JPH01211107A - Marker for detecting position - Google Patents

Abstract

PURPOSE:To facilitate the position detection of a different place by providing a marker for an orbit, for checking digits and for a code detected at a sensor loaded on a vehicle and changing the digit of a code for a place such as a stop, a slow-moving, a right turn and a left turn. CONSTITUTION:Two markers 12 for a width (p) digit wider than a width W of a marker 11 for an orbit orthogonal in a traveling direction (arrow) of a vehicle are provided at a prescribed interval (l). Here, when the vehicle is traveled at a constant speed on the markers 12, two loaded sensors detect a marker position and two sensor signals are outputted. A sensor output a1 on an A-A' of the wide markers 12 is larger than a sensor output b1 on a B-B' of the marker 11. The sensor output of the markers 12 is converted to a digital value, a time interval T is detected, and the sampling signal of a T/2 is formed by a clock generator. When a signal from markers 13a and 13b for a code provided after the marker 12 with this sampling signal is sampled and a desired code signal is obtained. The pattern of the markers 13a and 13b is changed to a place and detected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a position detection marker, and more particularly to a position detection marker for guiding an automatic guided vehicle used in factory automation and the like.

[Conventional technology]

In recent years, automatic transport systems using automatic guided vehicles have been constructed in FA systems and the like. The guiding paths used in this system include an electromagnetic induction method in which a current is passed through the wire and generates a magnetic field, a magnetic induction method in which ferrite, ASOORPHUS, etc. are used, and an optical method in which reflective tape is used. The magnetic induction method is superior in terms of reliability, cost, and reliability.

When using this magnetic induction method, a magnetic sheet is generally spread on the floor to form the trajectory of the transport vehicle, and a separate marker for position/detection is provided to recognize the stopping location and operate the system. Ta.

[Problem to be solved by the invention]

In the conventional position detection marker described above, since the magnetic sheet is formed of one width, it is not possible to identify a specific location when the conveyance vehicle is traveling along the taxiway. However, there is a problem in that it is not possible to stop the transport vehicle at a specific location or to perform the required functions.

[Means to solve the problem]

The position detection marker of the present invention includes a magnetic sensor mounted on a transport vehicle, a track marker that is detected by the magnetic sensor and has a first part that guides the transport vehicle, and a track marker that is perpendicular to the track marker at a predetermined interval. The present invention is characterized in that it has a digit marker and a code marker that are wider than the first width provided.

[Effect]

The position detection marker of the present invention is provided with two wide magnetic markers for check digits indicating that code signals are generated at predetermined intervals. This magnetic marker is detected by a sensor mounted on a conveyance vehicle, and signals such as rl, Olj, etc. are sequentially output. The continuously occurring sensor output signal is then sampled by detecting the position of the positionally encoded magnetic marker at the time intervals during which this signal occurs.

This results in a coded signal of several bits representing position information. By changing the digits of this code for each location such as a stop or a departure, it is possible to detect the location of a number of different locations determined by the number of bits.

〔Example〕

Next, the present invention will be explained with reference to the drawings.

Figure 1 (a), (b) and Figure 2 (a), (b)
) is a plan view of the first and second embodiments of the present invention, and FIG.
a), (b) and Fig. 4 (a), (b) are the first
and a signal waveform diagram for explaining the second embodiment, and FIG. 5 is a correlation diagram showing the relationship between sensor position deviation and output voltage for explaining the present embodiment.

Figure 1 (a), (b) and Figure 3 (a), (b)
), the first embodiment will be described. The transport vehicle is stopped at the magnetic sheet track marker 11 provided in a straight line.

A magnetic sheet digit marker 12 and code markers 13a and 13b are provided to be used for checking to recognize where to decelerate, turn right, turn left, etc.

Track marker 11 perpendicular to the traveling direction (arrow) of the transport vehicle
Two p-digit markers 12, each having a width wider than the width W, are provided at a predetermined interval l. It is sufficient that the width p is at least two to three times the width W.

When the conveyance vehicle runs at a constant speed over the digit marker 12, two sensors mounted on the conveyance vehicle (their position interval is approximately equal to the width W of the track marker 11) detect the marker position, and as shown in FIG. Two sensor signals as shown in (a) and (b) are output.

The sensor detects the amount of deviation in the stone magnetic field distribution disturbed by the marker when traveling over the marker, and the amount of deviation is determined by the integral amount of deviation of the magnetic field distribution in the width direction. The wider the signal, the greater the amount of disturbance, which increases and outputs the signal shown in FIG.

That is, the sensor output a1 on AA/ of the wide digit marker 12 is also larger than the sensor output b1 on BB' of the trajectory marker 11.

When the sensor output from the digit marker 12 is converted into a digital value, it becomes rl 01J.The time interval T of this output is detected, and a sampling link signal with a period half of this T is generated by an external clock generator. . A code marker 13a is provided after the digital marker 12 for this sampling signal.

If the signal obtained from 13b is sampled, the desired code signal (Fig. 3(a)
roololJ) can be obtained. The number of bits representing this code signal is shown as 5 bits as an example, but it can be increased or decreased as desired.

By changing the pattern of the coat markers 13a and 13b for each predetermined location, a code signal for each box corresponding to the number of bits can be obtained. This makes it possible to reliably recognize that the location is a predetermined location, and it is possible to determine the location, which is not possible with conventional methods. Furthermore, these markers can be constructed easily and inexpensively by pasting together magnetic sheets.

Next, FIG. 2(a) shows a second embodiment of the present invention.

This will be explained with reference to FIG. 4(b) and FIGS. 4(a) and 4(b).

One of the digit markers 12' is connected to the code marker 13a.
, 13b are also large so that digit signals and code signals can be clearly distinguished.

When the conveyance vehicle runs at a constant speed on the digit markers 12' (two markers are provided at a predetermined interval l), as shown in FIG. 4(a),
A sensor signal as shown in (b) is output. This signal is detected by a comparator and used for checking) rlo
At the same time as identifying that it is lj, the time interval T between the sensor outputs is detected, and a sampling signal is generated at a period half of this T.

With this sampling signal, the digit marker 12'
By sampling the signals obtained from the code markers 13a and 13b provided after the code marker (the width of the code marker is narrower than that of the digit marker, the signal from the code marker is smaller), the desired coded signal ( In FIG. 4(a), rollolJ is obtained, and in FIG. 4(b), roololJ is obtained.This makes it possible to reliably recognize that the position is at the predetermined position.

Such a position detection means eliminates the need for a special sensor or a device for obtaining a special counting function such as counting markers, making it possible to realize a flexible traveling system. It should be noted that by providing a digit marker as a self-control of a code marker, it is also possible to cope with the case where the conveyance vehicle is run from both directions.

〔Effect of the invention〕

As explained above, the present invention provides markers for tracks, check digits, and codes that are detected by sensors mounted on a conveyance vehicle, and enables necessary functions such as stopping, slowing down, turning right, turning left, etc. to recognize a specific position. This has the effect of making it easier to perform.

[Brief explanation of the drawing]

Figure 1 (a), (b) and Figure 2 (a), (b)
) is a plan view of the first and second embodiments of the present invention, and FIG.
a), (b) and Fig. 4 (a), (b) are the first
and a signal waveform diagram for explaining the second embodiment, and FIG. 5 is a correlation diagram showing the relationship between sensor position deviation and output voltage for explaining the present embodiment. 11... Trajectory marker, 12.12'... Digit marker, 13a, 13b... Code marker. Agent Patent Attorney Susumu Uchihara 1st Reigen 1 Naobino: 2 vl! Ha) Kaya 2 UIl(6
) 011θ1 θatot 5th vgJ 7C Sukoron difference

Claims (1)

[Claims] a track marker having a magnetic sensor mounted on a transport vehicle; a track marker having a first width detected by the magnetic sensor to guide the transport vehicle; and the first width provided at a predetermined interval orthogonal to the track marker. A position detection marker characterized by having a wider digit marker and a code marker.