JP5666103B2 - Position detection sensor - Google Patents

Description

  The present invention relates to a position detection sensor suitable for use in a self-propelled unmanned vehicle traveling on a traveling road.

  2. Description of the Related Art Conventionally, a self-propelled unmanned vehicle that travels along a guide tape (running path) made of a magnetomotive member attached to a floor surface is known. Such a self-propelled unmanned vehicle includes a position detection sensor that detects the position of the unmanned vehicle in the left-right direction according to the magnetic flux density distribution in the width direction of the guide tape. Examples of the position detection sensor include those described in Patent Documents 1 and 2.

  The position detection sensors described in Patent Documents 1 and 2 include a plurality of magnetic switches (magnetic detection elements) arranged at predetermined intervals in the width direction of the guide tape. Then, the magnetic switches that obtain an output equal to or greater than a predetermined threshold are turned on, and the magnetic switches located at the leftmost end and the rightmost end of the switches are the magnetic switches located at the leftmost end and the rightmost end facing the guide tape, respectively.

  Specifically, the position detection sensor described in Patent Document 1 has a right branch output resistance group and a left branch output resistance group. The right branch output resistor group connects the output ends of a plurality of magnetic switches in series via resistors from the right end to the left end, and the left branch output resistor group extends the output ends of the plurality of magnetic switches from the left end to the right end. Are connected in series through a resistor. And the voltage signal which shows the position of the horizontal direction of the unmanned vehicle with respect to a guide tape with respect to a guide tape is each output from the right branch output resistance group or the left branch output resistance group.

  The position detection sensor described in Patent Document 2 generates left end information indicating the leftmost magnetic switch, right end information indicating the rightmost magnetic switch, and first offset information indicating the center position between the two. To do. Then, the left end information, the right end information, the first offset information, and the second offset information that is a fixed value are used to generate and output a voltage signal indicating the position of the unmanned vehicle in the left-right direction with respect to the guide tape. ing.

JP-A-5-41384 JP-A-10-170248

  However, the position detection sensors described in Patent Documents 1 and 2 can only obtain an output with a resolution corresponding to the number of magnetic switches. Therefore, if the number of magnetic switches is reduced and the interval between adjacent magnetic switches is increased, the amount of displacement of the unmanned vehicle allowed in the left-right direction with the obtained output increases. As a result, the number of meanders of the unmanned vehicle increased, and the meander could cause the unmanned vehicle to go off track.

  In order to control the position of the unmanned vehicle in the left-right direction with high accuracy and reduce meandering, it is only necessary to increase the number of magnetic switches and narrow the interval between adjacent magnetic switches. However, when the number of magnetic switches is increased, the power consumption increases and the number of drive circuits and the like increase, resulting in an increase in cost. In addition, increasing the number of magnetic switches to reduce the interval between adjacent magnetic switches is limited by the physical size of the magnetic switch.

  The present invention has been made in view of such a state of the prior art, and an object of the present invention is to achieve high resolution output without increasing the number of detection elements.

In order to achieve the above-described object, the position detection sensor of the present invention includes at least three or more mounting detection elements, a virtual output calculation unit, an endmost detection element determination unit, and a detection signal generation unit. At least three or more mounting detection elements are arranged at predetermined intervals in the width direction of the traveling path of the self-propelled unmanned vehicle and detect the magnetic body of the guide tape made of a magnetic body provided along the traveling path. To do. Virtual output calculation unit, based on the output result of mounting the magnetic sensor, the outputs of the plurality of virtual magnetic sensing element disposed between the mounting magnetic sensing elements adjacent to calculate by interpolation. Of the three or more mounted magnetic detection elements and the plurality of virtual magnetic detection elements, the leftmost detection element determination unit includes a leftmost magnetic detection element positioned at the leftmost position with an output equal to or greater than a predetermined threshold, and an output equal to or greater than the threshold. there are determined a rightmost end magnetic sensing element located on the rightmost end. Detection signal generation unit generates a position detection signal indicating the position information of the travel path based on the position of the leftmost edge detecting element or the rightmost magnetic sensor. The virtual output calculation unit scans three or more mounted magnetic detection elements from left to right, and outputs the plurality of virtual magnetic detection elements based on the outputs of the two mounted magnetic detection elements that switch across the left end of the guide tape. And calculating the outputs of a plurality of virtual magnetic detection elements based on two mounting magnetic detection elements in which the output of the mounting magnetic detection element switches across the right end of the guide tape, Alternatively, three or more mounted magnetic detection elements are scanned from right to left, and outputs of a plurality of virtual magnetic detection elements are calculated based on outputs of two mounted magnetic detection elements that switch across the right end of the guide tape. A plurality of virtual magnetic detections are selected based on two mounting magnetic detection elements in which the right end magnetic detection element is selected and the output of the mounting magnetic detection element switches across the left end of the guide tape. To calculate the output of the child. The detection signal generation unit generates a position detection signal based on the position of the leftmost magnetic detection element when traveling along the left branch road on the traveling road, and when traveling along the right branch road on the traveling road. A position detection signal is generated based on the position of the rightmost magnetic detection element.

  In the position detection sensor of the present invention configured as above, the output of the virtual detection element arranged between the adjacent mounting detection elements is calculated by the virtual output calculation unit. That is, a virtual detection element is provided between adjacent mounting detection elements. Then, an end detection element is determined from the mounting detection element and the virtual detection element, and a position detection signal is generated based on the position of the end detection element. Therefore, the resolution of the output (position detection signal) indicating the position information of the travel path can be increased without increasing the number of mounting detection elements.

  According to the position detection sensor of the present invention, the output can be increased in resolution without increasing the number of detection elements to be mounted.

It is a block diagram which shows one Embodiment of the position detection sensor of this invention. It is explanatory drawing which shows an example of the magnetic flux density distribution of a travel path. It is explanatory drawing which shows an example of the output of each mounting detection element which concerns on one Embodiment of the position detection sensor of this invention. It is explanatory drawing which shows an example of the on-off bit pattern produced | generated based on the output of each mounting detection element which concerns on one Embodiment of the position detection sensor of this invention. It is a graph explaining an example of the interpolation which concerns on one Embodiment of the position detection sensor of this invention. It is explanatory drawing which shows the 1st example of the on-off bit pattern produced | generated based on the output of each mounting detection element and virtual detection element which concerns on one Embodiment of the position detection sensor of this invention. It is a top view showing an example of an unmanned vehicle provided with one embodiment of a position detection sensor of the present invention, and a runway. 8A and 8B show second and third examples of on / off bit patterns generated based on the outputs of the mounting detection elements and the virtual detection elements according to one embodiment of the position detection sensor of the present invention. It is explanatory drawing.

  Hereinafter, the form for implementing the position detection sensor of this invention is demonstrated with reference to FIGS. In addition, the same code | symbol is attached | subjected to the common member in each figure.

[Configuration of position detection sensor]
First, the configuration of an embodiment of the position detection sensor of the present invention will be described with reference to FIG. 1 and FIG.
FIG. 1 is a configuration diagram showing an embodiment of a position detection sensor of the present invention. FIG. 2 is an explanatory diagram showing an example of the magnetic flux density distribution of the travel path (guide tape).

The position detection sensor 1 is provided in a self-supporting traveling unmanned vehicle or the like that travels along a guide tape GT (traveling path) made of a magnetic material, and detects the position of the guide tape GT. The position detection sensor 1 includes a plurality of mounting heads H1 to H15, a plurality of analog-digital converters 2, a control circuit 3, mode switching input terminals 4A and 4B, a digital-analog converter 5, and an output terminal. 6 is provided.
Hereinafter, the analog-digital converter 2 is abbreviated as “A / D converter 2”, and the digital-analog converter 5 is abbreviated as “D / A converter 5”.

  The plurality of mounting heads H1 to H15 are magnetic detection elements showing a specific example of the mounting detection element. These mounting heads H1 to H15 are arranged at a predetermined interval in the width direction of the guide tape GT. In the present embodiment, the mounting head H1 is disposed at the left end in the traveling direction, and the mounting head H15 is disposed at the right end. The distance from the mounting head H1 to the mounting head H15 is longer than the width of the guide tape GT.

  The mounting heads H1 to H15 face the guide tape GT and output an analog voltage proportional to the magnetic flux density of the guide tape GT. That is, each of the mounting heads H1 to H15 outputs an analog voltage corresponding to the magnetic flux density distribution (see FIG. 2) in the width direction of the guide tape GT at the place where each of the mounting heads H1 to H15 is disposed. In the present embodiment, the N pole of the guide tape GT faces the mounting heads H1 to H15. Examples of the mounting heads H1 to H15 include a saturable coil, a Hall element, and an MR element.

  The plurality of A / D converters 2 are provided corresponding to the plurality of mounting heads H1 to H15. The analog voltages output from the mounting heads H1 to H15 are input to these A / D converters 2, respectively. Each A / D converter 2 converts the supplied analog voltage into a digital signal and outputs it to the control circuit 3.

  The control circuit 3 is, for example, a microcomputer. The control circuit 3 includes a virtual output calculation unit 11, an endmost detection element determination unit 12, and a detection signal generation unit 13. The virtual output calculation unit 11 outputs the virtual heads VHa1 to VHa3 (see FIG. 5) arranged between the adjacent mounting heads H1 to H15 based on the digital signals output from the plurality of A / D converters 2. Is calculated by interpolation.

  The endmost detection element determination unit 12 selects the endmost detection element located at the end of the mounting heads H1 to H15 and the virtual heads VHa1 to VHa3 and whose output is equal to or greater than a predetermined threshold value t (see FIG. 4). decide. The detection signal generator 13 generates a position detection signal indicating the position information of the guide tape GT based on the position of the endmost detection element. Detailed processing contents of the virtual output calculation unit 11, the endmost detection element determination unit 12, and the detection signal generation unit 13 will be described later.

  The mode switching input terminals 4A and 4B are connected to the detection signal generation unit 13 of the control circuit 3, respectively. A command signal for selecting any one of the left branch mode, the right branch mode, and the straight traveling mode is input to the control circuit 3 through the mode switching input terminals 4A and 4B. Specifically, when a high signal is transmitted to the mode switching input terminal 4A and a low signal is transmitted to the mode switching input terminal 4B, the left branch mode is selected. In the left branch mode, a position detection signal for controlling the position of the unmanned vehicle 21 (see FIG. 7) on the branch path of the guide tape GT and entering the left branch path is calculated.

  Further, when a low signal is transmitted to the mode switching input terminal 4A and a high signal is transmitted to the mode switching input terminal 4B, the right branch mode is selected. In the right branch mode, a position detection signal for controlling the position of the unmanned vehicle 21 on the branch path of the guide tape GT and entering the right branch path is calculated. When a low signal is transmitted to the mode switching input terminals 4A and 4B, the straight traveling mode is selected. In the straight traveling mode, a position detection signal for controlling the unmanned vehicle 21 to travel on a straight traveling path is calculated.

  The D / A converter 5 converts the position detection signal supplied from the control circuit 3 into a step-like analog voltage and outputs it through the output terminal 6. This step-like analog voltage changes in a stepwise manner according to the amount of displacement with respect to the guide tape GT, and is input to a drive control unit (not shown) of the unmanned vehicle 21.

[Processing content of control circuit]
Next, processing contents of the control circuit 3 will be described.
FIG. 3 is an explanatory diagram illustrating an example of outputs from the mounting heads H1 to H15. FIG. 4 is an explanatory diagram showing an example of a mounting bit pattern generated based on the outputs of the mounting heads H1 to H15.

First, processing performed by the virtual output calculation unit 11 of the control circuit 3 will be described.
The virtual output calculation unit 11 obtains output information of the mounting heads H1 to H15 from the digital signals output from the plurality of A / D converters 2 (see FIG. 3). And the virtual output calculation part 11 produces | generates mounting bit pattern information based on the output of each mounting head H1-H15 (refer FIG. 4).

  Specifically, the output of each of the mounting heads H1 to H15 is compared with a preset threshold value t, and the mounting head that outputs a value equal to or greater than the threshold value t is replaced with an ON bit (for example, “1”). A mounting head that outputs a smaller value is replaced with an off bit (eg, “0”). The threshold t is set based on the distance between the guide tape GT and the mounting heads H1 to H15, the width of the guide tape GT, and the magnitude of the magnetic field.

  Next, the virtual output calculation unit 11 scans the bit string from the left end to the right end, and extracts two mounting heads that change from off to on. In the example shown in FIG. 4, the mounting heads H4 and H5 are two mounting heads that change from off to on. Subsequently, the virtual output calculation unit 11 arranges virtual heads (virtual detection elements) at equal intervals between the adjacent mounting heads H4 and H5, and calculates the output of the virtual head by interpolation.

  A virtual head is a head virtually arranged between adjacent mounting heads, and the output is calculated by interpolation using the output value of the mounting head. Note that at least one virtual head may be disposed between adjacent mounting heads.

FIG. 5 is a graph illustrating an example of interpolation performed by the virtual output calculation unit 11.
In the present embodiment, the virtual output calculation unit 11 calculates the outputs of the three virtual heads VHa1 to VHa3 by linear interpolation. That is, the difference between the outputs of the adjacent mounting heads H4 and H5 is equally divided, and the outputs of the three virtual heads VHa1 to VHa3 are calculated using the values.

For example, the number of virtual heads arranged between the mounting heads is n, the calculated virtual head position number is VHN, the output of the on-mounting head is Hon, and the output of the off-mounting head is Hoff. In that case, the output VHd of each of the virtual heads VHa1 to VHa3 is calculated by the following equation.
VHd = (Hon−Hoff) / (n + 1) × VHN + Hoff

In the example shown in FIG. 5, for example, when the output (Hon) of the mounting head H5 is 6V and the output (Hoff) of the mounting head H4 is 4V, the output (VHd) of the virtual head VHa1 is 4.5V.
VHd = (Hon−Hoff) / (n + 1) × VHN + Hoff
= (6-4) / (3 + 1) × 1 + 4
= 4.5
In the example shown in FIG. 5, the outputs of the virtual heads VHa2, VHa3 and the mounting head H5 are equal to or greater than the threshold value t.

  The virtual output calculation unit 11 scans the bit string from the right end to the left end, and extracts two mounting heads that change from off to on. In the example shown in FIG. 4, the mounting heads H11 and H12 are two mounting heads that change from off to on. The bit string may be scanned from the left end to the right end to extract two mounting heads that change from on to off.

Subsequently, the virtual output calculation unit 11 arranges the virtual heads VHb1 to VHb3 between the adjacent mounting heads H11 and H12, and calculates the outputs of the virtual heads VHb1 to VHb3 by interpolation. At this time, the outputs VHd of the virtual heads VHb1 to VHb3 are calculated by the following formula.
VHd = (Hoff−Hon) / (n + 1) × VHN + Hon

  Thereafter, the virtual output calculation unit 11 sends the output information of each mounting head H1 to H15 and the output information of each virtual head to the endmost detection element determination unit 12 (see FIG. 1). Note that the virtual output calculation unit 11 may calculate the outputs of all the virtual heads arranged between the mounting heads and send the information to the endmost detection element determination unit 12.

Next, the process performed by the outermost detection element determination unit 12 will be described.
The endmost detection element determination unit 12 generates position detection bit pattern information based on the outputs of the mounting heads H1 to H15 and the outputs of the virtual heads (see FIG. 6). Specifically, the output of each of the mounting heads H1 to H15 and each virtual head is compared with a preset threshold value t, the head that is an output equal to or higher than the threshold value t is replaced with an ON bit, and the output is smaller than the threshold value t. Replace the head with a bit off.

FIG. 6 is an explanatory diagram illustrating a first example of a detection bit pattern generated based on the outputs of the mounting heads H1 to H15 and the virtual head.
The position detection bit pattern information is the number of bits corresponding to the mounting heads H1 to H15 and the virtual heads arranged between the adjacent mounting heads.

  When only the output information of the virtual heads VHa1 to VHa3 and VHb1 to VHb3 is sent from the virtual output calculation unit 11, the virtual heads arranged between the mounting heads whose output is equal to or higher than the threshold value t are automatically switched on. . Then, the virtual head arranged between the mounting heads smaller than the threshold value t is automatically replaced with off. In this example, since three virtual heads are arranged between the mounting heads, the bit pattern information for position detection is a 57-bit bit string.

  Next, the leftmost detection element determination unit 12 scans the bit string of the position detection bit pattern information from the left end to the right end, and extracts the leftmost detection head (leftmost detection element) that first turns on. Then, the bit string of the position detection bit pattern information is scanned from the right end to the left end, and the rightmost end detection head (rightmost end detection element) that first turns on is extracted. In the example shown in FIG. 6, the virtual head VHa2 is extracted as the leftmost detection head, and the virtual head VHb2 is extracted as the rightmost detection head.

  Next, the outermost detection element determination unit 12 sends information indicating the leftmost detection head and information indicating the rightmost detection head to the detection signal generation unit 13. The information indicating the leftmost detection head and the rightmost detection head is a bit number assigned in order from H1 to the mounting heads H1 to H15 and the virtual detection head. That is, the bit number of the mounting head H1 is “1”, and the bit number of the mounting head H15 is “57”. In this example, the bit number of the virtual head VHa2 that is the leftmost detection head is “15”, and the bit number of the virtual head VHb2 that is the rightmost detection head is “43”.

Next, processing performed by the detection signal generation unit 13 will be described.
The detection signal generation unit 13 calculates position data corresponding to the left branch mode, the right branch mode, and the straight traveling mode based on the bit number supplied from the endmost detection element determination unit 12. The calculated position data is then converted into a position detection signal.

First, calculation of position data corresponding to the left branch mode will be described.
In the left branch mode, attention is paid only to the left end portion of the guide tape GT. That is, the detection signal generation unit 13 calculates position data based on the information (bit number) of the leftmost detection head. At this time, an offset value is added to the bit number of the leftmost detection head in order to obtain position data indicating the center position of the guide tape GT.

The offset value is set to a value that is ½ of the width of the guide tape GT. That is, when the center of the head row coincides with the center in the width direction of the guide tape, the value is set to a value that is ½ of the number of bits that are turned on (see FIG. 6). Therefore, if the center of the head row and the center of the guide tape GT in the width direction coincide with each other, the position data has a value equal to the bit number assigned to the central bit among the turned-on bits. For example, assuming that the bit number of the leftmost detection head is Ln and the offset value is Lo, the position data Ld in the left branch mode is calculated from the following equation.
Ld = Ln + Lo (1)

In the example shown in FIG. 6, the center (H8) of the head row coincides with the center in the width direction of the guide tape GT. The bit number of the leftmost detection head is “15”, and the bit number of the rightmost detection head is “43”. Therefore, the number of bits that are turned on is 28 bits in total, and 14 bits that is 1/2 of that is the offset value. Therefore, the position data Ld is “29”, which is the center value of the bit number.
Ld = 15 + 14
= 29

Next, calculation of position data corresponding to the right branch mode will be described.
In the right branch mode, attention is paid only to the right end portion of the guide tape GT. That is, the detection signal generation unit 13 calculates position data based on the information (bit number) of the rightmost detection head. At this time, in order to obtain position data indicating the center position of the guide tape GT, the offset value is subtracted from the bit number of the rightmost detection head.

Since the offset value is the same as that in the left branch mode, description thereof is omitted. Even in the right branch mode, if the center of the head row coincides with the center of the guide tape GT in the width direction, the position data is a value equal to the bit number assigned to the central bit among the turned-on bits. become. For example, assuming that the bit number of the rightmost detection head is Rn and the offset value is Ro (Ro = Lo), the position data Rd in the right branch mode is calculated from the following equation.
Rd = Rn−Ro (2)

In the example shown in FIG. 6, the center (H8) of the head row coincides with the center in the width direction of the guide tape GT, and the bit number of the rightmost detection head is “43”. Therefore, the position data Rd is “29”, which is the value at the center of the bit number.
Rd = 43-14
= 29

FIG. 7 is a plan view illustrating an example of the unmanned vehicle 21 including the position detection sensor 1 and a guide tape GT that is a travel path.
As shown in FIG. 7, the guide tape GT has a straight path 31 and a left branch path 32 and a right branch path 33 that are continuous with the straight path 31. The straight path 31 crosses the iron plate I provided on the floor surface substantially vertically. As described above, when the guide tape GT crosses the iron plate I, the magnetic flux density distribution spreads as if the width of the guide tape GT is widened due to the iron plate I.

  In a place away from the iron plate I, as shown in FIG. 6, the bit number of the leftmost detection head is “15” and the bit number of the rightmost detection head is “43”. However, since the magnetic flux density distribution is widened on the iron plate I, for example, the bit number of the leftmost detection head is “13” and the bit number of the rightmost detection head is “45”.

At this time, the position data Ld in the left branch mode is “27” from the expression (1).
Ld = Ln + Lo
= 13 + 14
= 27
Actually, since the position detection sensor 1 (unmanned vehicle 21) is not displaced in the left-right direction, the correct position data Ld is “29”. However, if the position data Ld is “27” when calculated by the expression (1), the position with respect to the guide tape GT is erroneously detected. That is, the detected position is shifted to the right side from the actual position. The unmanned vehicle 21 performs drive control based on the erroneously detected position, and travels on the travel locus Le displaced to the left from the center in the width direction of the guide tape GT.

On the other hand, the position data Rd in the right branch mode is “31” from the expression (2).
Rd = Rn-Ro
= 45-14
= 31
As a result, when the right branch mode is set, the detected position is shifted to the left side from the actual position. The unmanned vehicle 21 performs drive control based on the erroneously detected position, and travels on the travel locus Re displaced to the right side from the center in the width direction of the guide tape GT. Therefore, in the straight traveling mode of the present embodiment described below, erroneous detection as described above is avoided.

Next, calculation of position data corresponding to the straight traveling mode will be described.
In the straight running mode, attention is paid to both end portions of the guide tape GT. That is, the detection signal generation unit 13 generates position data by adding the bit number Rn of the rightmost detection head to the bit number Ln of the leftmost detection head and halving it. Therefore, the position data Sd in the straight traveling mode is calculated from the following equation.
Sd = (Ln + Rn) / 2 (3)

  That is, the position data in the straight traveling mode is obtained by averaging the position data Ld in the left branch mode and the position data Rd in the right branch mode. Accordingly, the position data in the straight-ahead mode indicates the position of the center of the bits that are turned on.

FIG. 8A is an explanatory diagram illustrating a second example of the detection bit pattern generated based on the outputs of the mounting heads H1 to H15 and the virtual head.
In the example shown in FIG. 8A, the bit number Ln of the leftmost detection head is “30”, and the bit number Rn of the rightmost detection head is “36”. Therefore, the number of bits turned on is 7.

At this time, the position data Sd in the straight traveling mode is “33” from the expression (2).
Sd = (Ln + Rn) / 2
= (30 + 36) / 2
= 33

FIG. 8B is an explanatory diagram illustrating a third example of the detection bit pattern generated based on the outputs of the mounting heads H1 to H15 and the virtual head.
In the example shown in FIG. 8B, the bit number Ln of the leftmost detection head is “12”, and the bit number Rn of the rightmost detection head is “19”. Therefore, the number of bits turned on is 8.

At this time, the position data Sd in the straight traveling mode becomes “15.5” from the expression (2).
Sd = (Ln + Rn) / 2
= (12 + 19) / 2
= 15.5

  As described above, even when the magnetic flux density distribution is widened or narrowed, the position data Sd in the straight-ahead mode indicates the center position of the turned-on bits, that is, the center in the width direction of the guide tape GT. It has become. Therefore, it is possible to prevent erroneous detection of the position with respect to the guide tape GT, and accurate position detection can always be performed.

  The detection signal generation unit 13 converts the calculated position data into a position detection signal by adding table conversion and offset, and transmits the position detection signal to the D / A converter 5. The D / A converter 5 converts the position detection signal into a step-like analog voltage and outputs it to the drive control unit of the unmanned vehicle 21 via the output terminal 6.

  According to the position detection sensor 1 of the present embodiment, the virtual output calculation unit 11 calculates the output of the virtual head arranged between the adjacent mounting heads. That is, a virtual head that does not actually exist is provided between adjacent mounting heads. Then, the leftmost detection element determination unit 12 determines the leftmost detection head and the rightmost detection head among all mounting heads and virtual heads. Thereafter, a position detection signal indicating position information of the guide tape GT is generated based on the bit numbers (positions) of the leftmost end detection head and the rightmost end detection head.

  As a result, the resolution of the output (position detection signal) can be increased without increasing the number of mounting heads, and the unmanned vehicle 21 can be controlled with high accuracy. Further, the number of mounting heads can be reduced, and power consumption and cost can be reduced.

  According to the position detection sensor 1 of the present embodiment, the output of the virtual head is calculated by linear interpolation (linear interpolation). Therefore, the output of the virtual head can be obtained by a simple calculation, and the program for calculating the output of the virtual head can be simplified.

  The embodiment of the position detection sensor according to the present invention has been described above including its effects. However, the position detection sensor of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention described in the claims.

  For example, in the above-described embodiment, the virtual output calculation unit 11, the endmost detection element determination unit 12, and the detection signal generation unit 13 are realized by software. However, the virtual output calculation unit and the endmost detection element determination according to the present invention are performed. The unit and the detection signal generation unit can also be realized by hardware.

  In the above-described embodiment, 15 mounting heads (mounting detection elements) are provided. However, as the position detection device of the present invention, at least three mounting heads may be provided. In the above-described embodiment, the output of the virtual head is calculated by linear interpolation. However, the output of the virtual head can be calculated by other interpolation methods such as polynomial interpolation, spline interpolation, and Lagrange interpolation.

  In the embodiment described above, a magnetic detection element is used as the mounting head (mounting detection element). However, as the mounting detection element according to the present invention, other detection elements that can detect the travel path can be adopted, such as a light detection element and a temperature detection element, corresponding to the configuration of the travel path.

  In the above-described embodiment, the detection signal generation unit 13 generates the position detection signal based on the bit numbers of the leftmost detection head and the rightmost detection head. However, the detection signal generation unit according to the present invention may generate a position detection signal by converting the position detection bit pattern information generated by the endmost detection element determination unit 12 into a parallel signal. In this case, the drive control unit of the unmanned vehicle 21 controls the position of the unmanned vehicle 21 in the left-right direction based on the position detection bit pattern information.

  DESCRIPTION OF SYMBOLS 1 ... Position detection sensor, 2 ... Analog-digital converter (analog-digital conversion means), 3 ... Control circuit, 4A, 4B ... Mode switching input terminal, 5 ... Digital-analog converter (digital-analog conversion means), DESCRIPTION OF SYMBOLS 6 ... Output terminal, 11 ... Virtual output calculation part, 12 ... Endmost detection element determination part, 13 ... Detection signal generation part, 21 ... Unmanned vehicle, 31 ... Straight road, 32 ... Left branch road, 33 ... Right branch road, GT ... guide tape, H1-H15 ... mounting head (mounting detection element), VHa1-VHa3, VHb1-VHb3 ... virtual head, t ... threshold

Claims (4)

At least three or more mountings for detecting a magnetic body of a guide tape that is arranged at a predetermined interval in the width direction of the traveling path of the self-propelled unmanned vehicle and is made of a magnetic body provided along the traveling path A magnetic sensing element;
A virtual output calculation unit that calculates, by interpolation, outputs of a plurality of virtual magnetic detection elements arranged between adjacent mounting magnetic detection elements based on the output results of the at least three mounting magnetic detection elements;
Of the three or more mounted magnetic detection elements and the plurality of virtual magnetic detection elements, the leftmost magnetic detection element located at the leftmost end with an output equal to or greater than a predetermined threshold, and an output equal to or greater than the threshold An outermost magnetic detection element determination unit for determining the rightmost magnetic detection element located at the right end;
A detection signal generation unit that generates a position detection signal indicating position information of the travel path based on the position of the leftmost magnetic detection element or the rightmost magnetic detection element;
The virtual output calculation unit scans the three or more mounted magnetic detection elements from left to right, and based on the outputs of the two mounted magnetic detection elements that switch across the left end of the guide tape, The output of the detection element is calculated to extract the leftmost magnetic detection element, and the plurality of virtual magnetism is based on two mounting magnetic detection elements in which the output of the mounting magnetic detection element switches across the right end of the guide tape. The output of the detection element is calculated, or the three or more mounting magnetic detection elements are scanned from right to left, and the plurality of mounting magnetic detection elements are switched based on the outputs of the two mounting magnetic detection elements switching across the right end of the guide tape. The output of the virtual magnetic detection element is calculated to extract the rightmost magnetic detection element, and the output of the mounted magnetic detection element is cut across the left end of the guide tape. Calculating an output of said plurality of virtual magnetic detecting element based on Waru two mounting magnetic sensing element,
The detection signal generation unit generates the position detection signal based on the position of the leftmost magnetic detection element when traveling along the left branch path on the travel path, and outputs the position detection signal to the right branch path on the travel path. A position detection sensor that generates the position detection signal based on the position of the rightmost magnetic detection element when traveling along the position detection sensor. The position detection sensor according to claim 1, wherein the virtual output calculation unit calculates outputs of the plurality of virtual magnetic detection elements by equally dividing a difference between outputs of adjacent mounting magnetic detection elements. The position detection sensor according to claim 1, further comprising an A / D conversion unit that converts an analog voltage output from the at least three mounting magnetic detection elements into a digital signal. The position detection sensor according to claim 1, further comprising D / A conversion means for converting the position detection signal into an analog voltage.

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