JP6412739B2 - Position detecting device and moving device provided with the same - Google Patents

Description

  The present invention relates to a position detection device and a moving device including the position detection device.

  Patent Document 1 discloses a conventional position detection device and a moving device including the same. The position detection device provided in the moving device employs a mark reader, a proximity sensor, or an optical sensor. When a mark reader is adopted as the position detection device, a magnetic mark plate installed on the installation surface can be detected. Moreover, when a proximity sensor is employ | adopted for a position detection apparatus, the iron plate installed in the installation surface can be detected. Furthermore, when an optical sensor is employed in the position detection device, it is possible to detect a reflector installed on the installation surface.

JP 2001-5526 A

However, when the mark reader disclosed in Patent Document 1 is adopted in the position detection device, the distance between the magnetic mark plates cannot be increased when a large number of magnetic mark plates are arranged on the installation surface at predetermined intervals. The cost of installing on the installation surface increases. Further, since the mark reader detects a magnetic mark using a threshold value of magnetic force, there is a possibility that it cannot be detected accurately if the distance in the height direction from the magnetic mark varies. For this reason, it is difficult to apply a position detection device that employs a mark reader to a moving device that moves on a moving surface with unevenness, such as outdoors.
Further, when the proximity sensor is employed in the position detection device, since the iron plate is detected using eddy current, the distance in the height direction between the installation surface and the proximity sensor cannot be increased. For this reason, it is difficult to apply a position detection device that employs a proximity sensor to a moving device that moves on a moving surface with unevenness, such as outdoors.
Further, when the optical sensor is employed in the position detection device, if the reflection plate is installed outdoors, the reflection plate may be hidden by soil, rain, snow, or the like and cannot be detected. For this reason, it is difficult to apply a position detection device employing an optical sensor to a moving device that moves outdoors.

  The present invention has been made in view of the above-described conventional situation, and a position detection device capable of accurately detecting a position without being affected by weather, unevenness of an installation surface, and the like, and a moving device including the position detection device Providing is an issue to be solved.

The position detection device of the present invention is a position detection device that detects the installation position of a magnetic body having a shape that is isotropic in the direction in which the installation surface spreads while being installed on the installation surface,
Three or more magnets arranged at the same height from the installation surface , and a sensor having a load cell for detecting the magnetic force that each of the magnets acts on the magnetic body;
And an arithmetic unit that identifies an installation position of the magnetic body based on each magnetic force detected by the sensor.

  In this position detection device, a sensor having three or more magnets detects a magnetic force acting on the magnetic body of each magnet, and an arithmetic unit specifies the installation position of the magnetic body based on each magnetic force. Thus, since this position detection apparatus detects the installation position of the magnetic body installed on the installation surface using the magnet, it is not affected by soil, rain, snow, or the like. In addition, since this position detection device identifies the installation position of the magnetic body based on the magnetic force acting on the magnetic body of each of the three or more magnets, even if the distance in the height direction between the magnetic body and the magnet varies. The installation position of the magnetic body can be detected with high accuracy.

  Therefore, the position detection device of the present invention can accurately detect the position without being affected by the weather or the unevenness of the installation surface.

Further, the moving device according to the present invention is provided with a plurality of position detecting devices that are installed on a moving surface along a moving path and detect a magnetic body having an isotropic shape in a direction in which the moving surface is spread in the installed state. Equipment,
And a movement control device for instructing movement in a direction for correcting a deviation between the installation position and the movement position of each of the magnetic bodies detected by the position detection device.

  In this moving device, the position detection device accurately detects the position without being affected by the weather or the unevenness of the moving surface, and the movement control device instructs to move in a direction to correct the deviation between the installation position of the magnetic material and the moving position. Therefore, it is possible to move along the set movement route.

It is the schematic which shows the moving apparatus of Example 1. FIG. It is the schematic which shows the position detection apparatus of Example 1. FIG. (A) The graph which shows the profile of magnetic force, (B) It is the schematic which shows the relationship between a magnet, a virtual circle, and an iron plate. It is the schematic which shows the virtual circle with respect to each of three magnets, and the center position of an iron plate. It is the schematic which shows the virtual circle with respect to each of three magnets, three virtual straight lines, and the center position of an iron plate.

  A preferred embodiment of the present invention will be described.

The position detection apparatus of the present invention includes a storage device that stores a profile of magnetic force acting on the magnetic body of the magnet,
The arithmetic unit superimposes a distance from each magnet specified from the reference profile and the magnetic force detected by the sensor to the center of the magnetic body, and the center of the magnetic body installed at the installation position The position can be specified.

  In this case, since the position detection device specifies the center position of the magnetic body using the magnetic force profile acting on the magnetic body of the magnet, the magnetic body does not change even if the height interval between the magnetic body and the magnet varies. The center position of can be detected with high accuracy.

  In the position detection device of the present invention, the arithmetic unit assumes three or more virtual circles having a radius to the center of the magnetic body specified for each of the magnets. Select individual circles into multiple groups, assume virtual lines connecting the intersections of two circles in each group, and install intersections where the virtual lines assumed in each group intersect at the installation position The center position of the magnetic body can be specified.

  In this case, the center position of the magnetic body can be accurately detected even if the sensor error or the height-direction interval between the magnetic body and the magnet fluctuates.

  Next, a first embodiment in which the moving device 10 including the position detection device 30 of the present invention is embodied will be described with reference to the drawings.

<Example 1>
The moving device 10 including the position detecting device 30 according to the first embodiment can automatically move along a moving path regardless of whether it is indoors or outdoors. As shown in FIG. 15, a driving device 17, a movement control device 19, and a position detection device 30.

  The moving surface R on which the moving device 10 moves is provided with a plurality of circular flat steel plates 50 (magnetic bodies) having the same shape at appropriate intervals along the moving path. The iron plate 50 is installed so that the front and back surfaces are parallel to the moving surface R so that the iron plate 50 is isotropic in the direction in which the moving surface R extends in a state where the iron plate 50 is installed on the moving surface R (installation surface). .

  The driving device 17 drives each wheel 15 based on the movement instruction signal received from the movement control device 19. The movement control device 19 generates a movement instruction signal for driving the wheel 15 so as to correct the deviation between the center position 50C of the iron plate 50 received from the position detection device 30 and the movement direction of the movement device 10, and sends the movement instruction signal to the driving device 17. Send.

  The position detection device 30 includes a sensor 31 and a central processing unit 33 as shown in FIG. The sensor 31 includes three sensor units S1, S2, and S3. The central processing unit 33 includes a storage device 35 and an arithmetic device 37.

  Each sensor unit S1, S2, S3 has permanent magnets M1, M2, M3, a support bar 41, a weight 43, a bearing portion 45, and a load cell 47. Each permanent magnet M1, M2, M3 has the same magnetic characteristics. Each support bar 41 holds the permanent magnets M1, M2, M3 at one end, and holds a weight 43 at the other end. The bearing portion 45 pivotally supports an intermediate portion of the support rod 41 so as to be rotatable. In the load cell 47, when the permanent magnets M1, M2, and M3 are attracted to the iron plate 50 installed on the moving surface R and the support bar 41 is tilted with the bearing portion 45 as an axis, the detection unit 47A of the load cell 47 receives the support bar 41 from the load cell 47. It is attached to the lower surface of the main body 13 of the moving apparatus 10 so that a part contacts. Further, the distance between the weight 43 and the bearing portion 45 can be adjusted, and the output of the load cell 47 is adjusted to zero in a state where the permanent magnets M1, M2, M3 are not attracted to the iron plate 50.

  The sensor 31 is configured so that the three permanent magnets M1, M2, and M3 incorporated in the three sensor units S1, S2, and S3 are positioned at the apexes of the triangle (see FIG. 1). S <b> 2 and S <b> 3 are attached to the lower surface of the main body 13 of the moving device 10. In a state where each sensor unit S1, S2, S3 is attached to the lower surface of the main body 13 of the moving device 10, the permanent magnets M1, M2, M3 of each sensor unit S1, S2, S3 have the same height with respect to the moving surface R. Placed in. That is, the three permanent magnets M1, M2, M3 attached to the lower surface of the main body 13 of the moving device 10 have the same height (interval in the height direction with the iron plate 50) with respect to the iron plate 50 installed on the moving surface R. Are the same). The sensor 31 configured as described above can detect each magnetic force acting on the iron plate 50 in which the three permanent magnets M1, M2, and M3 are installed on the moving surface R.

  The change in magnetic force when the permanent magnets M1, M2, M3 move at a set height above the iron plate 50 installed on the moving surface R (the magnetic force profile P acting on the permanent magnet iron plate 50) is shown in FIG. As shown to (A), it is convex upwards and draws the parabolic curve which makes the center position 50C of the iron plate 50 a vertex. The storage device 35 stores the profile P approximated by a quadratic function. Moreover, if this profile P is an iron plate of the same shape, it shows substantially the same contour. Therefore, the storage device 35 does not need to store a profile for each of the plurality of iron plates 50 installed on the moving surface R, and stores one profile P assuming the iron plate 50 installed on the moving surface R. Just keep it.

  When the magnetic force f acting on the iron plate 50 of each permanent magnet M1, M2, M3 detected by the sensor 31 of the position detection device 30 is applied to the magnetic force profile P stored in the storage device 35, the center position of the permanent magnet M and the iron plate 50 is determined. The distance r from 50C can be specified. That is, if the sensor 31 of the position detection device 30 detects the magnetic force f, the center position 50C of the iron plate 50 exists on the circumference of the virtual circle C having a radius r from the permanent magnet M.

  As shown in FIG. 4, the arithmetic device 37 is specified from the profile P stored in the storage device 35 and the magnetic force that the three permanent magnets M 1, M 2, M 3 detected by the sensor 31 act on the iron plate 50. Assume three virtual circles C1, C2, and C3 having radiuses r1, r2, and r3 from the permanent magnets M1, M2, and M3 to the center position 50C of the iron plate 50 as radii. If there is no error of the sensor 31, these three virtual circles C1, C2, C3 intersect at one point. This intersection X becomes the center position 50C of the iron plate 50 installed on the moving surface R. Thus, the position detection device 30 can specify the center position 50C of the iron plate 50 installed on the moving surface R.

  On the other hand, if the distance between the permanent magnets M1, M2, M3 and the iron plate 50 in the height direction varies due to the unevenness on the moving surface R, the magnetic force is inversely proportional to the square of the distance, so the three virtual circles C1 , C2, C3 do not intersect at one point. Even if an error occurs in the sensor 31, the three virtual circles C1, C2, and C3 do not intersect at one point. In this case, as shown in FIG. 5, two circles are selected from the three virtual circles C1, C2, and C3 to form three pairs, and virtual points obtained by connecting the intersections of the two virtual circles in each pair. Assume straight lines L1, L2, and L3. If the three virtual straight lines L1, L2, L3 assumed in each set intersect at one point, the intersection Y is specified as the center position 50C of the iron plate 50 installed on the moving surface R. Although not shown, when the three virtual straight lines L1, L2, and L3 do not intersect at one point, but intersect at three points, the center of gravity of the triangle having these three points as vertices is placed on the moving plane R The center position 50C of the iron plate 50 is specified. As described above, the position detection device 30 accurately detects the center position 50C of the iron plate 50 even if the error of the sensor 31 or the distance between the iron plate 50 and the permanent magnets M1, M2, M3 varies in the height direction. can do.

  Since the position detection device 30 having such a configuration detects the installation position of the iron plate 50 installed on the moving surface R using the permanent magnets M1, M2, and M3, the influence of soil, rain, snow, and the like is exerted. I do not receive it. Further, the position detection device 30 specifies the installation position of the iron plate 50 based on the magnetic force acting on the iron plate 50 of each of the three permanent magnets M1, M2, M3. Even if the distance in the height direction from M3 varies, the installation position of the iron plate 50 can be detected with high accuracy.

  Therefore, the position detection device 30 according to the first embodiment can accurately detect the position without being affected by the weather or the unevenness of the moving surface.

  In particular, the position detection device 30 uses the magnetic force profile P acting on the iron plates 50 of the permanent magnets M1, M2, and M3 to specify the center position 50C of the iron plate 50, so that the iron plate 50 and the permanent magnets M1, M2, and so on. The center position 50C of the iron plate 50 can be detected with high accuracy even if the distance in the height direction from M3 varies.

  In the moving device 10 provided with such a position detecting device 30, the position detecting device 30 accurately detects the position without being affected by the weather, unevenness of the moving surface R, etc., and the movement control device 19 sets the position of the iron plate 50. Since the movement is instructed in the direction of correcting the deviation between the movement position and the movement position, the movement can be made along the set movement route.

The present invention is not limited to the first embodiment described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.
(1) In Example 1, the sensor of the position detection apparatus has three magnets, but may have four or more magnets. In this case, the installation position (center position) of the iron plate can be specified more accurately.
(2) In Example 1, the magnetic body installed on the moving surface (installation surface) was a circular flat iron plate, but isotropic in the direction in which the travel surface (installation surface) expanded in the installed state. As long as it has a shape, it may be spherical, hemispherical, or the like. Moreover, if it is a magnetic body, it may not be an iron plate.
(3) In the first embodiment, one profile is stored in the storage device. However, a profile for each iron plate installed on the moving surface may be stored and used for specifying the installation position of each iron plate. .
(4) In Example 1, the sensor was configured using three sensor units having a permanent magnet, a support rod, a weight, a bearing portion, and a load cell. Other configurations may be used.
(5) The moving device is suitable for an outdoor transfer device used outdoors.

DESCRIPTION OF SYMBOLS 10 ... Movement apparatus 19 ... Movement control apparatus 30 ... Position detection apparatus 31 ... Sensor 35 ... Memory | storage device 37 ... Arithmetic unit
47 ... Load cell 50 ... Iron plate (magnetic material)
50C: Center position of iron plate (magnetic material) R ... Moving surface (installation surface)
M1, M2, M3 ... Permanent magnets (magnets)
P ... Profile C, C1, C2, C3 ... Virtual circle L1, L2, L3 ... Virtual straight line Y ... Intersection of virtual straight lines

Claims (4)

A position detection device that detects an installation position of a magnetic body having a shape that is isotropic in the direction in which the installation surface spreads in a state of being installed on the installation surface,
Three or more magnets arranged at the same height from the installation surface , and a sensor having a load cell for detecting the magnetic force that each of the magnets acts on the magnetic body;
A position detection device comprising: an arithmetic device that specifies an installation position of the magnetic body based on each magnetic force detected by the sensor. A storage device for storing a profile of magnetic force acting on the magnetic body of the magnet;
The arithmetic unit superimposes a distance from each magnet specified from the profile and the magnetic force detected by the sensor to the center of the magnetic body, and a center position of the magnetic body installed at the installation position The position detection device according to claim 1, wherein:   The arithmetic unit assumes three or more virtual circles having a radius to the center of the magnetic body specified for each magnet, and selects two circles from each of these circles. Assuming a virtual straight line connecting the intersections of the two circles in each group, the center position of the magnetic body installed at the installation position at the intersection where the virtual straight line assumed in each group intersects The position detection device according to claim 2, characterized in that: 4. The magnetic material according to claim 1, wherein a plurality of magnetic bodies are installed on a moving surface along a moving path, and a magnetic body having an isotropic shape is detected in a direction in which the moving surface is spread in the installed state. A position detection device;
A movement device comprising: a movement control device that instructs movement in a direction to correct a deviation between the installation position of each magnetic body detected by the position detection device and the movement direction.

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