​respectively corresponding to a plurality of detectable objects, and corrects the braking start time of the moving machine using the correction values ​​stored in the memory unit. The correction value may be the amount of position change of the detectable object from its initial position (center position). At a predetermined time, the amount of position change of each of the plurality of detectable objects can be measured, and the measurement results can be stored in the memory unit as correction values. With this configuration, the work of correcting the positions of the detectable objects can be almost eliminated, and the number of work steps can be significantly reduced. Hereinafter, the mobility control system of the present disclosure will be described with reference to embodiments.

[0018] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and duplicated descriptions are omitted as appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some of the members that are not important for explaining the embodiments are omitted in each drawing.

[0019] In addition, terms including ordinal numbers such as first, second, etc. are used to describe various components, but these terms are used only for the purpose of distinguishing one component from another component, and the components are not limited by these terms.

[0020] [Embodiment] The overall configuration of a mobile control system 100 according to an embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a plan view that shows a schematic diagram of the mobile control system 100 according to the embodiment. Figure 2 is a block diagram showing the mobile control system 100.

[0021] The movement control system 100 controls the movement of a mover 92 that moves along a movement path 91 provided along multiple kilns 90 of a coke oven. The mover 92 is a coke oven pusher, a guide car, or the like. The movement path 91 extends in a horizontal first direction (e.g., left-right direction) in front of the kilns 90, and is provided with rails 93 extending in the first direction. The mover 92 includes wheels 98, a motor 94 that drives the wheels 98, a drive unit 95, a braking device 96, and a control unit 7. The drive unit 95 drives the motor 94 under the control of the control unit 7.

[0022] The braking device 96 brakes the moving machine 92 to stop it. For example, the braking device 96 brakes the moving machine 92 by generating a mechanical friction force on the wheels 98. The control unit 7 controls the drive unit 95 and the braking device 96. Based on the control of the control unit 7, the moving machine 92 travels on the rails 93 in a first direction and stops at a predetermined target position in front of the kiln 90. The predetermined target position is the kiln core position of the kiln 90.

[0023] Further, the movement control system 100 includes a plurality of detectable objects 2, a detection unit 3, a distance measuring unit 4, an absolute sensor 5, and a control unit 7. The plurality of detectable objects 2 are installed on the ground side at a predetermined interval in the first direction along the moving path 91. In the embodiment, each detectable object 2 is disposed at the kiln center position of each kiln 90 in the first direction. The detection unit 3 is mounted on a moving machine 92 and moves integrally with the moving machine 92. The detection unit 3 detects the detectable object 2 and transmits the detection result to the control unit 7. The detection unit 3 is separated from the detectable object 2 in a second direction (for example, the up-down direction) perpendicular to the first direction (see FIG. 3). Note that each detectable object 2 may be disposed at a position shifted in the first direction as long as the relationship between the detectable object 2 and the kiln center position of each kiln 90 is known.

[0024] The absolute sensor 5 is an absolute rotary encoder capable of detecting the absolute position of the mover 92 by counting the amount of rotation of the wheels 98 of the mover 92. The absolute sensor 5 detects the approximate position of the mover 92 in the first direction, and transmits absolute information S5 as the detection result to the control unit 7.

[0025] The detected object 2, the detection unit 3, and the distance measurement section 4 will be described with reference to Fig. 3. Fig. 3 is a side view showing an example of the detected object 2 and the detection unit 3. This figure is a cross-sectional view of the detected object 2 and the detection unit 3 along a plane along the first direction and the second direction.

[0026] The distance measurement unit 4 measures the second direction distance (hereinafter referred to as "separation distance Ds") between the detected object 2 and the detection unit 3, and transmits the measurement result to the control unit 7. The distance measurement unit 4 is provided at a position equal to that of two magnetic sensors 34, which will be described later, in the second direction. The control unit 7 controls the movement (including stopping) of the mobile device 92. In particular, the control unit 7 determines a braking start time Ts for stopping the mobile device 92 using the detection result of the detection unit 3 (detection signal S3, which will be described later) and the measurement result of the distance measurement unit 4 (separation distance Ds), and activates the braking device 96 at that time to stop the mobile device 92 at a predetermined position.

[0027] The object to be detected 2 includes a reflecting section 21, an IC tag 22, a magnet 23 for detection, a storage section 24, and an attachment section 25. The reflecting section 21 reflects electromagnetic waves irradiated from the distance measuring section 4 to the distance measuring section 4. The reflecting section 21 has a strip shape extending in the first direction at a position equal to the magnet 23 in the second direction, and the main surface, which is the widest surface, faces the distance measuring section 4 in the second direction. Therefore, in the second direction, the distance between the distance measuring section 4 and the reflecting section 21 is the same as the distance between the magnetic sensor 34 and the magnet 23. The IC tag 22 transmits predetermined information (in this example, kiln number information Q3) to an IC tag sensor 32 provided in the detection unit 3.

[0028] The magnet 23 provides the detection unit 3 with a detectable magnetic field. The center of the magnetic pole surface of the magnet 23 in the first direction is referred to as the detectable center C2. The position of the detectable object 2 in the first direction means the position of the detectable center C2. The storage section 24 is a case that stores the IC tag 22 and the magnet 23, and in this example, is circular when viewed from above and approximately inverted triangular when viewed from the side. The attachment section 25 is a rod-shaped member for attaching the storage section 24 to the reflector 21. The magnet 23 and the IC tag 22 are disposed near the center of the reflector 21 in the first direction.

[0029] The detection unit 3 includes a magnetic detection section 31, an IC tag sensor 32, and a sensor housing section 35. The IC tag sensor 32 receives kiln number information Q3 from the IC tag 22 attached to the detected object 2, and transmits the kiln number information Q3 to the control section 7. The magnetic detection section 31 is a type of non-contact sensor, and has two magnetic sensors 34 that detect a magnetic field from the magnet 23 of the detected object 2. The magnetic sensors 34 can be configured to include, for example, a Hall element, a magnetoresistance effect element (MR element, GMR element), etc. The magnetic detection section 31 outputs a detection signal S3 according to the distance from the magnet 23 in the first direction.

[0030] The two magnetic sensors 34 are arranged apart from each other in the first direction, and the magnetic detection unit 31 outputs the result of adding a reference value (hereinafter referred to as "reference value R") to the difference between the detection values ​​of the two magnetic sensors 34 (hereinafter simply referred to as "difference D") as a detection signal S3. In this example, the detection signal S3 is a current value. The position where the distance between the two magnetic sensors 34 in the first direction is divided into two equal parts is called the "sensor center C3" at the center of the magnetic detection unit 31 in the first direction. The position of the magnetic detection unit 31 in the first direction means the sensor center C3. The sensor center C3 is located at a position equidistant from the two magnetic sensors 34 in the first direction.

[0031] The IC tag sensor 32 is disposed at the sensor center C3. The sensor housing 35 is a case that houses the magnetic detection unit 31 and the IC tag sensor 32, and has a rectangular parallelepiped shape in this example. The magnetic detection unit 31 and the IC tag sensor 32 are disposed near the end face of the sensor housing 35 on the side of the detected object 2. As an example, VEROLINE (registered trademark) manufactured by DAMANI can be used as the detection unit 3.

[0032] 4 and 5, the relationship between the deviation amount K in the first direction between the sensor center C3 and the detected center C2 and the detection signal S3 of the magnetic detection section 31 will be described. FIG. 4 is a diagram showing the positional relationship between the detected object 2 and the detection unit 3. FIG. 4(A) shows a state in which the separation distance Ds is the standard 90 mm, FIG. 4(B) shows a state in which the separation distance Ds is 120 mm which is longer than the standard, and FIG. 4(C) shows a state in which the separation distance Ds is 60 mm which is shorter than the standard. Hereinafter, with regard to the deviation amount K, the deviation amount before correction is represented as deviation amount Kd, and the deviation amount after correction is represented as deviation amount Ke.

[0033] Fig. 5 is a diagram showing an example of the relationship of the detection signal S3 to the amount of deviation K. Fig. 5(A) shows the change in the detection signal S3 to the amount of deviation K in the process in which the magnetic detection unit 31 approaches the detected object 2, passes the detected object 2, and moves away. Fig. 5(B) shows an enlarged view of the range of circle B in Fig. 5(A).

[0034] In the embodiment, in the process of the magnetic detection unit 31 approaching the detected object 2, the sensor center C3 is located on the negative side of the detected object center C2. In addition, in the process of the magnetic detection unit 31 passing over the detected object 2 and moving away, the sensor center C3 is located on the positive side of the detected object center C2. As shown in Fig. 5(A) , in the process of the magnetic detection unit 31 approaching the detected object 2 and passing over the detected object 2 and moving away, the detection signal S3 changes in an approximately sinusoidal shape with respect to the change in the displacement amount K. Note that, in the magnetic detection unit 31 of the embodiment, the detection signal S3 is limited to a range of 12 mA ± 8 mA.

[0035] In the range shown in Fig. 5(B), the change in the detection signal S3 can be considered as a straight line. When the sensor center C3 is at the same position as the detected center C2, the displacement amount K is zero, the detection values ​​of the two magnetic sensors 34 are equal, and the difference D is zero. In this case, as shown in Fig. 5, the magnetic detection unit 31 adds a reference value R (e.g., 12 mA) to the difference D and outputs a current of 12 mA as the detection signal S3. In this positional relationship, regardless of the separation distance Ds, the difference D is zero and the detection signal S3 is 12 mA.

[0036] In Fig. 5, S3A indicates the case where the separation distance Ds is the standard 90 mm, S3B indicates the case where the separation distance Ds is 120 mm, and S3C indicates the case where the separation distance Ds is 60 mm. As shown in Fig. 5(B), the strength of the magnetic field reaching the magnetic detection unit 31 changes according to the separation distance Ds, so the slope of the detection signal S3 changes. In other words, when the separation distance Ds changes from the standard due to aging or the like, the slope of the detection signal S3 changes.

[0037] 5B, if the relationship between the deviation amount K and the detection signal S3 is acquired and stored in advance, the deviation amount K can be determined from the detection signal S3. However, since the slope of the detection signal S3 differs depending on the separation distance Ds, determining the deviation amount K using the characteristics of the standard S3A will result in an error in the determination result.

[0038] Therefore, the mobile control system 100 of the embodiment includes a distance measurement unit 4 that measures the separation distance Ds, corrects the uncorrected deviation amount Kd using the separation distance Ds, and determines the corrected deviation amount Ke. The process of determining the deviation amount Ke will be described later.

[0039] The distance measurement unit 4 will be described with reference to Fig. 3. The distance measurement unit 4 of the embodiment has an electromagnetic wave sensor that uses an infrared laser, millimeter waves, or the like as a type of electromagnetic wave. The distance measurement unit 4 is a sensor in which an electromagnetic wave emitting side and a light receiving side are integrated, and it irradiates the reflecting unit 21 with electromagnetic waves, receives the electromagnetic waves reflected by the reflecting unit 21, and outputs an output voltage that changes according to the received electromagnetic waves. In other words, the output voltage of the distance measurement unit 4 changes according to the separation distance Ds, and therefore the separation distance Ds can be determined from the output voltage of the distance measurement unit 4.

[0040] In the embodiment, two distance measuring units 4 are provided spaced apart in the first direction. The detection unit 3 is disposed between the two distance measuring units 4 in the first direction. In this case, as long as one of the two distance measuring units 4 faces the reflecting unit 21, the separation distance Ds can be determined even if the other does not face the reflecting unit 21.

[0041] The control unit 7 will be described with reference to Fig. 2. The control unit 7 of the embodiment determines a braking start time Ts for stopping the mobile device 92 using the detection signal S3 from the detection unit 3 and the separation distance Ds from the distance measurement unit 4. The control unit 7 also activates the braking device 96 at the braking start time Ts to stop the mobile device 92 at a predetermined position.

[0042] 2 can be realized in hardware by elements such as a computer processor, CPU, and memory, electronic circuits, and mechanical devices, and in software by a computer program, etc., but here, functional blocks realized by cooperation between them are depicted. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various forms by combining hardware and software.

[0043] The control unit 7 includes an acquisition unit 72, a motor control unit 73, a braking control unit 74, a deviation amount identification unit 75, a timing determination unit 76, a threshold determination unit 77, and a storage unit 78. These functional blocks can exchange information via an internal bus 71. The acquisition unit 72 acquires a detection signal S3 from the magnetic detection unit 31, kiln number information Q3 from the IC tag sensor 32, a separation distance Ds from the distance measurement unit 4, and absolute information S5 from the absolute sensor 5. The motor control unit 73 controls the speed of the motor 94 via a drive unit 95, thereby controlling the moving direction and moving speed of the moving machine 92.

[0044] The braking control unit 74 controls the braking device 96 of the mobile device 92. The deviation amount specifying unit 75 specifies the deviation amount Kd in the first direction between the sensor center C3 and the detected object 2 as the current position of the mobile device 92 based on the detection signal S3. In addition, the deviation amount specifying unit 75 corrects the specified deviation amount Kd by the separation distance Ds, and specifies the corrected deviation amount Ke.

[0045] The timing determination unit 76 determines the braking start time Ts based on the deviation amount Ke and the threshold value Hs. In this example, the timing determination unit 76 determines the braking start time Ts based on the timing at which the deviation amount Ke becomes equal to or greater than the threshold value Hs. The braking control unit 74 activates the braking device 96 at the braking start time Ts determined by the timing determination unit 76.

[0046] The memory unit 78 stores a plurality of correction values ​​J corresponding to the plurality of detectable objects 2, respectively. In this example, the correction value J is the amount of change in the position of the kiln from the initial position (the position of the detectable object 2). The correction value J is sometimes referred to as a bias value. At a predetermined time, the amount of change in the position of each of the plurality of detectable objects 2 can be measured, and the measurement results can be stored in the memory unit 78 as the correction value J. Alternatively, for a detectable object 2 that an operator visually judges to have a large amount of change in the center position of the kiln, the amount of change in the position can be measured, and the measurement results can be stored in the memory unit 78 as the correction value J. The control unit 7 controls the moving machine 92 to stop at a position shifted by the correction value J from the position of the detectable object 2.

[0047] Process S110, which is an example of the operation of the mobile control system 100, will be described with reference to Figures 6 and 7. Figure 6 is a flowchart showing process S110. Figure 7 is a time chart of the operation of the mobile control system 100, showing the detection signal S3 and the moving speed Vm of the mobile device 92 with respect to elapsed time. Process S110 is a process for determining the braking start time Ts for stopping the mobile device 92.

[0048] Process S110 is started when it is determined that the moving machine 92 is approaching the target kiln core position while moving in the first direction at a first speed V1, which is a normal moving speed. The control unit 7 determines whether or not the moving machine 92 is approaching the kiln core position based on the absolute information S5 acquired from the absolute sensor 5.

[0049] When the process S110 starts, the control unit 7 acquires the separation distance Ds from the distance measurement unit 4 (step S111).

[0050] Next, the control unit 7 acquires the detection signal S3 from the magnetic detection unit 31 (step S112).

[0051] Next, the control unit 7 identifies the deviation amount Kd based on the detection signal S3 (step S113). There is no limitation on the method of identifying the deviation amount Kd, but one example will be described. In this step, the control unit 7 can identify the deviation amount Kd by table processing using the acquired detection signal S3 as a key, using a relationship table between the past detection signal S3 and the deviation amount Kd created in advance. The relationship table in this step is stored in the storage unit 78.

[0052] Next, the control unit 7 corrects the deviation amount Kd based on the separation distance Ds (step S114). There is no limitation on the method of correcting the deviation amount Kd, but one example will be described. In this step, the control unit 7 can specify the corrected deviation amount Ke by table processing using the acquired separation distance Ds and deviation amount Kd as a key, using a relationship table between the past separation distance Ds and deviation amount Kd created in advance. The relationship table in this step is stored in the storage unit 78.

[0053] Next, the control unit 7 determines whether the deviation amount Ke is smaller than the first deviation amount K1 (step S115). If the deviation amount Ke is smaller than the first deviation amount K1 (Ke < K1) (Y in step S115), the control unit 7 returns the process to the start of step S111 and executes steps S111 to S115 again.

[0054] If the deviation amount Ke is greater than or equal to the first deviation amount K1 (Ke ≥ K1) (N in step S115), the control unit 7 receives the kiln number information Q3 from the IC tag sensor 32 and acquires the correction value J corresponding to the kiln number information Q3 from the storage unit 78 (step S116). Next, the control unit 7 determines the threshold value Hs according to the correction value J (step S117). The timing Tn indicates when the deviation amount Ke becomes greater than or equal to the first deviation amount K1.

[0055] Next, the control unit 7 decelerates the moving machine 92 and moves the moving machine 92 at a second speed V2 lower than the first speed V1 (step S118). Thereafter, the control unit 7 moves the moving machine 92 at the second speed V2 until the braking start time Ts is reached.

[0056] Next, the control unit 7 determines whether the deviation amount Ke is smaller than the threshold value Hs (step S119). If the deviation amount Ke is smaller than the threshold value Hs (Ke < Hs) (Y in step S119), the control unit 7 returns the process to the start of step S118 and executes steps S118 to S119 again.

[0057] If the deviation amount Ke is greater than or equal to the threshold value Hs (Ke ≥ Hs) (N in step S119), the control unit 7 activates the braking device 96 (step S120). That is, the control unit 7 determines the braking start time Ts according to the timing when the moving machine 92 reaches the braking start position and the deviation amount Ke becomes greater than or equal to the threshold value Hs. As an example, the control unit 7 may set the time point when the deviation amount Ke becomes greater than or equal to the threshold value Hs as the braking start time Ts. When the braking start time Ts is reached, the control unit 7 outputs a braking signal to the braking device 96.

[0058] When the brake device 96 is activated, the moving machine 92 moves by the braking distance while decelerating and stops at approximately the target stop position (step S121). When the moving machine 92 stops, the control unit 7 acquires the detection signal S3 and the separation distance Ds to identify the deviation amount Ke, and judges whether the deviation amount Ke (deviation amount from the kiln core position) is within the allowable deviation amount (step S122). If the deviation amount Ke exceeds the range of the allowable deviation amount (N in step S122), the motor 94 is driven by the operator to slightly move the moving machine 92 in the first direction to adjust the position (step S123). After executing step S123, the control unit 7 returns the process to the beginning of step S122 and executes steps S122 to S123 again.

[0059] If the deviation amount Ke is within the range of the allowable deviation amount (Y in step S122), the process S110 ends. Each step of the process S110 is an example, and various modifications are possible.

[0060] In the explanation of the process S110, an example was given in which determining the deviation amount Kd (step S113) and correcting the deviation amount Kd (step S114) are separate steps, but these may be integrated into one step. For example, the corrected deviation amount Ke may be directly determined by inputting the acquired detection signal S3 and separation distance Ds into a learning model. This learning model can be generated by machine learning based on past data of the detection signal S3, separation distance Ds, and deviation amount Ke.

[0061] The features of the mobile control system 100 of the embodiment configured as above will be described. The mobile control system 100 of the embodiment is a mobile control system that controls a mobile machine 92 that moves on a moving path 91 that extends in a first direction along a plurality of kilns 90, and includes a plurality of detectable objects 2 installed on the moving path 91 at predetermined intervals in the first direction, a detection unit 3 mounted on the mobile machine 92 and detecting the detectable objects 2, a distance measurement unit 4 that measures a separation distance Ds between the detectable objects 2 and the detection unit 3, and a control unit 7 that determines a braking start time Ts for stopping the mobile machine 92 using the detection results of the detection unit 3 and the measurement results of the distance measurement unit 4.

[0062] According to this configuration, the braking start time Ts is determined using the measurement results of the distance measurement unit 4. Therefore, if the separation distance Ds changes over time, an appropriate braking start time Ts is determined in accordance with the change, thereby reducing errors in the stopping position of the mobile device 92.

[0063] As an example, the detection unit 3 provides a detection signal S3 corresponding to the detection state of the detected object 2, and the control unit 7 determines the braking start time Ts using the detection signal S3, the separation distance Ds measured by the distance measurement unit 4, and the threshold value Hs. In this case, since the braking start time Ts is determined according to the threshold value Hs, which is a clear standard, it is possible to suppress variation in the determination result.

[0064] As an example, the control unit 7 has a storage unit 78 that stores a correction value J corresponding to the detected object 2, and changes the threshold value Hs according to the correction value J stored in the storage unit 78. In this case, even when the position of the detected object 2 is displaced in the first direction, the braking start time Ts can be corrected according to the displacement of the detected object 2 by storing a correction value J according to the amount of displacement.

[0065] As an example, the detected object 2 has a reflecting part 21, and the distance measuring part 4 detects the electromagnetic wave reflected by the reflecting part 21 and specifies the separation distance Ds according to the detection result. In this case, the separation distance Ds can be measured with a simple configuration.

[0066] As an example, a plurality of distance measuring units 4 are disposed at intervals in the first direction. In this case, if one of the plurality of distance measuring units 4 faces the reflecting unit 21, the separation distance Ds can be determined even if the others do not face the reflecting unit 21.

[0067] As an example, the multiple distance measurement units 4 are disposed on either side of the detection unit 3 in the first direction. In this case, the separation distance Ds can be specified between the leading side and lagging side with respect to the detection unit 3.

[0068] Above, examples of the embodiments of the present invention have been described in detail. All of the above-mentioned embodiments merely show specific examples of implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changing, adding, and deleting components are possible within the scope of the invention as defined in the claims. In each of the above-mentioned embodiments, the contents for which such design changes are possible are described with the notation "of the embodiment" or "in the embodiment", but design changes are also permitted for contents without such notation.

[0069] (Modification) The following describes the modified examples. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Descriptions that overlap with the embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the embodiment.

[0070] In the above description, an example has been given in which the braking device 96 generates a mechanical frictional force on the wheels 98, but the present invention is not limited to this. For example, the braking device may be a type that generates a brake torque in a motor, or a type that combines this type with a frictional force type.

[0071] In the above description, an example has been shown in which the timing determination unit 76 activates the braking device 96 when the deviation amount Ke becomes equal to or greater than the threshold value Hs, but the present invention is not limited to this. For example, the timing determination unit may activate the braking device after the deviation amount becomes equal to or greater than the threshold value.

[0072] In the above description, an example of identifying the deviation amount Kd from the detection signal S3 using a relational table has been shown, but the present invention is not limited to this. For example, the deviation amount may be identified from the detection signal using a learning model. This learning model can be generated by machine learning based on data of past detection signals and deviation amounts.

[0073] In the above description, an example of determining the deviation amount Ke from the separation distance Ds using a relationship table has been shown, but the present invention is not limited to this. For example, the deviation amount after correction may be determined by inputting the deviation amount before correction and the separation distance into a learning model. This learning model can be generated by machine learning based on data of past separation distances, deviation amounts, and deviation amounts.

[0074] Each of the above-described modified examples provides the same functions and effects as the embodiment.

[0075] Any combination of the components and modifications of the above-described embodiments is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the respective embodiments and modifications. [Explanation of symbols]

[0076] 2 object to be detected, 3 detection unit, 4 distance measurement unit, 7 control unit, 21 reflection unit, 78 memory unit, 90 furnace, 91 movement path, 92 moving machine, 100 movement control system.

Claims

1. A movement control system for controlling a moving machine that moves along a movement path extending in a first direction along a plurality of kilns, A plurality of detection targets are disposed at predetermined intervals in the first direction; A detection unit mounted on the mobile device and configured to detect the object to be detected; a distance measuring unit that measures a separation distance between the detection object and the detection unit; a control unit that determines a braking start time for stopping the mobile device using a detection result of the detection unit and a measurement result of the distance measurement unit; A movement control system comprising:

2. The detection unit provides a detection signal corresponding to a detection state of the object to be detected, The mobility control system according to claim 1 , wherein the control unit determines the braking start time by using the detection signal, the separation distance measured by the distance measurement unit, and a threshold value.

3. The movement control system according to claim 2 , wherein the control unit has a storage unit that stores a correction value corresponding to the detected object, and changes the threshold value in accordance with the correction value stored in the storage unit.

4. The detection object has a reflecting portion, The movement control system according to claim 1 , wherein the distance measurement unit detects electromagnetic waves reflected by the reflecting unit, and specifies the separation distance in accordance with a result of the detection.

5. The mobility control system according to claim 4 , wherein the distance measurement unit is disposed in a plurality of positions spaced apart from one another in the first direction.

6. The mobility control system according to claim 5 , wherein the plurality of distance measurement units are disposed on opposite sides of the detection unit in the first direction.

7. A movement control method for a mobile machine that moves along a movement path extending in a first direction along a plurality of kilns, comprising the steps of: a detection step of detecting a plurality of detectable objects installed at a predetermined interval in the first direction by a detection unit mounted on the mobile device; a measuring step of measuring a distance between the detection object and the detection unit; determining a braking start time for stopping the mobile device using a detection result of the detection step and a measurement result of the measurement step; A movement control method comprising:

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