JP2002333342A - Device for detecting distance traveled by movable body and its location - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a location detecting device capable of detecting an accurate traveled distance and a movement location by correcting changes in the circum ferential lengths of wheels of a movable body due to their wear etc. SOLUTION: In the case of detecting the traveled distance on the basis of the circumferential lengths and number of rotations of the right and left wheels, the location detecting device comprises a coefficient setter 101, an integrator 102, a correction coefficient setter 103, a constant setter 104, an adder 105, and a multiplier 106. Correction is performed in such a way as to reduce a coefficient, according to the traveled distance, when a signal indicating an average number of rotations of both wheels, an output signal of a multiplier 12, is converted into a signal indicating a traveled distance dl.

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving distance of a moving object.
Moving devices such as forklifts, etc.
Detects the distance traveled and the position based on this travel distance
Calibration for that distance
It is useful when applied to [0002] 2. Description of the Related Art Positions of moving bodies such as forklifts, for example.
As a detection device, a sensor (engine
Coder, gyro, etc.)
To estimate the position by integrating
Some have been suggested. Adopt such a position detecting device
FIG. As shown in FIG.
, The output signals of the encoders 1 and 2 and the gyro 3
A predetermined calculation is performed by the position calculator 3 based on the output signal of
Thus, the position is detected. Elaborate further
And the encoders 1 and 2 are wheels 5, 6 attached to the vehicle body 4.
It detects the number of rotations of each output pulse signal.
By counting the number of wheels with counters 7 and 8
A rotation speed signal indicating the rotation speed of 5 or 6 is sent to the position calculator 9.
are doing. On the other hand, the gyro 3 converts the output signal into an A / D signal.
The direction change signal converted to a digital signal by the converter 10
To the position calculator 9. In the position calculator 9,
The position of the moving object is determined based on the rotation speed signal and the direction change signal.
Calculate. FIG. 6 shows a specific configuration of the position calculator 9.
Blocks shown with sensors such as coder 1 and 2 and gyro 3
It is a lock figure. As shown in FIG.
Then, the two rotation speed signals which are the output signals of the counters 1 and 2 are
Add in adder 11 and multiply by 0.5 in multiplier 12
While calculating the average rotation speed based on both rotation speed signals,
A function for converting the number of pulses set in the coefficient setting unit 13 into a distance.
The result is multiplied by the number K and converted into a movement distance dl. On the other hand, A / D conversion
The direction change dp, which is the output signal of the converter 10, is calculated by the integrator 14.
The traveling direction p is obtained by time integration, and the computing unit 1
The cos component and the sin component in the traveling direction p are
Each operation is performed. In the multipliers 17 and 18, the moving distance dl and
Multiplying the cos component and the sin component, respectively
The two components (the X-axis component and the
And the component in the Y-axis direction).
By integrating the minutes with the integrators 19 and 20 over time,
The X-axis component and the Y-axis component are determined. Finally both
The moving position to be detected is obtained by combining the persons. [0004] SUMMARY OF THE INVENTION In the prior art as described above,
In the case where the diameter of the wheels 5, 6 is reduced due to wear, etc.
Has an error in the detection of the travel distance, and as a result
Is the detection error. That is, the coefficient K in FIG.
It is a coefficient for converting the pulse to the moving distance,
Let the circumference R be the number of output pulses P_pDivided by
R / P_pTherefore, the moving distance is smaller than the circumference of the wheels 5 and 6.
For example, if there is no change, the detected moving distance includes an error.
It will be inevitable. The present invention has been made in view of the above prior art, and
Accurate running by compensating for changes in the circumference due to wheel wear etc.
Provided is a position detection device capable of detecting a line distance and a movement position.
The porpose is to do. [0006] [MEANS FOR SOLVING THE PROBLEMS]
The configuration of Ming is characterized by the following points. 1) A moving body that moves via left and right wheels
Distance is detected based on the circumference and rotation speed of each wheel
In the moving distance detecting device for a moving body,
Multiply the average rotational speed by a predetermined coefficient corresponding to the circumference of each wheel.
When calculating the moving distance, according to the average rotation speed
A correction coefficient is determined, and a coefficient corrected based on this correction coefficient is used.
Calculate the moving distance based on the average rotation speed of both wheels
That you did. 2) A moving body that moves via left and right wheels
Distance is detected based on the circumference and rotation speed of each wheel
In the moving distance detecting device for a moving body, the rotational speed of the wheel
Multiplied by a predetermined coefficient corresponding to the circumference of the wheel
When calculating, according to the respective rotation speed for each of the left and right wheels
Correction coefficients were determined and corrected based on each correction coefficient
Each coefficient represents the travel distance based on the rotation speed of each wheel.
And the distance traveled thus calculated is
On average, the moving distance of the moving object. 3) The moving object described in 1) or 2) above
Travel distance detection device
Number of encoder output pulses P counted during that time_e
And the initial coefficient K based on the actual moving distance D at this time.
₀(= D / P_e) Or the circumference L of the wheel
And the number of pulses P per revolution of the wheel_pBased on
Initial coefficient K₀(= L / P_p) While the last update
Total pulse number P of encoder output pulse from time_tOr
Coefficient F ｛= (K at the time of previous update)₀ −
New K₀) / P_tThe correction factor based on｝
Period coefficient K₀ To the specified length corresponding to the circumference of both wheels.
Calculate numbers. 4) The moving object described in 1) or 2) above
Travel distance detection device
Number of encoder output pulses P counted during that time_e
And the initial coefficient K based on the actual moving distance D at this time.
₀(= D / P_e) Or the circumference L of the wheel
And the number of pulses P per revolution of the wheel_pBased on
Initial coefficient K₀(= L / P_p) While the new initial
Coefficient K₀ Is the output pulse of the encoder from the last update.
Pulse number P_tCorrection coefficient A calculated from
(= [｛P_e× (K at last update₀) / D｝ -1] /
P_t) Divided by the correction coefficient based on the perimeter of both wheels
A predetermined coefficient to be calculated. 5) Moving body moving via left and right wheels
Distance is detected based on the circumference and rotation speed of each wheel
In addition, by detecting the moving direction of the moving body,
The position of the moving object based on the information of the moving distance and direction.
In the moving object position detecting device for detecting,
A predetermined coefficient corresponding to the circumference of each wheel
When calculating the moving distance by multiplying
The correction factor is determined based on the
Calculate the moving distance based on the average rotation speed of both wheels
I was sorry. 6) Moving body moving via left and right wheels
Distance is detected based on the circumference and rotation speed of each wheel
In addition, by detecting the moving direction of the moving body,
The position of the moving object based on the information of the moving distance and direction.
In the moving object position detection device for detecting,
Move by multiplying the number of turns by a predetermined coefficient corresponding to the circumference of the wheel
When calculating the distance, each of the left and right wheels must
The correction coefficients are determined according to the
The moving distance based on the rotation speed of each wheel is calculated by
In addition to calculating the moving distance,
Average the separation and use it as the moving distance of the moving object. 7) The moving object described in 5) or 6) above
Travels a certain distance in the position detection device
Number of encoder output pulses P counted during_eWhen,
The initial coefficient K is determined based on the actual moving distance D at this time.₀(=
D / P_e) Or the circumference L of the wheel and the front
Number of pulses P per rotation of the wheel_pBased on the initial clerk
Number K₀(= L / P_p) While the last update
Pulse number P of the output pulse of the encoder_tCalculated from
Correction coefficient F ｛= (K at the time of last update₀ −new
K₀) / P_t補正 based on the new initial coefficient
K₀ Multiplied by a predetermined coefficient corresponding to the circumference of both wheels.
That we have to calculate. 8) The moving object described in 5) or 6) above
Travels a certain distance in the position detection device
Number of encoder output pulses P counted during_eWhen,
The initial coefficient K is determined based on the actual moving distance D at this time.₀(=
D / P_e) Or the circumference L of the wheel and the front
Number of pulses P per rotation of the wheel_pAnd the initial clerk based on
Number K₀(= L / P_p) While the new initial coefficient K
₀ Is the product of the encoder output pulses since the last update.
Calculation pulse number P_tCorrection coefficient A (=
[｛P_e× (K at last update₀) / D｝ -1] / P_t)
Divided by the correction coefficient based on the
That the coefficient of was calculated. [0015] DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the drawings.
Will be described in detail. The following embodiments are all figures.
This is an improvement of the position calculator 9 shown in FIG. Therefore,
In each figure, the same parts as those in FIG.
Description is omitted. <First Embodiment> As shown in FIG.
The position detecting device according to the present embodiment is a position detecting device shown in FIG.
Of the coefficient setting unit 13 of FIG.
102, a correction coefficient setting device 103, a constant setting device 104,
It is composed of a calculator 105 and a multiplier 106. You
That is, the average of the wheels 5 and 6 which is the output signal of the multiplier 12
Converts a signal representing the number of rotations into a signal representing the moving distance dl
This is an improvement of the method of calculating the coefficients. Here, the coefficient setting unit 101 sets the initial coefficient K
₀Set. This initial coefficient K₀And the wheels of the moving body
Coefficients corresponding to the initial values of the circumferences of 5 and 6, which are
When starting to use the moving object (forklift, etc.)
When performing inspection and maintenance of moving objects,
And the output paths of encoders 1 and 2 counted during
Loose number P_eAnd the moving distance D at this time, K₀
= D / P_eIs a value obtained by the calculation of Also wheels 5
 , 6 are measured and the encoder
One rotation of wheels 5 and 6 obtained by output pulses of
Number of pulses per hit P _pIs measured, and based on both values, K
₀ = L / P_pMay be calculated by the following calculation. The integrator 102 is used at the start of use or at the last update.
The number of output pulses of encoders 1 and 2 from the time (multiplier 13
Output pulse number). Correction coefficient setting device 103
Is the integrated pulse number P which is the output signal of the integrator 102_tTo
The following equation (1) is calculated based on the signal
Calculate the positive coefficient F.     F = (K at last update₀ -New K₀) / P_t      ・ ・ ・ ・ ・ (1) A correction coefficient F is added to a constant setting unit by an adder 105.
Multiplier 1 is subtracted from “1.0” set in 104.
06 and the initial coefficient K₀ To the new travel distance dl
It is output as a conversion coefficient. The correction coefficient F in this embodiment is expressed in units
Indicates the rate of change of the coefficient per pulse
Represents the coefficient of the degree of wear of wheels 5, 6 due to the movement of
Becomes Therefore, the rotation speed of the wheels 5 and 6 is
The output signal of the multiplier 106 when converting to the dynamic distance dl
The moving distance of the moving object, that is, the wheel
It can be changed appropriately according to the number of rotations of 5 and 6.
You. Thus, based on the rotation speed of the wheels 5, 6, the moving body
Of the wheels 5, 6 that are the basis for calculating the travel distance dl of
Make sure that the circumference is appropriate in consideration of wear due to running.
Can be. <Second Embodiment> As shown in FIG.
The position detecting device according to the present embodiment is different from the embodiment shown in FIG.
Calculation means similar to the coefficient calculation means in the left and right wheels
Encoders 1 and 2 that detect the number of rotations of 5, 6 respectively
And each encoder 1 and 2
To obtain the correction coefficient F, and based on the specific coefficient based on this,
The converted moving distance dl is averaged by the multiplier 12
The calculation method of the correction coefficient based on the correction coefficient F
At first, the other configuration is completely the same as the apparatus shown in FIG. There
The same parts as those in FIG.
Is omitted. According to this embodiment, the first embodiment
The correction coefficient obtained by the same method as that described above is applied to the left and right wheels 5, 6.
The correction accuracy
Is improved. <Third Embodiment> As shown in FIG.
The position detection device according to the present embodiment is different from the embodiment shown in FIG.
Differs only in the means of calculating the correction coefficient. Sand
That is, a part of the coefficient setting unit 13 of the position detecting device shown in FIG.
, A coefficient setting unit 301, an integrator 302, a correction coefficient setting unit
303, constant setting unit 304, adder 305, and divider 1
06. Here, the coefficient setting unit 301 calculates the initial coefficient K
₀Is set. This initial coefficient K₀Is the first
This is exactly the same as that of the embodiment. That is, move
It is a coefficient corresponding to the initial value of the circumference of the wheels 5, 6 of the body,
When starting to use the moving object (forklift, etc.)
When performing inspection and maintenance of moving objects,
And the output paths of encoders 1 and 2 counted during
Loose number P_eAnd the moving distance D at this time, K₀
= D / P_eIs a value obtained by the calculation of Also wheels 5
 , 6 and measure the circumference
One rotation of wheels 5 and 6 obtained by output pulses of
Number of pulses per hit P_pIs measured, and based on both values, K
₀ = L / P_pMay be calculated by the following calculation. The integrator 302 is used at the start of use or at the last update.
Number of output pulses of encoders 1 and 2 from time (coefficient setting unit
13 output pulses). Correction coefficient setting unit 30
3 is an integrated pulse number P which is an output signal of the integrator 302_t
By performing the operation of the following equation (2) based on the signal representing
The correction coefficient A is calculated.     A = [｛P_e× (K at last update₀) / D｝ -1] / P_t... (2) The correction coefficient A is added to a constant setting unit by the adder 305.
It is added to “1.0” set in 304. Divider 30
In step 6, the new K₀
Is output as a conversion coefficient to a new moving distance dl
I do. The correction coefficient A in this embodiment is expressed in units
Change of coefficient ratio per pulse (previous coefficient / current coefficient)
Of the vehicle 5 and 6 associated with the movement of the moving body
Represents the coefficient of the degree of abrasion. Therefore, the car
When converting the number of rotations of the wheels 5 and 6 into the moving distance dl of the moving body
The coefficient obtained as the output signal of the divider 306 is
Suitable for the distance traveled by the body, i.e.
Can be changed quickly. Thus, the wheels 5, 6
When calculating the moving distance dl of the moving body based on the number of rotations
The circumference of wheels 5 and 6 that are the basis of
It can be considered appropriate. <Fourth Embodiment> As shown in FIG.
The position detecting device according to the present embodiment is different from the embodiment shown in FIG.
Calculation means similar to the coefficient calculation means in the left and right wheels
Encoders 1 and 2 that detect the number of rotations of 5, 6 respectively
And each encoder 1 and 2
To obtain the correction coefficient A, and based on the specific coefficient based on this,
The converted moving distance dl is averaged by the multiplier 12
The calculation method of the correction coefficient based on the correction coefficient A is
Initially, the other configuration is exactly the same as the device shown in FIG. There
The same parts as those in FIG.
Is omitted. According to this embodiment, the third embodiment
The correction coefficient obtained by the same method as that described above is applied to the left and right wheels 5, 6.
The correction accuracy
Is improved. In each of the above embodiments, the position is detected.
Although described as a device, the correction method of each coefficient is
It can also be used exclusively for cases, in which case
It is possible to detect the traveling distance dl with high accuracy. [0031] The present invention will be described specifically with the above embodiments.
As described above, according to the present invention, forklift
When measuring the moving distance of moving objects such as
Relates to the number of rotations of the wheel,
Measured by appropriately correcting the conversion coefficient from distance to travel distance
The accuracy of the distance and the measurement position can be improved. Ma
If such corrections are made individually for the left and right wheels
, The accuracy can be further improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a moving object position detecting device according to a first embodiment of the present invention. FIG. 2 is a block diagram illustrating a moving object position detecting device according to a second embodiment of the present invention. FIG. 3 is a block diagram showing a moving object position detecting device according to a third embodiment of the present invention. FIG. 4 is a block diagram showing a moving object position detecting device according to a fourth embodiment of the present invention. FIG. 5 is an explanatory view conceptually showing a moving body on which the position detecting device for the moving body is mounted. 6 is a block diagram showing a position detecting device for a moving body according to the related art mounted on the moving body of FIG. 5; [Description of Signs] 1, 2 Encoder 3 Gyro 5, 6 Wheel 101, 301 Coefficient setter 102, 302 Integrator 103, 303 Correction coefficient setter 104, 304 Constant setter 104 105, 305 Adder 106, 306 Multiplier

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Claims (1)

[Claims] 1. Each of moving bodies moving via left and right wheels
Movement that detects the movement distance based on the circumference and rotation speed of the wheel
In a body movement distance detection device, The average rotation speed of the left and right wheels corresponds to the circumference of each wheel.
When calculating the moving distance by multiplying the moving distance by a predetermined coefficient,
A correction coefficient is determined according to the average rotation speed, and based on this correction coefficient,
Distance based on the average rotation speed of both wheels
The moving distance of the moving object is characterized in that
Separation detection device. 2. Each of moving objects moving via left and right wheels.
Movement that detects the movement distance based on the circumference and rotation speed of the wheel
In a body movement distance detection device, A predetermined coefficient corresponding to the circumference of the wheel,
When calculating the travel distance by multiplying
Determine the correction coefficient for each rotation speed, and
Movement based on the rotation speed of each wheel with each coefficient corrected based on
Each distance is calculated, and thus calculated
The average of each moving distance obtained is the moving distance of the moving object.
A moving distance detecting device for a moving body, characterized in that: 3. The method according to claim 1 or claim 2.
In a moving distance detecting device for a moving body, Enco counted during running a certain distance
Output pulse number P _eAnd the actual travel distance at this time
Initial coefficient K based on D₀(= D / P_e) Or
Or, the circumference L of the wheel and the power per rotation of the wheel
Loose number P_pAnd the initial coefficient K₀(= L / P_p) The set
While Total pulse of encoder output pulse since last update
Number P_tCorrection coefficient F ｛= (calculated from the previous
K of time₀ -New K₀) / P_tThe correction factor based on｝
New initial coefficient K₀ To match the circumference of both wheels.
Wherein a predetermined coefficient is calculated.
Dynamic distance detector. 4. The method according to claim 1 or claim 2.
In a moving distance detecting device for a moving body, Enco counted during running a certain distance
Output pulse number P _eAnd the actual travel distance at this time
Initial coefficient K based on D₀(= D / P_e) Or
Or, the circumference L of the wheel and the power per rotation of the wheel
Loose number P_pAnd the initial coefficient K₀(= L / P_p) The set
While New initial coefficient K₀ Is the encoder from the last update
Output pulse number P_tComputed from
Positive coefficient A (= [｛P_e× (K at last update₀) / D｝ -1
 ] / P_t) And the circumference of both wheels
A predetermined coefficient corresponding to is calculated.
Moving distance detecting device. 5. Each of moving bodies moving via right and left wheels.
When the traveling distance is detected based on the circumference of the wheel and the number of revolutions
These movements are detected by detecting the moving direction of the moving object.
Detects the position of a moving object based on information on moving distance and moving direction
In a moving object position detecting device, The average rotation speed of the left and right wheels corresponds to the circumference of each wheel.
When calculating the moving distance by multiplying the moving distance by a predetermined coefficient,
A correction coefficient is determined according to the average rotation speed, and based on this correction coefficient,
Distance based on the average rotation speed of both wheels
Calculating the position of a moving object
Output device. 6. Each of moving bodies moving via left and right wheels
When the traveling distance is detected based on the circumference of the wheel and the number of revolutions
These movements are detected by detecting the moving direction of the moving object.
Detects the position of a moving object based on information on moving distance and moving direction
In a moving object position detecting device, A predetermined coefficient corresponding to the circumference of the wheel,
When calculating the travel distance by multiplying
Determine the correction coefficient for each rotation speed, and
Movement based on the rotation speed of each wheel with each coefficient corrected based on
Each distance is calculated, and thus calculated
The average of each moving distance obtained is the moving distance of the moving object.
A position detecting device for a moving body, characterized in that: 7. The method according to claim 5 or claim 6.
Moving object position detecting device, Enco counted during running a certain distance
Output pulse number P _eAnd the actual travel distance at this time
Initial coefficient K based on D₀(= D / P_e) Or
Or, the circumference L of the wheel and the power per rotation of the wheel
Loose number P_pAnd the initial coefficient K₀(= L / P_p) The set
While Total pulse of encoder output pulse since last update
Number P_tCorrection coefficient F ｛= (calculated from the previous
K of time₀ -New K₀) / P_tThe correction factor based on｝
New initial coefficient K₀ To match the circumference of both wheels.
Wherein a predetermined coefficient is calculated.
Moving body position detection device. 8. The method according to claim 5 or claim 6.
Moving object position detecting device, Enco counted while running a certain distance
Output pulse number P _eAnd the actual travel distance at this time
Initial coefficient K based on D₀(= D / P_e) Or
Or, the circumference L of the wheel and the power per rotation of the wheel
Loose number P_pAnd the initial coefficient K₀(= L / P_p) The set
While New initial coefficient K₀ Is the encoder from the last update
Output pulse number P_tComputed from
Positive coefficient A (= [｛P_e× (K at last update₀) / D｝ -1
 ] / P_t) And the circumference of both wheels
A predetermined coefficient corresponding to is calculated.
Mobile device position detection device.