PURPOSE: To compensate for the operational delay in a travel control system and to perform highly accurate stop control by setting the low speed travel time in a triangular traveling pattern longer than the low speed travel time in a trapezoidal traveling pattern.
CONSTITUTION: When a stacker crane travels on a long distance, it is accelerat ed with acceleration of tanα upto a maximum speed Vmax and travels with the maximum speed by a distance Sv, whereafter it is decelerated to a low speed V1 with deceleration of tanβ and stops when the travel distance reaches a target distance. In other words, the stacker crane travels with a trapezoidal speed pattern. When the traveling distance is short, the maximum speed Vmax is not reached and deceleration is started during accelerating operation thus exhibiting a triangular traveling pattern. The low speed travel time t2 in the triangular traveling pattern is set longer than the low speed travel time t2 in the trapezoidal traveling pattern. Error increases due to switching delay of the travel control system in the triangular traveling pattern, and it is absorbed by increasing the creep traveling distance.
| WO/2022/224442 | ACCIDENT FACTOR DETECTION SYSTEM, METHOD, AND PROGRAM |
| JPH03120104 | WAREHOUSING METHOD FOR AUTOMATIC SKY WAREHOUSE |
| JPH0846013 | MULTICHAMBER TREATMENT SYSTEM CONVEYER |
MATSUDA NORIMOTO
NAKADA KENJI
