JP2910167B2 - Guide method of carrier - Google Patents
Guide method of carrierInfo
- Publication number
- JP2910167B2 JP2910167B2 JP2142178A JP14217890A JP2910167B2 JP 2910167 B2 JP2910167 B2 JP 2910167B2 JP 2142178 A JP2142178 A JP 2142178A JP 14217890 A JP14217890 A JP 14217890A JP 2910167 B2 JP2910167 B2 JP 2910167B2
- Authority
- JP
- Japan
- Prior art keywords
- magnetic
- carrier
- output
- magnetic sensor
- magnetic marker
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000000034 method Methods 0.000 title claims description 12
- 239000003550 marker Substances 0.000 claims description 28
- 238000001514 detection method Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 11
- 230000007423 decrease Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、車輌に搭載した磁気センサを用い、路上の
磁気標識体にしたがって車輌を誘導する搬送車の誘導方
法に関する。Description: BACKGROUND OF THE INVENTION The present invention relates to a method for guiding a transport vehicle that guides a vehicle according to a magnetic sign on a road by using a magnetic sensor mounted on the vehicle.
従来、搬送車上に設置された磁気センサの励磁部によ
って、誘導路に連続的に敷かれた磁気標識体を磁化し、
磁化された磁気標識体からの磁場を磁気センサの左右複
数個の検知部で検知部出力として得て、それをもとに磁
気標識体の位置を検知し搬送車を誘導する場合、フェラ
イトの存在しないときの検知部出力（以下、ベースレベ
ルという）をもとにして磁気センサ出力の基準電圧レベ
ルを設定し、その基準電圧レベルに対する各検知部出力
の変化量の差や比をとることにより、磁気標識体の位置
を検知し、搬送車を誘導していた。あるいは、単に左・
右検知部出力の差動をとり、磁気標識体位置を検知し、
搬送車を誘導していた。Conventionally, the magnetic marker placed continuously on the taxiway is magnetized by the excitation unit of the magnetic sensor installed on the carrier,
When the magnetic field from the magnetized magnetic marker is detected by the multiple detectors on the left and right of the magnetic sensor as detection unit outputs, based on which the position of the magnetic marker is detected to guide the transport vehicle, the presence of ferrite By setting the reference voltage level of the output of the magnetic sensor based on the output of the detection unit (hereinafter referred to as a base level) when the detection is not performed, and taking the difference or ratio of the amount of change in the output of each detection unit with respect to the reference voltage level, It detected the position of the magnetic marker and guided the carrier. Or just left
Take the differential of the right detector output, detect the position of the magnetic marker,
He was guiding a transport vehicle.
〔発明が解決しようとする課題〕 ところが、気温の変化や磁気センサ構成部の微妙な位
置ずれ等が原因で磁気センサ出力のベースレベルが変動
することがあり、その都度磁気センサ出力の調整を行わ
なければならない。また、搬送車の走行中に磁気センサ
出力のベースレベルが急激に変動した場合、搬送車の安
定した走行が困難となってしまう。[Problems to be Solved by the Invention] However, the base level of the output of the magnetic sensor may fluctuate due to a change in air temperature, a slight displacement of the magnetic sensor component, or the like. There must be. Further, if the base level of the magnetic sensor output fluctuates rapidly during the traveling of the carrier, it becomes difficult to stably travel the carrier.
本発明の目的は、搬送車上の磁気センサの基準出力の
調整を自動的に行いながら搬送車を誘導することによ
り、従来の問題点を解決した搬送車の誘導方法を提供す
ることにある。SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for guiding a carrier that solves the conventional problems by guiding the carrier while automatically adjusting the reference output of the magnetic sensor on the carrier.
前記目的を達成するため、本発明に係る搬送車の誘導
方法においては、搬送車の走行路上に敷設された磁気標
識体を搬送車上の磁気センサで検知することにより、該
搬送車の誘導を行う方法であって、 前記磁気標識体は、搬送車の走行路上に断続的に敷設
し、該磁気標識体相互間の区間に、磁気標識体の存在し
ない領域を設けており、 前記磁気標識体の存在しない領域上を搬送車が通過す
る度毎に、前記磁気センサの基準電圧レベルの調整を行
いつつ、搬送車を誘導するものである。In order to achieve the above object, in the method for guiding a transport vehicle according to the present invention, the guidance of the transport vehicle is detected by detecting a magnetic marker laid on a traveling path of the transport vehicle with a magnetic sensor on the transport vehicle. The method according to claim 1, wherein the magnetic marker is intermittently laid on a traveling path of a transport vehicle, and a section where the magnetic marker does not exist is provided in a section between the magnetic markers. Each time the carrier passes over an area where no vehicle exists, the carrier is guided while adjusting the reference voltage level of the magnetic sensor.
磁気センサの基本構成を第６図に示す。第６図に示す
ように、励磁コイル７によって磁気標識体１に交流磁場
を印加し、左・右の検知コイル8a,8bによって磁場を検
知している。磁気センサの中心に対して対称的に設置さ
れた検知部の出力14,15は、磁気標識体１の位置に対し
て第４図（ａ）のような特性を示す。また、磁気標識体
の存在しないときの検知部出力（ベースレベル）を左・
右検知部の基準電圧レベル16（V0）とし、V0の値はメモ
リに記憶しておく。そして、例えば第４図（ａ）におい
て、中心位置に対し右側の位置Ａに磁気標識体１がある
場合、（VL−V0），（VR−V0）を左・右検知部出力とし
て得る。これらの値の差をとり、それを磁気センサ出力
とすると、磁気標識体１の位置に対して第５図（ａ）の
ような特性を示す。そして、第５図（ａ）において、−
Ｘ〜＋Ｘ間の比例領域を用いて磁気標識体１の位置を検
知することができる。しかし、何らかの外的要因によっ
てベースレベルが第４図（ｂ）のように変動した場合、
磁気センサ差動出力は第５図（ｂ）のように原点からず
れた特性を示す。このような場合、搬送車は磁気標識体
からΔＸだけ左にずれた位置を磁気標識体の中心とみな
してしまう。ΔＸが微妙な場合には制御動作に問題はな
いが、ΔＸが大きくなると脱輪しやすくなったり、制御
不可能になってしまう。FIG. 6 shows the basic configuration of the magnetic sensor. As shown in FIG. 6, an alternating magnetic field is applied to the magnetic marker 1 by the excitation coil 7, and the magnetic field is detected by the left and right detection coils 8a and 8b. Outputs 14 and 15 of the detection units symmetrically provided with respect to the center of the magnetic sensor exhibit characteristics as shown in FIG. Also, the output (base level) of the detector when no magnetic marker is present
The reference voltage level of the right detection unit is 16 (V 0 ), and the value of V 0 is stored in the memory. Then, for example, FIG. 4 (a), the case where with respect to the center position a magnetic labels 1 on the right side of the position A, (V L -V 0) , (V R -V 0) to the left and right detection unit outputs Get as. If the difference between these values is taken as the output of the magnetic sensor, the position of the magnetic marker 1 exhibits a characteristic as shown in FIG. 5 (a). Then, in FIG.
The position of the magnetic marker 1 can be detected using the proportional area between X and + X. However, if the base level fluctuates as shown in FIG. 4 (b) due to some external factors,
The magnetic sensor differential output shows characteristics deviated from the origin as shown in FIG. 5 (b). In such a case, the carrier regards a position shifted left by ΔX from the magnetic marker as the center of the magnetic marker. When ΔX is delicate, there is no problem in the control operation. However, when ΔX is large, the wheel is easily derailed or control becomes impossible.
第３図において、走行開始前に各検知部出力電圧のベ
ースレベルを測定し、左・右検知部の基準電圧レベル1
2,13をそれぞれVL0,VR0に設定し、メモリに記憶してお
く。Ａ位置に磁気標識体があるとき、左・右検知部出力
として（VL−L0），（VR−VR0）を得て、これらの差動
をとれば、第５図（ａ）と同じ特性が得られる。しか
し、この方法では走行中にベースレベルが変動した場合
に対処できない。そこで、本発明は第１図のように磁気
標識体1a,1b,1cを断続的に敷設し、ある区間のみ磁気標
識体の存在しない領域2a,2bを設ける。磁気標識体が存
在しない領域2a,2b上を磁気センサが通過すると、左・
右検知部出力は急激に減少し、ベースレベルになる。そ
れ故、この領域上を磁気センサが通過する度毎に各検知
部出力のベースレベルを測定し、基準電圧レベルを修正
すれば、安定した磁気センサ出力特性が得られる。In FIG. 3, the base level of each detector output voltage was measured before the start of traveling, and the reference voltage level 1 of the left and right detectors
2, 13 are respectively set to V L0 and V R0 and stored in the memory. When a magnetic-labeled body in the A position, the left and right detection unit output (V L - L0), and to obtain (V R -V R0), Taking these differential, FIG. 5 (a) The same properties are obtained. However, this method cannot cope with a change in the base level during traveling. Therefore, in the present invention, the magnetic markers 1a, 1b, and 1c are intermittently laid as shown in FIG. 1, and regions 2a and 2b where no magnetic markers exist are provided only in certain sections. When the magnetic sensor passes over the areas 2a and 2b where no magnetic marker exists, the left
The output of the right detection unit decreases rapidly and reaches the base level. Therefore, a stable magnetic sensor output characteristic can be obtained by measuring the base level of the output of each detection unit every time the magnetic sensor passes over this area and correcting the reference voltage level.
また、ある適当な時間範囲Δｔを設け、Δｔ以上経過
しても検知部出力がベースレベルから変化しない場合
に、脱輪と判断することができる。In addition, if a certain appropriate time range Δt is provided, and if the output of the detection unit does not change from the base level even after the elapse of Δt or more, it is possible to determine that the wheel has been removed.
以下に、本発明による搬送車の誘導方法の実施例を示
す。Hereinafter, an embodiment of the method for guiding a carrier according to the present invention will be described.
第１図は、本発明になる磁気標識体の敷設方法を示す
図である。FIG. 1 is a diagram showing a method of laying a magnetic marker according to the present invention.
図において、本発明は、搬送車４の進行路上に断続的
に磁気標識体1a,1b,1cを敷設し、磁気標識体の存在しな
い領域2a,2bをある一定間隔Ｘごとに設けている。In the figure, according to the present invention, magnetic markers 1a, 1b, and 1c are intermittently laid on the traveling path of a transport vehicle 4, and regions 2a and 2b where no magnetic markers exist are provided at regular intervals X.
第２図は、本発明になる搬送体の誘導方法を実施する
装置を示すブロック図である。FIG. 2 is a block diagram showing an apparatus for implementing the method of guiding a carrier according to the present invention.
図において、発振器５で発生させた交流信号をパワー
アンプ６で増幅し、励磁コイル７に交流信号として流し
交流磁場を発生させ、これを磁気標識体1a,1b,1cに印加
する。左右の検知コイル8a,8bに生ずる検知部電圧は、
各受信アンプ9a,9bにより適当なレベルまで増幅する。
磁気センサ３の中心に対して左・右対称に設置された検
知部（8a,8b）の出力は、磁気標識体の水平方向の位置
に対して、第３図のような特性を示すので、走行開始前
に左・右検知部出力の基準電圧レベル12,13を各ベース
レベルに設定し、それぞれVL0,VR0とする。そして、こ
れらの値をメモリ10に記憶しておく。例えば、第３図中
のＡ位置に磁気標識体がある場合、左・右検知部出力と
して（VL−VL0），（VR−VR0）を得て、これらの差ある
いは比を信号処理回路11において演算し、磁気標識体の
位置を検知する。磁気センサが、磁気標識体の存在しな
い領域上を通過すると、各検知部出力は急激に減少しベ
ースレベルになるので、このときに各検知部の基準電圧
レベルを調整し直し、メモリ10にその値を格納する。そ
して、新たに設定し直した基準電圧レベルを用いて信号
処理回路11で演算を行い、磁気標識体の位置を検知す
る。ただし、各検知部出力がある時間範囲Δｔ以上変動
しない場合には、脱輪と判断し、脱輪信号を制御系に送
る。In the figure, an AC signal generated by an oscillator 5 is amplified by a power amplifier 6 and passed as an AC signal to an exciting coil 7 to generate an AC magnetic field, which is applied to the magnetic markers 1a, 1b, 1c. The detector voltage generated in the left and right detection coils 8a and 8b is
Each receiving amplifier 9a, 9b amplifies to an appropriate level.
Since the outputs of the detectors (8a, 8b) installed symmetrically to the left and right with respect to the center of the magnetic sensor 3 show characteristics as shown in FIG. 3 with respect to the horizontal position of the magnetic marker, Before the start of traveling, the reference voltage levels 12 and 13 of the outputs of the left and right detection units are set to the respective base levels, and are set to V L0 and V R0 , respectively. Then, these values are stored in the memory 10. For example, if the A position in FIG. 3 there is a magnetic label, (V L -V L0) as the left and right detection unit outputs, (V R -V R0) was obtained, and the signal of these differences or the ratio The calculation is performed in the processing circuit 11, and the position of the magnetic marker is detected. When the magnetic sensor passes over the area where the magnetic marker does not exist, the output of each detection unit rapidly decreases and becomes the base level.At this time, the reference voltage level of each detection unit is readjusted and the memory 10 Stores a value. The signal processing circuit 11 performs an operation using the newly set reference voltage level to detect the position of the magnetic marker. However, if the output of each detection unit does not fluctuate for a certain time range Δt or more, it is determined that the vehicle is out of wheel, and a wheel removal signal is sent to the control system.
以上説明したように本発明によれば、磁気センサの検
知部出力におけるベースレベルが変動しても、安定した
磁気センサ出力が得られ、磁気標識体の位置が正確に検
知できるので、搬送車の誘導において信頼性が向上す
る。また、磁気標識体の存在しない領域をカウントする
ことによって、搬送車の絶対位置を知ることができる。As described above, according to the present invention, even if the base level in the output of the detection unit of the magnetic sensor fluctuates, a stable magnetic sensor output can be obtained, and the position of the magnetic marker can be accurately detected. Improves reliability in guidance. Also, by counting the area where the magnetic marker does not exist, the absolute position of the carrier can be known.
第１図は本発明に係る搬送車の誘導方法における磁気標
識体の敷設状態を示す構成図、第２図は本発明に係る磁
気標識体の誘導方法を実施する装置を示すブロック図、
第３図，第４図（ａ），（ｂ）は本発明の原理を示す図
であり、第４図（ａ）は左・右検知部のベースレベルが
等しいときの検知部出力特性図、第４図（ｂ）はベース
レベルがずれたときの検知部出力特性を示す図、第５図
（ａ），（ｂ）は磁気センサ出力特性を示す図であり、
第５図（ａ）は理想的な磁気センサ出力特性を示す図、
第５図（ｂ）はベースレベルが変動したときの磁気セン
サ出力を示す図、第６図は磁気センサの基本構成を示す
図である。 1a,1b,1c……磁気標識体 2a,2b……磁気標識体の存在しない領域 ３……磁気センサ、４……搬送車 ５……発振器、６……パワーアンプ ７……励磁コイル、8a,8b……検知コイル 9a,9b……受信アンプ、10……メモリ 11……信号処理回路 12……左側検知部の基準電圧レベル 13……右側検知部の基準電圧レベル 14……左側検知部出力、15……右側検知部出力 16……左・右検知部の基準電圧レベルFIG. 1 is a block diagram showing a state of laying magnetic markers in a method for guiding a carrier according to the present invention, FIG. 2 is a block diagram showing an apparatus for implementing a method for guiding magnetic markers according to the present invention,
FIGS. 3, 4 (a) and 4 (b) are diagrams showing the principle of the present invention, and FIG. 4 (a) is a detector output characteristic diagram when the base levels of the left and right detectors are equal. FIG. 4 (b) is a diagram showing the output characteristics of the detector when the base level is shifted, and FIGS. 5 (a) and 5 (b) are diagrams showing the output characteristics of the magnetic sensor.
FIG. 5 (a) is a diagram showing ideal magnetic sensor output characteristics,
FIG. 5B is a diagram showing the output of the magnetic sensor when the base level fluctuates, and FIG. 6 is a diagram showing the basic configuration of the magnetic sensor. 1a, 1b, 1c: magnetic marker 2a, 2b: area where no magnetic marker is present 3: magnetic sensor 4, carrier 5: oscillator 6, power amplifier 7: exciting coil, 8a , 8b Detector coils 9a, 9b Receive amplifier, 10 Memory 11 Signal processing circuit 12 Reference voltage level of left detector 13 Reference voltage level of right detector 14 Left detector Output, 15: Output of right detector 16: Reference voltage level of left and right detector
Claims (1)
を搬送車上の磁気センサで検知することにより、該搬送
車の誘導を行う方法であって、 前記磁気標識体は、搬送車の走行路上に断続的に敷設
し、該磁気標識体相互間の区間に、磁気標識体の存在し
ない領域を設けており、 前記磁気標識体の存在しない領域上を搬送車が通過する
度毎に、前記磁気センサの基準電圧レベルの調整を行い
つつ、搬送車を誘導することを特徴とする搬送車の誘導
方法。1. A method for guiding a transport vehicle by detecting a magnetic marker disposed on a traveling path of the transport vehicle with a magnetic sensor on the transport vehicle, wherein the magnetic marker includes a carrier. Is intermittently laid on the travel path of the vehicle, and an area between the magnetic markers is provided with an area where the magnetic marker does not exist, and each time a carrier passes over the area where the magnetic marker does not exist. And guiding the carrier while adjusting the reference voltage level of the magnetic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2142178A JP2910167B2 (en) | 1990-05-31 | 1990-05-31 | Guide method of carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2142178A JP2910167B2 (en) | 1990-05-31 | 1990-05-31 | Guide method of carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0434605A JPH0434605A (en) | 1992-02-05 |
| JP2910167B2 true JP2910167B2 (en) | 1999-06-23 |
Family
ID=15309185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2142178A Expired - Lifetime JP2910167B2 (en) | 1990-05-31 | 1990-05-31 | Guide method of carrier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2910167B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019133240A (en) * | 2018-01-29 | 2019-08-08 | 国立大学法人九州工業大学 | Mobile body system and self-propelled device and positioning method of self-propelled device |
-
1990
- 1990-05-31 JP JP2142178A patent/JP2910167B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0434605A (en) | 1992-02-05 |
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