EP0937965B1 - Système de positionnement - Google Patents

Système de positionnement Download PDF

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Publication number
EP0937965B1
EP0937965B1 EP99102219A EP99102219A EP0937965B1 EP 0937965 B1 EP0937965 B1 EP 0937965B1 EP 99102219 A EP99102219 A EP 99102219A EP 99102219 A EP99102219 A EP 99102219A EP 0937965 B1 EP0937965 B1 EP 0937965B1
Authority
EP
European Patent Office
Prior art keywords
code
rail
positioning system
region
ups
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
Application number
EP99102219A
Other languages
German (de)
English (en)
Other versions
EP0937965A1 (fr
Inventor
Alfred Ing. Della Torre
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lenze Deto Drive Systems & Co KG GmbH
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0937965A1 publication Critical patent/EP0937965A1/fr
Application granted granted Critical
Publication of EP0937965B1 publication Critical patent/EP0937965B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer

Definitions

  • the invention relates to a positioning system for positioning at least one along a positioning unit movable unit, the Position of the unit to be positioned a code rail along the positioning path is arranged, the unit to be positioned a the code rail has reading reading device and the code rail first areas with a Has incremental code and second areas with an absolute code.
  • Such a positioning system is known for example from DE-A1-44 38 156.
  • Another positioning system is known for example from EP-A1 209 076. at this has the code rail, which is designed for example as a slotted plate, an incremental code, i.e. there are regularly spaced marks on it in the form of openings provided by means of a light barrier on both Sides of the slotted plate is arranged to be scanned.
  • Relative values can be specified as target values for the position. adversely the fact is that the absolute values of the position are not always reliably available stand. For example, in the event of malfunctions, such as a power failure, get lost.
  • the object of the invention is to provide a positioning system with which the speed and direction of movement of the movable unit can be calculated. This task is characterized by the characteristics of the Claim 1 solved. Advantageous embodiments of the invention are in the dependent claims specified.
  • a single code rail with which both Relative and absolute values of the position can be recorded also in the track holder of a track for self-driving Car units can be integrated.
  • Such busbar mounts have standardized sizes and serve to hold the conductor lines, which needed for power supply and control of the self-propelled car units become. Attaching more than a single code rail would be in one However, busbar mounting is not possible due to space constraints.
  • the units to be positioned become loads of self-propelled Carriage units 1 formed, which along a positioning path in the form of a Rail 2 are movable.
  • the self-driving wagon units a motor 30 controlled by a car controller 3.
  • the energy supply takes place via power supply lines 5 and for controlling the car control 3
  • a system control 4 provides one or more control lines 6.
  • the power supply lines 5 and the control lines 6 are as conductor lines trained and are made by sliding contacts of the self-propelled carriage unit 1 scanned.
  • Such systems for transporting loads are, for example, from Production lines known in the automotive industry, and in DE-GM 297 18 597.7 describes a control device for such a system, which a Transmission of control signals from the system controller 4 to a car controller 3 using only a single additional control line 6 allows.
  • the Bar code can be read by a reading device 8, such a reading device 8 on each of the self-propelled carriage units 1 at the level of the code rail 7 is arranged. From the data read from the code rail 7 in the Reading device 8 actual values of the position or the speed formed, which via serial interfaces in the reading device 8 and the carriage control 3 and a data line 9 to the car control 3 are transmitted. In the car control 3 are the actual values of the positions or speeds of the self-propelled Carriage units with the setpoints specified by the system control 4 compared and the deviations in the respective car control Adjustment and control processes for the drive motor triggered.
  • the running rail 2 has the shape of a double T-beam, the top of which is the tread for the wheels of the self-propelled car units forms.
  • a busbar holder 10 attached on one of the side surfaces of the running rail 2 .
  • This has latching elements 11, between which the power supply lines 5 and the control line 6 can be snapped.
  • the Locking elements 11 of the busbar holder 10 the code rail 7 can be attached.
  • the code rail has locking elements 12 which on the Rear of the carrier 13 are arranged. These locking elements 12 of the code rail 7 can be snapped into the locking elements 11 of the busbar holder 10.
  • a retroreflective sheeting 14 is glued to the front of the carrier 13. This film 14 throws light rays striking it in the manner of a cat's eye the direction they came from.
  • the film 14 is with a bar code provided, as can be seen from Fig. 3.
  • the individual code lines 15 are thereby formed by applying a black (light absorbing) color, for example by printing in a roll screen printing process.
  • the bar code of the code rail 7 has first areas 16 and second areas 17 on.
  • the code attached to the code rail is a Incremental code
  • an absolute code is attached in the second areas 17 .
  • An incremental code is characterized by uniform distances 18 between the individual Codings (here code lines 15), however, are with an absolute code different distances between the individual codes.
  • the same reference distance is also in the second areas 17 with the absolute code as the distance 18 between the code lines in the first areas 16 with uses the incremental code, with either a code line 15 or no code line 15 is present, which makes a logical 1 or a logical 0 is encoded.
  • the code lines 15th of the second area 17 binary numbers are formed which represent the absolute position of the specify the respective area 17. For example, the length of such binary number is 10 bits.
  • first areas 16 are area change markings 19 provided by code lines with a larger Width, preferably a width at least twice as large as the code lines are formed within the first and second areas.
  • the lengths 20 of the first Regions 16 are greater than the lengths 21 of the second regions 17, preferably the first regions 16 are at least twice as long as the second regions 17.
  • FIG. 5 schematically shows the front of a reading device 8 facing in the direction of the code rail.
  • This has two front sensors 22, 23 and two rear sensors 24, 25.
  • Each of these sensors 22, 23, 24, 25 is formed by an infrared transmitter 26 and an infrared receiver 27. Due to the lens optics arranged in front of the infrared transmitter 26 (not shown in FIG. 5), the incidence surface of the infrared beam on the code rail has a diameter of only about 1 mm 2 .
  • the infrared ray is reflected by the retroreflective sheeting 14, with the exception of the locations at which a code line 15 is located, onto the infrared receiver 27 and is detected by the latter.
  • the distance 28, by which the two front pickups 22, 23 are arranged offset from one another in the direction of the code rail, is approximately a quarter of the distance 18 between two code lines 15 in the first region 16.
  • the phase comparison between the pulsed signals of the infrared receiver can be used Sensor 22 and those of the infrared receiver of the sensor 23, the direction of movement can be determined.
  • the two rear sensors 22, 23 are also at the same distance 28, from whose signals the direction of movement can therefore also be determined.
  • the speed and direction of movement of the individual units can be varied as required.
  • Either the front transducers are always located 22, 23 or the rear sensors 24, 25 in a first region 16 with a Incremental code and from the speed of the sequence of code lines 15 in first area 16, the speed of the carriage unit in the reading unit 8 be calculated. This speed value can be read by the reading unit 8 Carriage control 3 and on to system control 4 are transmitted.
  • the functionality can be summarized as follows: After the Reference travel is known in which area type front and rear transducers are are located. There is always at least one of the sensor pairs (front or rear) in an incremental range, which is used to determine the speed can be used. Based on the speed and the pulse duration at A change of area marking can be recognized by crossing a code line become. If one of the sensor pairs has an area with an absolute code passes through, an absolute value of the position is determined, to which the Increments of motion are added.
  • the positioning system according to the invention can be used for a large number of positioning tasks be used.
  • positioning of loads is used in particular in determining the position in high-bay warehouses, when determining the current lifting height at lifting stations, when approaching loading and unloading stations in storage technology.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Wire Bonding (AREA)
  • Eye Examination Apparatus (AREA)
  • Die Bonding (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Control Of Position Or Direction (AREA)
  • Body Structure For Vehicles (AREA)
  • Vehicle Body Suspensions (AREA)
  • Paper (AREA)

Claims (9)

  1. Système de positionnement destiné à positionner au moins une unité (1) déplaçable le long d'une section de positionnement, dans lequel un rail codé (7) est disposé le long de la section de positionnement afin de détecter la valeur réelle de la position de l'unité (1) à positionner et l'unité (1) à positionner présente un dispositif de lecture (8) lisant le rail codé, et dans lequel le rail codé (7) présente une première zone (16) avec un code incrémentiel et une deuxième zone (17) avec un code absolu, caractérisé en ce que le dispositif de lecture (8) présente deux capteurs avant (22, 23) et deux capteurs arrière (24, 25) ayant chacun un émetteur infrarouge (26) avec une optique à lentille et ayant chacun un récepteur infrarouge (27), les capteurs avant (22, 23) présentant par rapport aux capteurs arrière (24, 25) dans l'axe longitudinal du rail codé (7) un espacement (29) qui est plus grand que la longueur (21) de la deuxième zone (17) et les deux capteurs avant (22, 23) l'un par rapport à l'autre et les deux capteurs arrière (24, 25) l'un par rapport à l'autre présentant un espacement (28) de sorte que, en cas d'un déplacement au-dessus d'un trait de code (15) de rail codé (7), ils génèrent des impulsions décalées les unes par rapport aux autres dont la comparaison de phase permet de déterminer le sens de déplacement, l'espacement (28) étant de préférence égal dans la première zone (16) à environ un quart de l'espacement entre deux traits de code.
  2. Système de positionnement selon la revendication 1, caractérisé en ce que les premières zones (16) et les deuxièmes zones (17) sont disposées en alternance.
  3. Système de positionnement selon la revendication 1 ou 2, caractérisé en ce que le rail codé (7) présente un support (13) sur lequel est disposé un film rétroréflecteur (14), de préférence collé, lequel est pourvu d'un code à barres.
  4. Système de positionnement selon la revendication 3, caractérisé en ce que le code à barres est imprimé.
  5. Système de positionnement selon les revendications 1 à 4, caractérisé en ce que le rail codé (7) présente à chaque fois un repère de changement de zone (19) entre une première zone (16) et une deuxième zone (17).
  6. Système de positionnement selon la revendication 5, caractérisé en ce que le repère de changement de zone (19) est un trait de code (15) de plus grande largeur, de préférence avec une largeur au moins deux fois plus grande que les traits de code (15) dans les premières et deuxièmes zones (16, 17).
  7. Système de positionnement selon les revendications 1 à 6, caractérisé en ce que la première zone (16) est plus longue, de préférence au moins deux fois plus longue, que la deuxième zone (17).
  8. Système de positionnement selon les revendications 1 à 7, caractérisé en ce que l'unité à positionner est un chariot automoteur (1) avec un moteur d'entraínement (4) qui peut être commandé par une commande de moteur (3), laquelle est liée à une commande de système (4) par au moins une ligne de commande (6).
  9. Système de positionnement selon la revendication 8, caractérisé en ce que le dispositif de lecture (8) est relié à la commande de moteur (3) par le biais d'une ligne de données (9).
EP99102219A 1998-02-19 1999-02-01 Système de positionnement Expired - Lifetime EP0937965B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29802933U DE29802933U1 (de) 1998-02-19 1998-02-19 Positioniersystem
DE29802933U 1998-02-19

Publications (2)

Publication Number Publication Date
EP0937965A1 EP0937965A1 (fr) 1999-08-25
EP0937965B1 true EP0937965B1 (fr) 2003-05-02

Family

ID=8052941

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99102219A Expired - Lifetime EP0937965B1 (fr) 1998-02-19 1999-02-01 Système de positionnement

Country Status (4)

Country Link
EP (1) EP0937965B1 (fr)
AT (1) ATE239208T1 (fr)
DE (2) DE29802933U1 (fr)
ES (1) ES2198796T3 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10063447A1 (de) * 2000-12-20 2002-07-04 Eisenmann Kg Maschbau Förderanlage, insbesondere Elektrohängebahn
US20050103591A1 (en) * 2001-09-11 2005-05-19 Laurent Micheau Electric supply rail with collecting carriage
TWI282047B (en) 2003-07-23 2007-06-01 Murata Machinery Ltd Carrying vehicle system and carrying vehicle
TWI290272B (en) 2004-03-12 2007-11-21 Murata Machinery Ltd Moving body system
DE102012004901A1 (de) * 2012-03-09 2013-09-12 Carl Zeiss Microscopy Gmbh Einrichtung zur Positionierung optischer Komponenten an einem Mikroskop
DE102016103721A1 (de) * 2016-03-02 2017-09-07 Jungheinrich Aktiengesellschaft Zylinder mit einem optischen Positionssensor
CN113613983B (zh) * 2019-03-20 2023-08-04 索尤若驱动有限及两合公司 具有轨道、编码系统和能沿轨道运动的移动部件的轨道系统和运行轨道系统的方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3440052A1 (de) * 1984-11-02 1986-05-07 Pees Steuer- und Regelanlagen GmbH, 4100 Duisburg Leseeinrichtung fuer vorbeibewegte, mit einem datentraeger versehene transportgueter oder -behaelter
DE3818044A1 (de) * 1988-05-27 1989-11-30 Christoph Dipl Phys Kuehne Praezisions-messeinrichtung fuer grosse verschiebungen
DE59008756D1 (de) * 1989-11-01 1995-04-27 Electromotive Systems Inc Vorrichtung und Verfahren zur Bestimmung eines oder mehrerer Betriebsdaten eines schienengebundenen Fahrzeuges.
CH683798A5 (fr) * 1990-12-10 1994-05-13 Tesa Sa Capteur de position pour un appareil de mesure de grandeurs linéaires ou angulaires.
FI91325C (fi) * 1992-04-07 1994-06-10 Partek Cargotec Oy Paikka-asteikko ja optinen lukuanturi tämän paikka-asteikon lukemiseksi
DE4436784B4 (de) * 1993-10-26 2005-08-18 Carl Zeiss Absolutes Positionsmeßsystem
EP0662603B1 (fr) * 1993-12-08 1997-03-12 Dr. Johannes Heidenhain GmbH Système de mesure de longueurs
DE29718597U1 (de) * 1997-10-20 1997-12-18 Della Torre Alfred Ing Steuereinrichtung

Also Published As

Publication number Publication date
DE59905264D1 (de) 2003-06-05
DE29802933U1 (de) 1998-04-16
EP0937965A1 (fr) 1999-08-25
ATE239208T1 (de) 2003-05-15
ES2198796T3 (es) 2004-02-01

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