JPH0327929B2 - - Google Patents
Info
- Publication number
- JPH0327929B2 JPH0327929B2 JP58053302A JP5330283A JPH0327929B2 JP H0327929 B2 JPH0327929 B2 JP H0327929B2 JP 58053302 A JP58053302 A JP 58053302A JP 5330283 A JP5330283 A JP 5330283A JP H0327929 B2 JPH0327929 B2 JP H0327929B2
- Authority
- JP
- Japan
- Prior art keywords
- induction coil
- guided vehicle
- metal
- automatic guided
- taxiway
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000006698 induction Effects 0.000 claims description 36
- 239000002184 metal Substances 0.000 claims description 26
- 238000001514 detection method Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 239000004020 conductor Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- BZHJMEDXRYGGRV-UHFFFAOYSA-N Vinyl chloride Chemical compound ClC=C BZHJMEDXRYGGRV-UHFFFAOYSA-N 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
本発明は無人搬送車の誘導路に係り、特に金属
センサ方式を用いた無人搬送車の誘導路の切換に
好適な分岐部構造に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a guideway for an automatic guided vehicle, and more particularly to a branch structure suitable for switching the guideway for an automatic guided vehicle using a metal sensor method.
金属センサ方式の誘導の原理を第１図乃至第４
図に示す。 The principle of guidance using the metal sensor method is shown in Figures 1 to 4.
As shown in the figure.
車体１に金属センサ２が車輪３の操舵角に比例
して可動するように取付けられてある。地上には
路床４上に金属帯５が車両の走行方向に沿つて配
設されている。金属センサ２の動作原理図は第３
図に示すように、金属帯５の直上に一定高さ離し
て、一対の検出コイル６ａ，６ｂが配され、イン
ピーダンス素子７ａ，７ｂとブリツヂを構成し、
発振器８で図の如く課電すると、ブリツヂの不平
衡分が検出装置９に現われる。もし、金属帯５の
中心が、一対の検出コイル６ａ，６ｂの中心に一
致したとき検出装置９の出力電圧VDがＯになる
ようにインピーダンス素子７ａ，７ｂを調整して
おくと、金属帯５と検出コイル６ａ，６ｂの相対
位置づれＸによつて、ブリツヂの平衡がくずれ、
第４図の曲線で示すような出力電圧VDを発生す
る。この曲線より、ブリツヂの出力がＯになるよ
うにサーボモータなどの手段によつて車輪３の操
舵角を制御すれば、車体１を金属帯５に沿つて走
行させることができる。 A metal sensor 2 is attached to a vehicle body 1 so as to be movable in proportion to the steering angle of a wheel 3. On the ground, a metal band 5 is arranged on a roadbed 4 along the running direction of the vehicle. The operating principle diagram of metal sensor 2 is shown in the third diagram.
As shown in the figure, a pair of detection coils 6a and 6b are arranged directly above the metal band 5 and spaced apart from each other by a certain height, forming a bridge with impedance elements 7a and 7b.
When the oscillator 8 applies electricity as shown in the figure, the unbalanced portion of the bridge appears on the detection device 9. If the impedance elements 7a and 7b are adjusted so that the output voltage V D of the detection device 9 becomes O when the center of the metal band 5 coincides with the center of the pair of detection coils 6a and 6b, the metal band 5 and the detection coils 6a, 6b, the balance of the bridge is disrupted,
An output voltage V D as shown by the curve in FIG. 4 is generated. Based on this curve, if the steering angle of the wheels 3 is controlled by means such as a servo motor so that the output of the bridge becomes O, the vehicle body 1 can be made to travel along the metal band 5.
ところで、無人搬送車の誘導路を分岐させて走
行させる場合、金属帯５を第５図のように敷設す
ると無人搬送車はＡ方向に進行すべきか、Ｂ方向
に曲るべきかが判断出来ないので、あらかじめ無
人搬送車になんらかの情報を与えておかなければ
ならない欠点がある。 By the way, when the automatic guided vehicle is run on a branched guideway, if the metal strip 5 is laid as shown in Fig. 5, it is not possible to determine whether the automatic guided vehicle should proceed in direction A or turn in direction B. Therefore, there is a drawback that some information must be given to the automatic guided vehicle in advance.
本発明は上記の欠点を除去するもので、誘導路
の任意の方向に切換走行させることができる分岐
部構造を提供するものである。 The present invention eliminates the above-mentioned drawbacks and provides a branching structure that allows the taxiway to run in any direction.
本発明は、誘導路の分岐部に分岐方向へ誘導コ
イルを敷設し、かつ、該誘導コイルに誘導コイル
のループを開閉する接点を設けたことを特徴とす
るものである。 The present invention is characterized in that an induction coil is installed at a branch part of a guide path in the direction of the branch, and that the induction coil is provided with a contact that opens and closes a loop of the induction coil.
本発明の実施例における基本構成を第６図に示
す。 The basic configuration of an embodiment of the present invention is shown in FIG.
６ａ，６ｂは無人搬送車の金属センサ２として
車体１に取付けられている検出コイルであり、路
床４に金属帯５を代えて誘導コイル１０を敷設し
た状態のそれぞれａ正面図、ｂ平面図を示してお
り、矢印のように進むとして、検出コイル６ａ，
６ｂの進行方向長さをPYとし、巾方向長さをPX
とし、その地上高さをＨとし、金属帯５に代わる
誘導コイル１０の進行方向長さをSY、巾方向長
さをSXとして実施例ではPY＝60、PX＝100、
SX＝80、SY＝300、Ｈ＝50（mm）とした。検出コ
イル６ａ，６ｂはそれぞれエナメル線を100ター
ン巻き、誘導コイル１０は塩化ビニル被覆線を３
ターン巻き、該誘導コイル１０のループを開閉す
るスイツチ１１を備えている。 6a and 6b are detection coils attached to the vehicle body 1 as the metal sensor 2 of the automatic guided vehicle, and a front view and b plan view respectively show a state where an induction coil 10 is installed on the roadbed 4 in place of the metal band 5. As shown in the figure, the detection coils 6a, 6a,
The length of 6b in the direction of travel is PY, and the length in the width direction is PX
The height above the ground is H, the length in the traveling direction of the induction coil 10 replacing the metal band 5 is SY, the length in the width direction is SX, and in the example, PY = 60, PX = 100,
SX=80, SY=300, and H=50 (mm). The detection coils 6a and 6b each have 100 turns of enamelled wire, and the induction coil 10 has 3 turns of vinyl chloride coated wire.
A switch 11 is provided to open and close the loop of the induction coil 10.
第７図は本発明の２方向へ分岐の場合の実施例
を示し、誘導コイル１０ａ，１０ｂはそれぞれ電
気的に分離した状態で設置し、各誘導コイル１０
ａ，１０ｂにはスイツチ１１ａ，１１ｂが取付け
られている。 FIG. 7 shows an embodiment of the present invention in which the induction coils 10a and 10b are electrically separated from each other.
Switches 11a and 11b are attached to a and 10b.
今、無人搬送車の車体１が金属帯５に沿つて矢
印の方向に進行して来るとし、スイツチ１１ａを
開、１１ｂを閉にしておくと、検出コイル６ａ，
６ｂは誘導コイル１０ａとは電磁的結合がないの
で、誘導コイル１０ｂとの電磁的結合によつて車
体１は右折し、金属帯５ｂ上に移行することにな
る。また、スイツチ１１ａを閉、１１ｂを開にす
れば車体１は左折する。このように、誘導コイル
１０ａ，１０ｂのスイツチ１１ａ，１１ｂの操作
によつて車体１の走行路を変えることが出来る。
尚、スイツチ１１ａ，１１ｂは２系統の選択スイ
ツチに統合することもできる。 Now, suppose that the vehicle body 1 of the automatic guided vehicle is moving along the metal band 5 in the direction of the arrow, and if the switch 11a is opened and the switch 11b is closed, the detection coil 6a,
Since 6b has no electromagnetic coupling with the induction coil 10a, the electromagnetic coupling with the induction coil 10b causes the vehicle body 1 to turn right and move onto the metal band 5b. Further, if the switch 11a is closed and the switch 11b is opened, the vehicle body 1 turns left. In this way, the travel path of the vehicle body 1 can be changed by operating the switches 11a, 11b of the induction coils 10a, 10b.
Note that the switches 11a and 11b can also be integrated into two systems of selection switches.
検出コイル６ａ，６ｂと誘導コイル１０ａ，１
０ｂとの電磁的結合の強さは高さＨを一定にした
場合、誘導コイルのターン数を複数にした方がよ
り効果的である。 Detection coils 6a, 6b and induction coils 10a, 1
For the strength of electromagnetic coupling with 0b, when the height H is constant, it is more effective to use a plurality of turns in the induction coil.
ところで、誘導コイル１０の長さ方向寸法SY
はあまり長くすると経済的でないばかりでなく、
自己インダクタンスが増加し、検出装置９から見
た感度を低下させる。車体１を分岐走行させるに
必要な長さは少くとも検出コイル６ａ，６ｂの進
向方向長さPY以上となるが、特に長くしたい場
合は誘導コイル１０を第８図または第９図のよう
な構成にすると良い。即ち、第８図では導体１０
１，１０２，１０３をはしご状に組み、その一辺
にスイツチ１１１，１１２，１１３を取付けれ
ば、３組の誘導コイル１０が並んだと同等とな
る。さらに第９図は導体１０１，１０２，１０３
を独立のコイル状に並べて、その各一辺にスイツ
チ１１１，１１２，１１３を取付けている。この
場合は誘導コイル１０として複数ターンを巻くこ
とができる。 By the way, the lengthwise dimension SY of the induction coil 10
Not only is it uneconomical to make it too long, but
The self-inductance increases, reducing the sensitivity seen by the detection device 9. The length required to make the vehicle body 1 run in a branching direction is at least the length PY of the detection coils 6a and 6b in the advancing direction, but if you want to make it particularly long, the induction coil 10 can be set as shown in Fig. 8 or 9. It is good to configure it. That is, in FIG. 8, the conductor 10
If the coils 1, 102, and 103 are arranged in the form of a ladder and the switches 111, 112, and 113 are attached to one side of the ladder, it will be equivalent to three sets of induction coils 10 lined up. Furthermore, FIG. 9 shows conductors 101, 102, 103.
are arranged in an independent coil shape, and switches 111, 112, and 113 are attached to each side. In this case, the induction coil 10 can be wound with a plurality of turns.
一方、誘導コイル１０の巾方向寸法SXは、金
属帯５で得られる第４図に示したVD−Ｙ曲線と
ほぼ同じ特性を得るためには金属帯５の巾と同じ
にするのか好ましいが、誘導コイル１０が１ター
ンの場合には検出コイル６ａ，６ｂとの電磁的結
合が小さいので、前記巾方向寸法SXは金属帯５
の巾より大きくする方が良好な結果が得られる。 On the other hand, it is preferable that the width direction dimension SX of the induction coil 10 be the same as the width of the metal band 5 in order to obtain almost the same characteristics as the VD-Y curve shown in FIG. 4 obtained with the metal band 5. When the induction coil 10 has one turn, the electromagnetic coupling with the detection coils 6a and 6b is small.
Better results can be obtained by making the width larger than the width of .
第１０図は第８図の変形例を示しており、Ｔ分
岐などでは車体１の最小回転半径が大きい場合に
直角に曲がることは出来ないので、適当な曲率半
径をもつ誘導コイル１０を使うのが良い。尚、第
９図に示すような誘導コイル１０を円弧状に配置
しても良い。 FIG. 10 shows a modification of FIG. 8. In a T-branch, etc., if the minimum turning radius of the vehicle body 1 is large, it is not possible to turn at right angles, so it is necessary to use an induction coil 10 with an appropriate radius of curvature. is good. Incidentally, the induction coil 10 as shown in FIG. 9 may be arranged in an arc shape.
第１１図は３又路のいずれの方向からも分岐走
行可能な誘導路の例を示した。誘導コイル１０
ａ，１０ｂ，１０ｃのいずれか一つを開、他の２
つを閉にすると車体１は２組の閉じられた誘導コ
イル１０上を通ることになる。この原理は一般に
Ｎ個の分岐に適用可能である。 FIG. 11 shows an example of a three-way taxiway that allows branching from either direction. induction coil 10
Open one of a, 10b, 10c and open the other 2
When one is closed, the vehicle body 1 passes over two sets of closed induction coils 10. This principle is generally applicable to N branches.
上述したように、従来金属センサ方式の無人搬
送車は進路の分岐が困難であつたが、本発明によ
り分岐が可能となり、きわめて敷設が容易で安
価、かつ信頼性の高い無人搬送車誘導路を提供出
来る。 As mentioned above, it has been difficult for automatic guided vehicles using conventional metal sensors to branch their routes, but the present invention makes it possible to do so, creating an automated guided vehicle guideway that is extremely easy to install, inexpensive, and highly reliable. I can provide it.
第１図は金属センサ方式の無人搬送車の概略を
示す正面図、第２図は同じく側面図、第３図は金
属センサ方式の原理を示す基本回路図、第４図は
第３図における検出装置に表われる特性曲線図、
第５図は従来の誘導路における分岐部の説明図、
第６図は本発明の一実施例における分岐部の誘導
コイル配置を示すａ正面図とｂ平面図、第７図は
本発明の一実施例を示す平面図、第８図乃至第１
０図は誘導コイルの変形例を示す平面図、第１１
図は本発明の他の実施例を示す平面図である。
１は車体、２は金属センサ、３は車輪、４は路
床、５，５ａ，５ｂは金属帯、６ａ，６ｂは検出
コイル、７ａ，７ｂはインピーダンス素子、８は
発振器、９は検出装置、１０，１０ａ，１０ｂ，
１０ｃは誘導コイル、１１，１１ａ，１１ｂ，１
１ｃ，１１１，１１２，１１３はスイツチ、１０
１，１０２，１０３は導体。
Figure 1 is a front view schematically showing a metal sensor type automatic guided vehicle, Figure 2 is a side view, Figure 3 is a basic circuit diagram showing the principle of the metal sensor type, and Figure 4 is the detection in Figure 3. Characteristic curve diagram appearing on the device,
FIG. 5 is an explanatory diagram of a branch part in a conventional taxiway,
Fig. 6 is a front view and b plan view showing the arrangement of induction coils at a branch in an embodiment of the present invention, Fig. 7 is a plan view showing an embodiment of the invention, and Figs.
Figure 0 is a plan view showing a modified example of the induction coil.
The figure is a plan view showing another embodiment of the present invention. 1 is a vehicle body, 2 is a metal sensor, 3 is a wheel, 4 is a roadbed, 5, 5a, 5b are metal bands, 6a, 6b are detection coils, 7a, 7b are impedance elements, 8 is an oscillator, 9 is a detection device, 10, 10a, 10b,
10c is an induction coil, 11, 11a, 11b, 1
1c, 111, 112, 113 are switches, 10
1, 102, 103 are conductors.
Claims (1)
出する金属センサの出力で操舵輪の向きを制御す
る方式の無人搬送車の誘導路において、誘導路の
分岐部に分岐方向へ誘導コイルを配設し、かつ、
該誘導コイルに誘導コイルのループを開閉する接
点を設けたことを特徴とする無人搬送車の誘導
路。 ２ 前記誘導コイルの巾が、少くとも前記金属帯
の巾より大で、かつ、誘導コイルの進行方向の長
さが、少くとも前記金属センサの進行方向の長さ
よりも長いことを特徴とする特許請求の範囲第１
項記載の無人搬送車の誘導路。 ３ 前記誘導コイルが、複数個の誘導コイル部分
に分割され、それぞれの誘導コイル部分に該誘導
コイル部分のループを開閉する接点を設けたこと
を特徴とする特許請求の範囲第１項または第２項
記載の無人搬送車の誘導路。 ４ 前記誘導コイルが、無人搬送車の回転半径に
合せて配列されたことを特徴とする特許請求の範
囲第３項記載の無人搬送車の誘導路。[Claims] 1. In a taxiway for an automated guided vehicle that controls the direction of the steering wheel using the output of a metal sensor that detects the position of a metal strip laid along the travel route, An induction coil is arranged in the branching direction, and
A guideway for an automatic guided vehicle, characterized in that the induction coil is provided with a contact point for opening and closing a loop of the induction coil. 2. A patent characterized in that the width of the induction coil is at least larger than the width of the metal band, and the length of the induction coil in the traveling direction is longer than at least the length of the metal sensor in the traveling direction. Claim 1
Taxiway for automated guided vehicles as described in section. 3. Claim 1 or 2, characterized in that the induction coil is divided into a plurality of induction coil parts, and each induction coil part is provided with a contact point for opening and closing a loop of the induction coil part. Taxiway for automated guided vehicles as described in section. 4. The guideway for an automatic guided vehicle according to claim 3, wherein the induction coil is arranged in accordance with the rotation radius of the automatic guided vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58053302A JPS59177612A (en) | 1983-03-29 | 1983-03-29 | Guide path of unattended wagon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58053302A JPS59177612A (en) | 1983-03-29 | 1983-03-29 | Guide path of unattended wagon |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59177612A JPS59177612A (en) | 1984-10-08 |
| JPH0327929B2 true JPH0327929B2 (en) | 1991-04-17 |
Family
ID=12938927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58053302A Granted JPS59177612A (en) | 1983-03-29 | 1983-03-29 | Guide path of unattended wagon |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59177612A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IE871118L (en) * | 1987-05-01 | 1988-11-01 | Univ Manchester | Improvements in or relating to linear motion screened¹inductance sensors. |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55111949A (en) * | 1979-02-20 | 1980-08-29 | Mita Ind Co Ltd | Electrophotographic material and manufacture thereof |
-
1983
- 1983-03-29 JP JP58053302A patent/JPS59177612A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55111949A (en) * | 1979-02-20 | 1980-08-29 | Mita Ind Co Ltd | Electrophotographic material and manufacture thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59177612A (en) | 1984-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US3993156A (en) | Guidance system for guiding trackless vehicles along a path defined by an A-C energized conductor | |
| JPS6341082B2 (en) | ||
| JPH0327929B2 (en) | ||
| JPS59117612A (en) | Guiding path of wagon | |
| JPH06236213A (en) | Golf cart travelling guiding method | |
| JPH0370802B2 (en) | ||
| JPH08286738A (en) | Guidance controller for moving vehicle | |
| JPS59116818A (en) | Guide path for unmanned carrier vehicle | |
| US2264839A (en) | Overhead trolley system | |
| JP3194543B2 (en) | Unmanned traveling system | |
| JPH03294910A (en) | Steering device of electromagnetic induction type unmanned carrying car | |
| JP2580672Y2 (en) | Guideway device for electromagnetically guided vehicles | |
| JPS6341081B2 (en) | ||
| JPH0325204Y2 (en) | ||
| JPH057605Y2 (en) | ||
| JPH056688B2 (en) | ||
| JP3196503B2 (en) | Frequency switching malfunction prevention method | |
| JP2000099150A (en) | Automatic guiding system and automatically guided vehicle | |
| JPS59221711A (en) | Derailment preventing device for unmanned truck | |
| JPH057607Y2 (en) | ||
| JPS59135512A (en) | Unmanned guide carrying device | |
| JPH0934546A (en) | Movable mark plate sensor for automated guided vehicle | |
| SU627450A1 (en) | Vehicle movement control system | |
| JPH02188808A (en) | Switching method for guiding frequency of unmanned carrier | |
| JPS6072007A (en) | Moving body guiding system |