EP1187252A2 - Antenna for a driverless transport system - Google Patents

Antenna for a driverless transport system Download PDF

Info

Publication number
EP1187252A2
EP1187252A2 EP01121466A EP01121466A EP1187252A2 EP 1187252 A2 EP1187252 A2 EP 1187252A2 EP 01121466 A EP01121466 A EP 01121466A EP 01121466 A EP01121466 A EP 01121466A EP 1187252 A2 EP1187252 A2 EP 1187252A2
Authority
EP
European Patent Office
Prior art keywords
driverless transport
steering
antenna
coils
vertical
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.)
Withdrawn
Application number
EP01121466A
Other languages
German (de)
French (fr)
Other versions
EP1187252A3 (en
Inventor
Herbert Haussmann
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.)
Indumat & Co KG Transport- und Lagersysteme GmbH
Indumat GmbH and Co KG
Original Assignee
Indumat & Co KG Transport- und Lagersysteme GmbH
Indumat GmbH and Co KG
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 Indumat & Co KG Transport- und Lagersysteme GmbH, Indumat GmbH and Co KG filed Critical Indumat & Co KG Transport- und Lagersysteme GmbH
Publication of EP1187252A2 publication Critical patent/EP1187252A2/en
Publication of EP1187252A3 publication Critical patent/EP1187252A3/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q7/00—Loop antennas with a substantially uniform current distribution around the loop and having a directional radiation pattern in a plane perpendicular to the plane of the loop
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3225—Cooperation with the rails or the road
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/29—Combinations of different interacting antenna units for giving a desired directional characteristic

Definitions

  • the invention relates to a steering antenna for a driverless transport system with a driverless transport vehicle and a contactless energy supply system the induction principle, which laid one in a lane, from two parallel ones Line sections of a ground loop formed primary conductor and one in the driverless Transport vehicle arranged power consumption module.
  • a driverless transport system in which the Energy for the vehicle is also transmitted inductively. Furthermore describes this reference a guidance system with a steering antenna, which in Essentially contains two coils, one of which is the horizontal magnetic field and the other measures the vertical magnetic field.
  • the antenna becomes relatively wide.
  • the horizontally arranged coils must be designed to be relatively large in order to generate a usable working signal. Thereby the steering antenna becomes relatively unwieldy. It was also found that the Scanning the horizontal field strength leads to ambiguities.
  • the object of the invention is therefore to provide a steering antenna of the type described above to improve in that it builds smaller and that its output signals are clear.
  • the steering antenna two vertical steering coils and one in between likewise includes vertical detector coil for the center of the track, the distance between the two steering coils is smaller than the distance between the line sections.
  • the vertical coils can be arranged so close to the central coil that the entire Steering antenna is only about as wide or even narrower than the width of the installed Ground loop (typical distances between the conductors 80 or 100 mm). The This makes the antenna very small and it can, if in one embodiment with the steering wheels is pivoted, pivoted over a further area become.
  • the figure shows a vehicle with energy coupling in the upper part Cross-section and in their lower part the rectified vertical and the horizontal field strength components of that generated by the current in the primary conductor Magnetic field.
  • the steering antenna 1 is arranged between the wheels. It contains the two Steering coils 6 arranged laterally and in the middle the detector coil 8. Instead of Coils can of course also use other magnetic field sensors become.
  • the entire steering antenna has approximately the width of the distance Primary conductors 4 buried in the ground. The parts on the vehicle Absorption of the energy from the primary conductor 4 are not shown in this figure but clearly in the prior art (DE 198 16 762 A1 or DE 100 44 195) described.
  • an evaluation circuit 10 is arranged which the Measurement signals from the coils 6 and 8 used to steer the vehicle 2.
  • the signals of the coils 6, 8 are rectified in the evaluation circuit 10 (Rectifier G) and then the difference (differential circuit D) of the two signals as Steering signal taken.
  • the level of the signal of the coil 8 is used as an absolute value for the Detection of a pair of conductors 4 taken.
  • the course of the vertical magnetic field strength V is in the middle part of the figure or flux density - already rectified - depending on the distance y from the Center line drawn. This curve is roughly a bell curve, with between the Primary conductors 4, the maximum field strength is present. Since all three coils according to the invention 6, 8 are arranged vertically, they measure exactly these vertical parts of the magnetic field.
  • the coil 8 is mainly used for field detection and gives if the vehicle 2 comes into the area of the primary conductors 4 from the outside, a signal, if a preset absolute level value is exceeded.
  • the field strengths for the two steering coils 6 are also shown here.
  • the intersection points 12 between the vertical lines that indicate the locations of the steering coils 6 when the vehicle stands exactly above the primary conductors 4, show the working points for the steering.

Abstract

A steering antenna (1) fits to a driverless transport system with a driverless transport vehicle (2) and a contactless power supply system based on the induction principle. The power supply system has a power pick-up module in the driverless transport vehicle and a primary conductor (4) installed in a roadway and formed from two parallel wire sections in a bottom loop.

Description

Die Erfindung betrifft eine Lenkantenne für ein fahrerloses Transportsystem mit einem fahrerlosen Transportfahrzeug und einem kontaktlosen Energiezuführungssystem nach dem Induktionsprinzip, das einen in einer Fahrbahn verlegten, aus zwei parallelen Leitungsabschnitten einer Bodenschleife gebildeten Primärleiter und ein im fahrerlosen Transportfahrzeug angeordnetes Stromaufnahmemodul aufweist.The invention relates to a steering antenna for a driverless transport system with a driverless transport vehicle and a contactless energy supply system the induction principle, which laid one in a lane, from two parallel ones Line sections of a ground loop formed primary conductor and one in the driverless Transport vehicle arranged power consumption module.

Ein ähnliches Transportsystem ist in Artikel "Montage auf Hochtouren" in der Zeitschrift "Totally Integrated Automation", Ausgabe 2, 2000, Seite 28 bis 29 beschrieben.A similar transport system is in the article "Montage auf Hochtouren" in the magazine "Totally Integrated Automation", Edition 2, 2000, pages 28 to 29.

Aus der DE 198 16 762 A 1 ist ein fahrerloses Transportsystem bekannt, bei dem die Energie für das Fahrzeug ebenfalls induktiv übertragen wird. Weiterhin beschreibt diese Literaturstelle ein Spurführungssystem mit einer Lenkantenne, die im Wesentlichen zwei Spulen enthält, von denen eine das horizontale magnetische Feld und die andere das vertikale magnetische Feld misst.From DE 198 16 762 A 1 a driverless transport system is known in which the Energy for the vehicle is also transmitted inductively. Furthermore describes this reference a guidance system with a steering antenna, which in Essentially contains two coils, one of which is the horizontal magnetic field and the other measures the vertical magnetic field.

Versucht man, zur Ortung zwei vertikal angeordnete Spulen zu verwenden (DE 100 44 195), so wird die Antenne relativ breit. Die horizontal angeordneten Spulen müssen relativ groß ausgelegt sein, um ein verwertbares Arbeitssignal zu erzeugen. Dadurch wird die Lenkantenne relativ unhandlich. Außerdem wurde festgestellt, dass die Abtastung der horizontalen Feldstärke zu Mehrdeutigkeiten führt.If one tries to use two vertically arranged coils for locating (DE 100 44 195), the antenna becomes relatively wide. The horizontally arranged coils must be designed to be relatively large in order to generate a usable working signal. Thereby the steering antenna becomes relatively unwieldy. It was also found that the Scanning the horizontal field strength leads to ambiguities.

Aufgabe der Erfindung ist es daher, eine Lenkantenne der vorbeschriebenen Art dahingehend zu verbessern, dass sie kleiner baut und dass ihre Ausgangssignale eindeutig sind. The object of the invention is therefore to provide a steering antenna of the type described above to improve in that it builds smaller and that its output signals are clear.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass die Lenkantenne zwei senkrecht stehende Lenkspulen und eine dazwischen angeordnete, ebenfalls senkrecht stehende Detektorspule für die Spurmitte umfasst, wobei der Abstand der beiden Lenkspulen kleiner ist als der Abstand der Leitungsabschnitte.This object is achieved in that the steering antenna two vertical steering coils and one in between, likewise includes vertical detector coil for the center of the track, the distance between the two steering coils is smaller than the distance between the line sections.

Durch die erfindungsgemäße Verwendung dreier senkrecht stehender Antennen werden nur die vertikalen Feldanteile und nicht die horizontalen erfasst. Dadurch ist eine Doppeldeutigkeit bei der Auswertung vermieden. Die vertikal stehenden Spulen können so nahe an der mittleren Spule angeordnet sein, daß die gesamte Lenkantenne nur ungefähr so breit oder sogar schmäler ist als die Breite der verlegten Bodenschleife (typische Abstände zwischen den Leitern 80 oder 100 mm). Die Antenne wird dadurch sehr klein und kann, wenn sie in einer Ausführungsform mit den lenkenden Rädern verschwenkt wird, über einen weiteren Bereich verschwenkt werden.Through the use of three vertically standing antennas according to the invention only the vertical field components and not the horizontal ones are recorded. This is Avoid ambiguity in the evaluation. The vertical coils can be arranged so close to the central coil that the entire Steering antenna is only about as wide or even narrower than the width of the installed Ground loop (typical distances between the conductors 80 or 100 mm). The This makes the antenna very small and it can, if in one embodiment with the steering wheels is pivoted, pivoted over a further area become.

Eine Ausführungsform der Erfindung wird anhand einer Figur näher erläutert.An embodiment of the invention is explained in more detail with reference to a figure.

Die Figur zeigt in ihrem oberen Teil ein Fahrzeug mit Energieeinkopplung im Querschnitt und in ihrem unteren Teil die gleichgerichteten vertikalen und die horizontalen Feldstärkekomponenten des von dem Strom im Primärleiter erzeugten Magnetfelds.The figure shows a vehicle with energy coupling in the upper part Cross-section and in their lower part the rectified vertical and the horizontal field strength components of that generated by the current in the primary conductor Magnetic field.

Die Figur zeigt oben schematisch das fahrerlose Transportfahrzeug 2 im Querschnitt. Zwischen den Rädern ist die Lenkantenne 1 angeordnet. Sie enthält die beiden Lenkspulen 6 seitlich angeordnet und in der Mitte die Detektorspule 8. Anstelle von Spulen können selbstverständlich auch andere Magnetfeldsensoren verwendet werden. Die gesamte Lenkantenne hat in etwa die Breite des Abstandes der Primärleiter 4, die im Boden vergraben sind. Die fahrzeugseitigen Teile zum Aufnehmen der Energie aus dem Primärleiter 4 sind in dieser Figur nicht gezeigt, sind aber im Stand der Technik (DE 198 16 762 A1 oder DE 100 44 195) deutlich beschrieben. Im Fahrzeug 2 ist eine Auswerteschaltung 10 angeordnet, die die Messsignale der Spulen 6 und 8 zum Lenken des Fahrzeugs 2 verwendet.The figure schematically shows the driverless transport vehicle 2 in cross section at the top. The steering antenna 1 is arranged between the wheels. It contains the two Steering coils 6 arranged laterally and in the middle the detector coil 8. Instead of Coils can of course also use other magnetic field sensors become. The entire steering antenna has approximately the width of the distance Primary conductors 4 buried in the ground. The parts on the vehicle Absorption of the energy from the primary conductor 4 are not shown in this figure but clearly in the prior art (DE 198 16 762 A1 or DE 100 44 195) described. In the vehicle 2, an evaluation circuit 10 is arranged which the Measurement signals from the coils 6 and 8 used to steer the vehicle 2.

In der Auswerteschaltung 10 werden die Signale der Spulen 6, 8 gleichgerichtet (Gleichrichter G) und dann die Differenz (Differenzschaltung D) der beiden Signale als Lenksignal genommen. Die Höhe des Signals der Spule 8 wird als Absolutwert für die Detektion eines Leiterpaares 4 genommen.The signals of the coils 6, 8 are rectified in the evaluation circuit 10 (Rectifier G) and then the difference (differential circuit D) of the two signals as Steering signal taken. The level of the signal of the coil 8 is used as an absolute value for the Detection of a pair of conductors 4 taken.

Im mittleren Teil der Figur ist der Verlauf der vertikalen magnetischen Feldstärke V oder Flussdichte - bereits gleichgerichtet - in Abhängigkeit vom Abstand y von der Mittellinie gezeichnet. Diese Kurve ist in etwa eine Glockenkurve, wobei zwischen den Primärleitern 4 die maximale Feldstärke vorliegt. Da erfindungsgemäß alle drei Spulen 6, 8 senkrecht angeordnet sind, messen sie genau diese vertikalen Anteile des magnetischen Feldes. Die Spule 8 dient hauptsächlich der Felderkennung und gibt, wenn das Fahrzeug 2 von außen in den Bereich der Primärleiter 4 kommt, ein Signal, wenn ein voreingestellter absoluter Pegelwert überschritten wird. Die Feldstärken für die beiden Lenkspulen 6 sind hier ebenfalls gezeigt. Die Schnittpunkte 12 zwischen den senkrechten Linien, die die Orte der Lenkspulen 6 angeben, wenn das Fahrzeug exakt über den Primärleitern 4 steht, zeigen die Arbeitspunkte für die Lenkung.The course of the vertical magnetic field strength V is in the middle part of the figure or flux density - already rectified - depending on the distance y from the Center line drawn. This curve is roughly a bell curve, with between the Primary conductors 4, the maximum field strength is present. Since all three coils according to the invention 6, 8 are arranged vertically, they measure exactly these vertical parts of the magnetic field. The coil 8 is mainly used for field detection and gives if the vehicle 2 comes into the area of the primary conductors 4 from the outside, a signal, if a preset absolute level value is exceeded. The field strengths for the two steering coils 6 are also shown here. The intersection points 12 between the vertical lines that indicate the locations of the steering coils 6 when the vehicle stands exactly above the primary conductors 4, show the working points for the steering.

Durch die Verwendung nur vertikaler Feldanteile sind Mehrdeutigkeiten vermieden, wie man an der Lage der Arbeitspunkte in der mittleren Zeichnung der Figur sieht.By using only vertical field parts, ambiguities are avoided, such as one can see the position of the working points in the middle drawing of the figure.

Im unteren Teil der Figur ist der Verlauf der horizontalen Feldstärke H gezeigt (ebenfalls wieder nach Gleichrichtung). Hier ist zu erkennen, dass Mehrdeutigkeiten auftreten, da die Auswertung nicht weiß, auf welchem der vier Arbeitspunkte 12 sich das Fahrzeug 2 grade befindet. Die horizontalen Anteile werden deshalb erfindungsgemäß nicht gemessen.The course of the horizontal field strength H is shown in the lower part of the figure (again after rectification). It can be seen here that ambiguities occur because the evaluation does not know on which of the four working points 12 the vehicle is 2 degrees. The horizontal parts are therefore not measured according to the invention.

Claims (1)

Lenkantenne (1) für ein fahrerloses Transportsystem mit einem fahrerlosen Transportfahrzeug (2) und einem kontaktlosen Energiezuführungssystem nach dem Induktionsprinzip, das einen in einer Fahrbahn verlegten, aus zwei parallelen Leitungsabschnitten einer Bodenschleife gebildeten Primärleiter (4) und ein im fahrerlosen Transportfahrzeug (2) angeordnetes Stromaufnahmemodul aufweist, dadurch gekennzeichnet, dass die Lenkantenne (1) zwei senkrecht stehende Lenkspulen (6) und eine dazwischen angeordnete, senkrecht stehende Detektorspule (8) für die Spurmitte umfasst, wobei der Abstand der beiden Lenkspulen (6) kleiner ist als der Abstand der Leitungsabschnitte (4).Steering antenna (1) for a driverless transport system with a driverless transport vehicle (2) and a contactless energy supply system based on the induction principle, which is a primary conductor (4) laid in a carriageway, formed from two parallel line sections of a ground loop, and one arranged in a driverless transport vehicle (2) Power consumption module, characterized in that the steering antenna (1) comprises two vertical steering coils (6) and a vertical detector coil (8) arranged in between for the center of the track, the distance between the two steering coils (6) being smaller than the distance between the Line sections (4).
EP01121466A 2000-09-07 2001-09-07 Antenna for a driverless transport system Withdrawn EP1187252A3 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10044195 2000-09-07
DE2000144195 DE10044195A1 (en) 2000-09-07 2000-09-07 Driverless transport system

Publications (2)

Publication Number Publication Date
EP1187252A2 true EP1187252A2 (en) 2002-03-13
EP1187252A3 EP1187252A3 (en) 2003-05-14

Family

ID=7655366

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01121466A Withdrawn EP1187252A3 (en) 2000-09-07 2001-09-07 Antenna for a driverless transport system

Country Status (2)

Country Link
EP (1) EP1187252A3 (en)
DE (1) DE10044195A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006012562A1 (en) * 2006-03-16 2007-09-27 Sew-Eurodrive Gmbh & Co. Kg Contact-less energy transmission system, has measuring unit with horizontal and vertical sensor coils for detecting lateral position change of vehicle, where distance between coils corresponds to distance of forward and return conductors

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004033548B4 (en) * 2004-07-09 2007-08-02 Eisenmann Anlagenbau Gmbh & Co. Kg Lifting station in a surface treatment plant
DE102009007954A1 (en) * 2009-02-06 2010-08-19 Sew-Eurodrive Gmbh & Co. Kg Method for controlling stroke of vehicle i.e. automated guided vehicle, involves determining stroke from position to another position of vehicle under consideration of characteristics of engine output and/or charging condition

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3669208A (en) * 1968-10-16 1972-06-13 Int Harvester Co Vehicle guidance systems
US4401181A (en) * 1981-03-12 1983-08-30 Schwarz Alfred V Road vehicle control system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3669208A (en) * 1968-10-16 1972-06-13 Int Harvester Co Vehicle guidance systems
US4401181A (en) * 1981-03-12 1983-08-30 Schwarz Alfred V Road vehicle control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006012562A1 (en) * 2006-03-16 2007-09-27 Sew-Eurodrive Gmbh & Co. Kg Contact-less energy transmission system, has measuring unit with horizontal and vertical sensor coils for detecting lateral position change of vehicle, where distance between coils corresponds to distance of forward and return conductors
DE102006012562B4 (en) 2006-03-16 2019-07-11 Sew-Eurodrive Gmbh & Co Kg System and procedure

Also Published As

Publication number Publication date
EP1187252A3 (en) 2003-05-14
DE10044195A1 (en) 2002-03-21

Similar Documents

Publication Publication Date Title
DE60214761T2 (en) Guidance system and method for driverless vehicle
DE3439238C2 (en)
DE102013001079B4 (en) Vehicle system and method for operating a multi-vehicle system
DE102005015325A1 (en) Method for locating objects enclosed in a medium, and measuring device for carrying out the method
EP0010539A1 (en) Method to measure the filling level of liquid metals in containers, especially in continuous-casting moulds
DE60130890T2 (en) Inductive sensor arrangement and method for detecting iron objects
JPS6341082B2 (en)
DE3534480A1 (en) METHOD FOR DETERMINING THE INSTALLATION LOCATION OF A MAGNETIC SENSOR IN MOTOR VEHICLES
AT397069B (en) DEVICE ON TRACKS TO GENERATE PRESENCE CRITERIA FOR RAILWAY WHEELS
DE102013226203A1 (en) Offset compensated position measuring device
EP1187252A2 (en) Antenna for a driverless transport system
DE102016105413B4 (en) SPEED MEASURING METHOD AND SPEED MEASURING ARRANGEMENT
EP3314310B1 (en) Device and method for detecting an article
DE102006012562A1 (en) Contact-less energy transmission system, has measuring unit with horizontal and vertical sensor coils for detecting lateral position change of vehicle, where distance between coils corresponds to distance of forward and return conductors
DE4409483C1 (en) Method and device for controlling contact wires (trolley wires)
EP0024307B1 (en) Device for compensating the magnetic field of disturbance of an object by means of a magnetic self-protection arrangement
DE2609532A1 (en) Automatic course control system particularly suited to ships - with course define by cable laid on seaway bed to induce coil voltages on board ship
EP0615140A2 (en) Method and apparatus for locating a line
DE2137631B2 (en) METHOD AND DEVICE FOR THE INDEPENDENT GUIDANCE OF TRACKLESS VEHICLES
DE102019124022A1 (en) Flow sensor, flow measurement arrangement and flow measurement method provided with it
DE3619009C2 (en)
DE4000018C2 (en) Rigid-bonded sensor systems of rectangular transmitter and receiver coils for conducting electromagnetic soundings over the surface of a three-dimensional body, suspension devices for such sensor systems and methods for determining the conductivity distribution inside a body
DE2946559A1 (en) Automatic path control of road vehicle - has sensors in vehicle reacting to signal in conductor set into road surface
DE2328863A1 (en) Track guidance of vehicles without rails - involves using electromagnetic field from wire in roadway scanned by two horizontal or vertical coils
DE102019211045A1 (en) Signal transmission via a contact line

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

AX Request for extension of the european patent

Extension state: AL LT LV MK RO SI

RIC1 Information provided on ipc code assigned before grant

Ipc: 7G 05D 1/02 B

Ipc: 7G 05D 1/03 B

Ipc: 7B 65G 35/00 B

Ipc: 7B 60L 5/00 B

Ipc: 7H 01Q 21/29 B

Ipc: 7H 01Q 7/00 B

Ipc: 7H 01Q 1/32 A

17P Request for examination filed

Effective date: 20031028

AKX Designation fees paid

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

17Q First examination report despatched

Effective date: 20041202

17Q First examination report despatched

Effective date: 20041202

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20070112