JP2000003218A - System for detecting position of agv - Google Patents
System for detecting position of agvInfo
- Publication number
- JP2000003218A JP2000003218A JP10163909A JP16390998A JP2000003218A JP 2000003218 A JP2000003218 A JP 2000003218A JP 10163909 A JP10163909 A JP 10163909A JP 16390998 A JP16390998 A JP 16390998A JP 2000003218 A JP2000003218 A JP 2000003218A
- Authority
- JP
- Japan
- Prior art keywords
- agv
- floor
- magnetic
- magnetic tapes
- detecting
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000007257 malfunction Effects 0.000 description 2
- 101150034533 ATIC gene Proteins 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、ＡＧＶ（ Autom
atic Guided Vehicle 、無人搬送車）の現在位置を検出
する位置検出方式に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a position detection method for detecting a current position of an atic guided vehicle (automated guided vehicle).
【０００２】[0002]
【従来の技術】周知のようにＡＧＶは予め決められたル
ートを制御信号によって自動走行するために、常に現在
位置を検知して制御に反映させる必要がある。従来、Ａ
ＧＶの現在位置の検出方式として電磁誘導を用いた周波
数信号の組み合わせによる絶対値コード方式がある。こ
の方式は図３に示すように、床２２に掘られた誘導線埋
設溝２３に複数の誘導線２４〜２６を埋設しておき、こ
の複数の誘導線に流れる周波数の異なる誘導線信号の組
み合わせ信号により絶対値データを生成し、信号処理部
２７においてデータを処理することにより、ＡＧＶの現
在位置を検出するものである。2. Description of the Related Art As is well known, an AGV must always detect a current position and reflect it in control in order to automatically travel a predetermined route according to a control signal. Conventionally, A
As a method for detecting the current position of the GV, there is an absolute value code method based on a combination of frequency signals using electromagnetic induction. In this method, as shown in FIG. 3, a plurality of guide wires 24 to 26 are buried in a guide wire buried groove 23 dug in a floor 22, and a combination of guide wire signals having different frequencies flowing through the plurality of guide wires is provided. The current value of the AGV is detected by generating absolute value data from a signal and processing the data in the signal processing unit 27.
【０００３】床に埋設された３本の誘導線２４（周波数
Ａ）、２５（周波数Ｂ）および２６（周波数Ｃ）の周波
数の異なる信号の合成信号をピックアップコイル２１に
よって検出し、信号処理部２７によって周波数Ａ、Ｂお
よびＣを信号として分別し、この検出信号を組み合わせ
て絶対値信号として取りだし、ＡＧＶの走行制御等を行
う。The pickup coil 21 detects a composite signal of three induction wires 24 (frequency A), 25 (frequency B) and 26 (frequency C) having different frequencies buried in the floor, and a signal processing unit 27. The frequency A, B, and C are separated as signals, and the detected signals are combined and taken out as an absolute value signal to perform AGV running control and the like.
【０００４】[0004]
【発明が解決しようとする課題】ところが上述の方法に
は周波数を分別するためにフィルタが必要であり、使用
できる周波数が限定されてしまい、数多くの周波数を用
いると混信によって誤動作をする虞があった。また、床
に電線を埋設するため、床の変形等に伴って誘導線が断
線する可能性があり、施工が大がかりでレイアウトを簡
単に移動したり変更するとができないという問題点もあ
り、解決策が課題となっていた。However, the above-described method requires a filter for frequency separation, and the usable frequencies are limited. If a large number of frequencies are used, a malfunction may occur due to interference. Was. In addition, since electric wires are buried in the floor, there is a possibility that the guide wire may be broken due to deformation of the floor, etc. Was an issue.
【０００５】本発明はこのような背景の下になされたも
ので、例えば磁気テープのように移設が簡単なＡＧＶの
ガイドマークにより、レイアウトの変更等にフレキシブ
ルに対応することができるＡＧＶの位置検出方式を提供
することを目的とする。The present invention has been made under such a background. For example, an AGV guide mark that can be easily relocated, such as a magnetic tape, is used to detect the position of an AGV that can flexibly respond to changes in layout and the like. The aim is to provide a scheme.
【０００６】[0006]
【課題を解決するための手段】請求項１に記載の発明
は、ＡＧＶ（無人搬送車）の位置検出方式であって、床
に設けられた複数の磁気テープと、前記ＡＧＶに設けら
れ前記複数の磁気テープの磁気信号を検出する複数の磁
気検出センサと、前記ＡＧＶに設けられ前記複数の磁気
検出センサの検出信号を解析して前記ＡＧＶの現在位置
を算出する制御装置とを具備してなるＡＧＶの位置検出
方式を提供する。According to a first aspect of the present invention, there is provided an automatic guided vehicle (AGV) position detecting system, wherein a plurality of magnetic tapes provided on a floor and a plurality of magnetic tapes provided on the AGV are provided. A plurality of magnetic detection sensors for detecting a magnetic signal of the magnetic tape, and a control device provided in the AGV for analyzing detection signals of the plurality of magnetic detection sensors and calculating a current position of the AGV. An AGV position detection method is provided.
【０００７】請求項２に記載の発明は、前記複数の磁気
テープが前記床に貼付されたことを特徴とする請求項１
に記載のＡＧＶの位置検出方式を提供する。According to a second aspect of the present invention, the plurality of magnetic tapes are attached to the floor.
And a position detection method of the AGV described in (1).
【０００８】また請求項３に記載の発明は、前記複数の
磁気テープが前記床に埋設されたことを特徴とする請求
項１に記載のＡＧＶの位置検出方式を提供する。According to a third aspect of the present invention, there is provided the AGV position detecting system according to the first aspect, wherein the plurality of magnetic tapes are embedded in the floor.
【０００９】[0009]
【発明の実施の形態】以下、この発明の一実施形態につ
いて図を参照しながら説明する。図１はこの発明の一実
施形態によるＡＧＶの位置検出方式の構成を示すブロッ
ク図である。この図において、符号１はＡＧＶ本体（位
置検出機構のみを記載してある）であり、床２に貼付さ
れた複数の磁気テープ３をこの磁気テープ３に近接して
設けられた前記ＡＧＶ１の磁気検出センサ４によって検
出し、前記ＡＧＶ１の制御装置５において信号処理を行
うようになっている。DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an AGV position detection system according to an embodiment of the present invention. In this figure, reference numeral 1 denotes an AGV main body (only a position detecting mechanism is described), and a plurality of magnetic tapes 3 attached to a floor 2 are magnetically provided by the AGV 1 provided close to the magnetic tapes 3. The signal is detected by the detection sensor 4 and signal processing is performed in the control device 5 of the AGV 1.
【００１０】前記床２に貼付された前記複数の磁気テー
プ３はＳ極に磁化されたもの、Ｎ極に磁化されたものお
よび磁化されていないものの３種類があり、それぞれ複
数の磁気センサ４によって磁化状態を信号として検知す
る。複数の磁気検出センサ４から検出された磁気信号は
ＡＧＶ１の複数の磁気センサ４によって検出され、前記
ＡＧＶ１の制御装置５によって組み合わされ、コード化
されて絶対値データとして扱われ、前記ＡＧＶの現在位
置を算出する。The plurality of magnetic tapes 3 affixed to the floor 2 are of three types: those magnetized to the S pole, those magnetized to the N pole, and those not magnetized. The magnetization state is detected as a signal. The magnetic signals detected by the plurality of magnetic detection sensors 4 are detected by the plurality of magnetic sensors 4 of the AGV 1, combined by the controller 5 of the AGV 1, coded and treated as absolute value data, and the current position of the AGV 1 Is calculated.
【００１１】前記制御装置が持っている走行スケジュー
ルデータと、前記算出された現在位置データの誤差に基
づいて走行データを修正して走行することにより所定の
走行経路から逸脱することなく走行することができる。
また、位置認識がない状態でＡＧＶが走行を開始したと
き、床からの絶対値データを検出することによって、現
在位置を認識して自動的に走行することができる。前記
複数の磁気テープ３と前記複数の磁気センサ４はその構
成数を増やすことによって得られる絶対値データを増や
すことができ、詳細な位置データを得ることができる。The vehicle travels without deviating from a predetermined travel route by correcting travel data based on an error between the travel schedule data held by the control device and the calculated current position data. it can.
Further, when the AGV starts running without any position recognition, by detecting the absolute value data from the floor, the current position can be recognized and the vehicle can run automatically. The absolute value data obtained by increasing the number of the plurality of magnetic tapes 3 and the plurality of magnetic sensors 4 can be increased, and detailed position data can be obtained.
【００１２】床２に貼付された磁気テープ３を貼り替え
ることによって簡単に位置データのコードの変更や走行
ルートの変更を行うことができる。また、磁気テープ３
を厚くすることによって得られる磁気信号を強くし、こ
の磁気テープ３と磁気センサ４との距離を大きくとるこ
とができる。By changing the magnetic tape 3 attached to the floor 2, it is possible to easily change the code of the position data or change the traveling route. The magnetic tape 3
The magnetic signal obtained by increasing the thickness of the magnetic tape 3 can be increased, and the distance between the magnetic tape 3 and the magnetic sensor 4 can be increased.
【００１３】次に、この発明の他の実施形態について図
２を参照して説明する。この図が図１と異なる点は、図
１の磁気テープ３が床２に貼付されていたのに対し、こ
の実施形態では磁気テープ６が床２に埋設されているこ
とであり、その他の構成は図１と同じである。この実施
形態では磁気テープ６が床２に埋設されているので、機
構的に丈夫になり、前記磁気テープが損傷を受けにくい
という利点が生ずる。Next, another embodiment of the present invention will be described with reference to FIG. This figure differs from FIG. 1 in that the magnetic tape 3 of FIG. 1 is affixed to the floor 2, whereas in this embodiment, the magnetic tape 6 is embedded in the floor 2. Is the same as FIG. In this embodiment, since the magnetic tape 6 is embedded in the floor 2, there is an advantage that the magnetic tape 6 is mechanically strong and the magnetic tape is hardly damaged.
【００１４】以上、本発明の一実施形態の動作を図面を
参照して詳述してきたが、本発明はこの実施形態に限ら
れるものではなく、本発明の要旨を逸脱しない範囲の設
計変更等があっても本発明に含まれる。The operation of one embodiment of the present invention has been described in detail with reference to the drawings. However, the present invention is not limited to this embodiment, and a design change or the like may be made without departing from the gist of the present invention. The present invention is also included in the present invention.
【００１５】[0015]
【発明の効果】これまでに説明したように、この発明に
よれば、床に埋設した誘導線の代わりに磁気テープを床
に貼付して、この磁気信号を検出するようにしたので、
移設が簡単で誤動作が少なく、磁気テープの構成数を増
やすことによって詳細な位置データを得ることができる
という効果が得られる。As described above, according to the present invention, a magnetic tape is attached to the floor instead of the guide wire buried in the floor to detect the magnetic signal.
It is possible to obtain the effect that the relocation is simple, the malfunction is small, and the detailed position data can be obtained by increasing the number of the magnetic tapes.
【図１】 本発明の一実施形態によるＡＧＶの位置検出
方式の構成を示す図である。FIG. 1 is a diagram showing a configuration of an AGV position detection method according to an embodiment of the present invention.
【図２】 本発明の他の実施形態によるＡＧＶの位置検
出方式の構成を示す図である。FIG. 2 is a diagram showing a configuration of an AGV position detection method according to another embodiment of the present invention.
【図３】 従来の技術によるＡＧＶの位置検出方式の構
成を示す図である。FIG. 3 is a diagram showing a configuration of an AGV position detection method according to a conventional technique.
１ ＡＧＶ ２ 床 ３、６ 磁気テープ ４ 磁気検出センサ ５ 制御装置 ２１ ピックアップコイル ２２ 床 ２３ 誘導線埋設溝 ２４ 誘導線（周波数Ａ） ２５ 誘導線（周波数Ｂ） ２６ 誘導線（周波数Ｃ） ２７ 信号処理部 DESCRIPTION OF SYMBOLS 1 AGV 2 Floor 3, 6 Magnetic tape 4 Magnetic detection sensor 5 Control device 21 Pickup coil 22 Floor 23 Guide wire burying groove 24 Guide wire (frequency A) 25 Guide wire (frequency B) 26 Guide wire (frequency C) 27 Signal processing Department
Claims (3)
あって、 床に設けられた複数の磁気テープと、 前記ＡＧＶに設けられ前記複数の磁気テープの磁気信号
を検出する複数の磁気検出センサと、 前記ＡＧＶに設けられ前記複数の磁気検出センサの検出
信号を解析して前記ＡＧＶの現在位置を算出する制御装
置とを具備してなるＡＧＶの位置検出方式。1. An AGV (automated guided vehicle) position detection system, comprising: a plurality of magnetic tapes provided on a floor; and a plurality of magnetic detection devices provided on the AGV for detecting magnetic signals of the plurality of magnetic tapes. An AGV position detection system, comprising: a sensor; and a control device provided in the AGV to analyze detection signals of the plurality of magnetic detection sensors and calculate a current position of the AGV.
れたことを特徴とする請求項１に記載のＡＧＶの位置検
出方式。2. The AGV position detecting method according to claim 1, wherein the plurality of magnetic tapes are attached to the floor.
れたことを特徴とする請求項１に記載のＡＧＶの位置検
出方式。3. The AGV position detecting method according to claim 1, wherein the plurality of magnetic tapes are embedded in the floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10163909A JP2000003218A (en) | 1998-06-11 | 1998-06-11 | System for detecting position of agv |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10163909A JP2000003218A (en) | 1998-06-11 | 1998-06-11 | System for detecting position of agv |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2000003218A true JP2000003218A (en) | 2000-01-07 |
Family
ID=15783138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10163909A Pending JP2000003218A (en) | 1998-06-11 | 1998-06-11 | System for detecting position of agv |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000003218A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102508458A (en) * | 2011-11-07 | 2012-06-20 | 苏州艾隆科技有限公司 | Automatic guided vehicle (AGV) magnetic stripe algorithm for pharmacy |
| JP2012515904A (en) * | 2009-01-20 | 2012-07-12 | ロボティクス テクノロジー リーダーズ ゲーエムベーハー | Localization system that detects the position of movable devices along the floor |
| KR101340503B1 (en) * | 2012-06-29 | 2013-12-12 | 부산대학교 산학협력단 | Unipolar magnetic guidance unit and method for guiding agv |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06187032A (en) * | 1992-12-16 | 1994-07-08 | Yaskawa Electric Corp | Marker for mobile robot and information detector and traveling controller |
| JPH1011135A (en) * | 1996-06-27 | 1998-01-16 | Ohbayashi Corp | Mark recognizing horizontal conveyance system |
| JPH10154295A (en) * | 1996-09-30 | 1998-06-09 | Sumitomo Electric Ind Ltd | System for detecting position on road, and on-vehicle device |
-
1998
- 1998-06-11 JP JP10163909A patent/JP2000003218A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06187032A (en) * | 1992-12-16 | 1994-07-08 | Yaskawa Electric Corp | Marker for mobile robot and information detector and traveling controller |
| JPH1011135A (en) * | 1996-06-27 | 1998-01-16 | Ohbayashi Corp | Mark recognizing horizontal conveyance system |
| JPH10154295A (en) * | 1996-09-30 | 1998-06-09 | Sumitomo Electric Ind Ltd | System for detecting position on road, and on-vehicle device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012515904A (en) * | 2009-01-20 | 2012-07-12 | ロボティクス テクノロジー リーダーズ ゲーエムベーハー | Localization system that detects the position of movable devices along the floor |
| CN102508458A (en) * | 2011-11-07 | 2012-06-20 | 苏州艾隆科技有限公司 | Automatic guided vehicle (AGV) magnetic stripe algorithm for pharmacy |
| KR101340503B1 (en) * | 2012-06-29 | 2013-12-12 | 부산대학교 산학협력단 | Unipolar magnetic guidance unit and method for guiding agv |
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