A device for controlling the driving of a transport vehicle in an article transport system comprises: a processing unit for providing information relating to a movement path of the transport vehicle; an operation control unit that generates a drive signal including a front wheel torque signal and a rear wheel torque signal; a front wheel torque controller controlling a rotational torque of the front wheel based on the front wheel torque signal; and a rear wheel torque controller that controls a rotational torque of the rear wheel based on the rear wheel torque signal. Here, the operation control unit may include: a position controller that generates a position signal that determines the position of the transport vehicle in accordance with the movement path; a speed controller that generates a speed signal that determines the speed of the transport vehicle on the basis of the position signal; and a torque distributor that distributes the front wheel torque and the rear wheel torque differently based on the movement path and the speed signal, thereby generating a front wheel torque signal and a rear wheel torque signal, providing the front wheel torque signal to the front wheel torque controller, and providing the rear wheel torque signal to the rear wheel torque controller.
物品搬送系统中用于控制搬送车辆的驱动的装置包括:处理部,提供与搬送车辆的移动路径有关的信息;动作控制部,生成包括前轮扭矩信号以及后轮扭矩信号的驱动信号;前轮扭矩控制器,基于前轮扭矩信号控制前轮的旋转扭矩;以及后轮扭矩控制器,基于后轮扭矩信号控制后轮的旋转扭矩。在此,动作控制部可以包括:位置控制器,生成根据移动路径决定搬送车辆的位置的位置信号;速度控制器,生成基于位置信号决定搬送车辆的速度的速度信号;以及扭矩分配器,基于移动路径以及速度信号不同地分配前轮扭矩和后轮扭矩,从而生成前轮扭矩信号以及后轮扭矩信号,将前轮扭矩信号提供给前轮扭矩控制器,并将后轮扭矩信号提供给后轮扭矩控制器。
APPARATUS AND METHOD FOR CONTROLLING DRIVING OF CONVEYANCE VEHICLE IN ARTICLE CONVEYANCE SYSTEM
物品搬送系统中用于控制搬送车辆的驱动的装置及方法
2022-05-13
Patent
Electronic Resource
Chinese
IPC: | B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / H01L Halbleiterbauelemente , SEMICONDUCTOR DEVICES |
European Patent Office | 2021
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