JPH0713624A - Device for detecting stop state of moving vehicle - Google Patents

Abstract

PURPOSE:To facilitate the installation of a reference member and a reading means and to secure detection accuracy. CONSTITUTION:A reading means Sa of a magnetic sensing type for reading display information of a reference member 3 utilizing a permanent magnet provided in a stop part of a moving vehicle A is provided with plural magnetic sensing elements Si arranged like a two-dimensional array in planar vision. Also, the reference member 3 forms a magnetic field for varying that which senses magnetic strength exceeding set strength in plural magnetic sensing elements Si by following the respective variations of a carbody forward/ backward direction position, a car body width direction position and an inclination of the moving vehicle A. In such a state, a deviation amount discriminating means 100 discriminates the deviation amount X in the car body forward/ backward direction of the moving vehicle A to a set proper stop state, the deviation amount Y in the car body width direction, and the inclination theta, based on information for specifying an arrangement relation of the magnetic sensing element Si for sensing magnetic strength exceeding set strength in plural magnetic sensing elements Si.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a stop position of a moving vehicle,
A reference member using a permanent magnet for displaying reference position information in a plan view is provided, and the moving vehicle is provided with a magnetic sensing type reading unit for reading the display information of the reference member, and based on the information of the reading unit, The present invention relates to a stationary state detecting device for a moving vehicle, which is provided with a displacement amount determining means for determining the displacement amount of the moving vehicle with respect to an appropriately set stopped state at a stop location.

[0002]

2. Description of the Related Art A stationary state detecting device for a moving vehicle of this type is disclosed, for example, in a vehicle front-rear direction and a vehicle lateral width direction from a setting proper stopping state of a moving vehicle which conveys various works in a factory at a stop position such as a station. In order to enable proper load transfer work even when the vehicle is stopped due to misalignment or tilting with respect to the vehicle front-rear direction, the above-mentioned misalignment amount (position Displacement and inclination) is determined by a reference member using a permanent magnet so that the displacement amount can be detected with high reliability even if the reference member is dirty or dust is attached to it. While displaying information as magnetic field information,
This is read by a magnetic sensing type reading means, which is a so-called magnetic type.

However, conventionally, the reference member is constituted by, for example, a flat permanent magnet of a predetermined shape (square or the like) formed on different magnetic poles on the front surface side and the back surface side, and the magnetic sensing type reading means. , For example, two (four in total) magnetic sensors are arranged at intervals in the longitudinal direction of the vehicle body and in the lateral direction of the vehicle body, thereby sensing a change in magnetic intensity from the reference member in each of the above directions. With this configuration, the amount of positional deviation in the vehicle front-rear direction and the vehicle body lateral width direction is determined from the change in the magnetic strength. Further, a pair of the reference member and the magnetic sensing type reading means having the above-described structure are installed on the front side and the rear side of the moving vehicle with a space in the vehicle front-rear direction. (For example, see Japanese Patent Laid-Open No. 3-2910).

[0004]

By the way, in order to determine the amount of displacement (positional displacement and inclination) with a predetermined accuracy, each of the reference member and the magnetic sensing type reading means is accurately positioned at a predetermined position. However, in the above-mentioned conventional technique, both the reference member and the magnetic sensing type reading means must be installed with a space in the longitudinal direction of the vehicle body. There is a problem that it is not easy and the installation work requires a lot of labor and time.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the drawbacks of the above-mentioned prior art, while ensuring a predetermined detection accuracy while using a reference member and a magnetic sensing type. It is an object of the present invention to provide a stationary state detection device for a moving vehicle that can facilitate the work of installing the reading means.

[0006]

A characteristic configuration of a stationary state detecting apparatus for a moving vehicle according to the present invention is such that the reading means includes a plurality of magnetic sensing elements arranged in a two-dimensional array in plan view. The reference member has a magnetic strength that is equal to or higher than a set strength among the plurality of magnetic sensing elements according to changes in the vehicle longitudinal direction position, the vehicle lateral width direction position, and the inclination of the moving vehicle. The displacement amount determining means is configured to form a magnetic field that changes what is sensed, and the displacement amount determining means specifies a positional relationship among the plurality of magnetic sensing elements that sense a magnetic strength higher than a set strength. On the basis of the information, the shift amount in the vehicle body front-rear direction, the shift amount in the vehicle body lateral direction, and the vehicle body inclination with respect to the properly set stop state are determined.

[0007]

According to the characteristic configuration of the stopped state detecting device for a moving vehicle according to the present invention, the stopped state of the moving vehicle when the moving vehicle stops at a stop position such as a station is determined by the vehicle longitudinal direction position, the vehicle body lateral width position, And, if each of the slopes changes,
In other words, when stopping in a state deviating from the setting proper stop state, a reference member using permanent magnets provided at the stop location,
The positional relationship with the magnetic sensing type reading means provided with a plurality of magnetic sensing elements arranged in a two-dimensional array provided on the moving vehicle in plan view changes from the positional relationship when stopped in the set proper stop state. . Then, due to the change in the positional relationship between the two, the magnetic field formed by the reference member using the permanent magnet among the plurality of magnetic sensing elements arranged in a two-dimensional array in the plan view causes a magnetic field having a magnetic field of a strength equal to or higher than the set strength. The positional relationship of the magnetic sensing elements for sensing the strength changes from the positional relationship when the moving vehicle stops at the stop position in the set proper stop state.

Specifically, a magnetic sensing element that senses (or does not sense) a magnetic strength above a set strength when stopped in a properly set stop state, and a magnetic strength above a set strength when stopped in the above-described shifted state. It changes so that it does not sense (or senses), and as a result, the position of the center of gravity, for example, the position of the center of gravity of the region of the magnetic sensing element that senses the magnetic strength higher than the set strength moves, and its positional relationship changes. Therefore, by specifying the change in the arrangement relationship of the magnetic sensing elements, the shift amount in the vehicle front-rear direction, the shift amount in the vehicle lateral width direction, and the vehicle body inclination with respect to the set proper stop state are determined. It will be.

[0009]

Therefore, according to the characterizing feature of the present invention, the magnetic sensing type reading means is configured to include a plurality of magnetic sensing elements arranged in a two-dimensional array in plan view. Even if the pair of reference members are installed close to each other without being spaced apart from each other in the front-rear direction of the vehicle body as in the conventional case and are read by the reading means, the predetermined front-back direction of the vehicle body is ensured while ensuring a predetermined detection accuracy. It is also possible to detect the positional deviation in the vehicle body width direction and the inclination of the vehicle body, and at the same time, the magnetic sensing type reading means is not a pair of reading means installed in the vehicle body front-rear direction at a distance, for example, as in the related art. Since only a single reading means is required, and the reference member can be installed in the state of being placed close to each other as described above, the reference member and the reading means can be easily installed. That.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIGS. 7 to 9, on the lateral side of the traveling path of the moving vehicle A on which the manipulator 1 for loading and unloading is mounted,
Station S for loading and unloading as a stopping point for moving vehicle A
A plurality of Ts are installed. Then, when the moving vehicle A stops at the instructed station ST, the manipulator 1 automatically performs the transfer operation of the load N between the station ST and the moving vehicle A.
Then, the load N transferred to the moving vehicle A at one station ST is reloaded at the other station ST every time the load N is unloaded at another station ST or the processing work at the station ST is completed.
Will be transported to the next station ST. Although not described in detail, the manipulator 1 is
It is of a so-called multi-joint type, and the load gripping tool 2 is attached to the tip thereof, and the operation amount of an electric motor (not shown) provided at each joint is detected. It is configured to be able to automatically perform the load transfer work by being controlled based on the information of an encoder (not shown) to be operated and various control information stored in advance.

The moving vehicle A is configured to travel autonomously between the stations ST without using a traveling guide or the like. Further, as will be described later in detail, the displacement amount X in the vehicle body front-rear direction of the moving vehicle A and the displacement amount Y in the vehicle body lateral direction with respect to the set proper stop state in plan view at the station ST when the vehicle is stopped at the station ST. ,as well as,
Based on each deviation amount information of the inclination θ with respect to the front-rear direction of the vehicle body, the correction traveling for traveling on the regular traveling route to the next station ST is also executed (see FIG. 10).

If the traveling route between the stations ST is further explained, as shown in FIG. 9, an X "having a predetermined position (for example, the center position of the floor) as an origin on the traveling floor in advance.
The Y "coordinate axes are set, and the coordinate points are set as the intersections of straight line groups that are parallel to the X" Y "coordinate axes and are arranged at a predetermined interval (resolution). A stop position at the station ST and a traveling route for traveling between the stations ST are set.
In the figure, the respective stop positions of the two stations ST1 and ST2 are set as MP1 and MP2, and the regular route L0 through which the mobile vehicle A travels between these two stations ST1 and ST2 is the stop position M of one station ST1.
A straight line section L1 connecting P1 and a turning start point RST at a coordinate point MP3, which is a via point, and a turning end point REN at which the moving vehicle A starts turning from the turning start point RST and ends the 90-degree turning.
Up to the turning section L2 and a straight section L3 connecting the turning end point REN and the stop position MP2 of the next station ST2
It is set by three sections. The turning start point RST and the turning end point REN are obtained by calculation based on attached information given to the MP3, which will be described later.

Therefore, the traveling control information for traveling the moving vehicle A from the one station ST1 to the other station ST2 along the regular route L0 is provided for each of the designated coordinate points MP1, MP2 and MP3. It is set as coordinate information and additional information (specifically, information about a turning radius R3, a turning angle, and a turning speed v3) given to the coordinate point MP3 for turning the coordinate point MP3 which is a waypoint. Then, travel control information regarding the coordinate points of the entire floor including the coordinate information of the stop positions of the other stations ST and the auxiliary information of other waypoints is mapped in advance,
It is stored in the moving vehicle A and the central control unit 8 (FIG. 1) on the ground side described later. Then, the moving vehicle A travels on the regular route L0 from one station ST1 to another station ST2 based on the travel control information instructed from the central control unit 8 on the ground side, and then moves to the next station ST2. It stops at the stop position MP2.
In the turning section L2, the moving vehicle A turns while traveling based on the information on the turning angle and the turning speed v3.

As shown in FIGS. 7 to 8, the moving vehicle A has a pair of left and right propulsion units provided substantially at the center in the longitudinal direction of the vehicle body in a state where the pair of electric motors 5 can be individually stopped and rotated in a reverse direction. A wheel 6 and a pair of left and right idler wheels 7 provided at the front and rear ends of the vehicle body are provided. In addition, the moving vehicle A,
An optical fiber type gyro device Sb is mounted, a shift in the traveling direction with respect to the regular route L0 is detected based on the information of the gyro device Sb, and the gyro device Sb is provided at a position serving as a turning center of the pair of left and right propulsion wheels 6. The traveling distance is detected based on the information of the ground wheel type traveling distance detecting sensor Sc. Then, based on the information on the detected traveling direction and traveling distance, the pair of electric motors 5 are operated to change gears so that the rotational speeds of the pair of left and right propulsion wheels 6 are differentiated. ing.

Further, at the station ST, a moving vehicle A
When the station ST instructed is stopped, the deviation amounts X, Y, and θ with respect to the preset proper stop state in the station ST which is preset and stored are detected, and the operation amount of the manipulator 1 is automatically corrected. Using a permanent magnet for displaying reference position information in plan view with respect to a properly set stop state at the station ST in order to automatically correct a traveling route when the moving vehicle A travels toward the next station ST The reference member 3 is attached to the traveling road surface of the moving vehicle A. Hereinafter, one station ST1 will be specifically described as an example.

As shown in FIGS. 1 and 2, the reference member 3 is formed by cutting a sheet-like magnetic material into a circular shape having a set size, and the front surface side thereof has an N pole (or S pole) and the back surface side thereof. A pair of permanent magnets 3a and 3b having magnetic poles formed to have S poles (or N poles) are arranged at a set distance L in the lateral direction of the vehicle body. An orthogonal coordinate axis is set with the x-axis in the vehicle lateral width direction and the y-axis in the vehicle longitudinal direction. When the moving vehicle A is stopped in the set proper stop state with respect to the station ST, the pair of permanent magnets 3
The center position of the straight line connecting the centers of gravity of a and 3b approaches the station ST side in the lateral direction of the vehicle body from the vehicle body center AC in a plan view of the moving vehicle A, and from the vehicle body center AC to the front side in the vehicle body front-rear direction. It is affixed to the traveling road surface of the moving vehicle A so as to be in a state where it is moved by the set distance U (see FIG. 6).

On the other hand, as shown in FIGS. 6 to 8, when the magnetic sensor Sa as the magnetic sensing type reading means for reading the display information of the reference member 3 stops when the moving vehicle A is in the proper stop state. To the pair of permanent magnets 3a, 3b
It is attached to the lower part of the vehicle body of the moving vehicle A so that the center of the square shape is located on the center position of the straight line connecting the centers of gravity of.

As shown in FIGS. 2 and 3, the magnetic sensor Sa is constructed so as to include a plurality of Hall elements Si as magnetic sensing elements arranged in a two-dimensional array in plan view, and each Hall The element Si can sense the magnetic intensity at each position independently of other Hall elements Si. Incidentally, FIG. 2 shows a cross section taken along the line EE of FIG. The detection signal from each Hall element Si is processed by an amplifier circuit, a signal processing circuit, and an output circuit provided for each Hall element Si, and then processed by a signal processing unit 11 (see FIG. 1) described later. Is output. still,
The output signal of the output circuit becomes a high-level ON signal when the Hall element Si detects a magnetic strength higher than the set strength, and a low-level OFF signal when it detects a magnetic strength lower than the set strength (see FIG. 4). ).

When the stopped state when the moving vehicle A stops at the station ST changes at the vehicle body front-rear direction position, the vehicle body width direction position, and the inclination with respect to the vehicle body front-rear direction, the reference member 3, that is, a pair of The positional relationship between the permanent magnets 3a and 3b and the magnetic sensor Sa changes, and the reference member 3 changes the positional relationship between the permanent magnets 3a and 3b and the magnetic sensor Sa. Along with the respective changes, a magnetic field is formed to change the one of the plurality of Hall elements Si that senses the magnetic intensity higher than the set intensity.

As shown in FIG. 1, between the central control unit 8 on the ground side for controlling the operation of the mobile vehicle A and the mobile vehicle A, the traveling control information for the mobile vehicle A and the operation command information for the manipulator 1 are provided. Wireless communication devices 9a and 9b for communicating various information such as are provided in the moving vehicle A and the ground side, respectively. The ground-side communication device 9b is the central control device 8
The communication device 9a on the moving vehicle side is connected to the moving vehicle A in order to control the traveling of the moving vehicle A and the operation of the manipulator 1.
It is connected to the mobile vehicle controller 10 using a microcomputer installed in the.

In FIG. 1, 11 is the magnetic sensor Sa.
And processing the read signal of the mobile vehicle controller 10
To the manipulator 1 for controlling the operation of the manipulator 1 based on a command from the mobile vehicle controller 10, and 13 for both left and right propulsion wheels 6.
A traveling controller that controls the operation of the traveling motor 5 that drives the vehicle, 14 is a drive device that drives the traveling motor 5 based on a command from the traveling controller 13, and 15 is manually set destination information for the moving vehicle A. It is a setting device for manually setting various information in order to perform recovery or recovery at the time of emergency stop.

Then, by using the moving vehicle controller 10 and the signal processing unit 11, the magnetic sensor Sa is used.
Based on the information of the above, the deviation amount judging means 100 for judging the deviation amounts X, Y, θ of the moving vehicle A with respect to the properly set stop state at the station ST is configured. A displacement amount X in the vehicle body front-rear direction of the moving vehicle A with respect to the set proper stop state based on information specifying the arrangement relationship of the magnetic sensing element Si that has detected a magnetic strength higher than a set strength among the magnetic sensing elements Si. And the amount of deviation Y in the lateral direction of the vehicle body and the inclination θ of the vehicle body A are determined.

In addition, as shown in FIGS. 2 to 4, a predetermined number of Hall elements Si located on each of the pair of permanent magnets 3a and 3b senses a magnetic intensity higher than a preset intensity to detect the magnetic intensity. The signal is processed as described above and an ON signal is output (in FIG. 3, the Hall element Si hatched). Then, as shown in FIG. 5, on the magnetic sensor Sa, the lateral direction of the vehicle body is defined as the x'axis, and the longitudinal direction of the vehicle body is defined as the y'axis, and x ', y'is set so that the center position of the magnetic sensor Sa becomes the coordinate origin. The coordinate axes are set, and the coordinates (x1, y1), (x2, y2) of the respective barycentric positions P1, P2 of the area of the Hall element Si turned on corresponding to the respective permanent magnets 3a, 3b.
Further, the coordinates (x0, y0) of the center position PC of the straight line connecting the barycentric positions P1 and P2 are calculated by the following formula.

[0025]

## EQU1 ## x0 = (x1 + x2) / 2, y0 = (y1 +
y2) / 2

Incidentally, when the vehicle is stopped in the properly set stop state, that is, in the state where there is no deviation, as shown in FIG. 6, the coordinates of the center of gravity positions P1 and P2 are (x1, y1) =
(L / 2,0), (x2, y2) = (− L / 2,0), and therefore the coordinates of the center position PC are (x0, y).
0) = (0,0). In addition, the coordinates (X
c, Yc) is given by (W, -U).

Then, first, the inclination θ of the vehicle body A in the front-rear direction of the vehicle body is obtained by the following equation (i) as shown in FIG.

[0028]

## EQU2 ## θ = sin ^-1 [(y1-y2) / L] or ... (i) θ = tan ^-1 [(y1-y2) / (x1-x2)]

Next, the coordinates (Xc, Yc) of the vehicle body center AC are determined from the mounting arrangement relationship (see FIG. 6) of the reference member 3, that is, the pair of permanent magnets 3a, 3b and the magnetic sensor Sa.
Is calculated by the following equation using the inclination θ and the set distances U and W.

[0030]

## EQU3 ## Xc = x0 + U × sin θ + W × cos θ Yc = y0−U × cos θ + W × sin θ

Therefore, the deviation amount of the vehicle body center AC with respect to the set proper stop state, that is, the deviation amount X of the moving vehicle A in the longitudinal direction of the vehicle body and the deviation amount Y of the moving vehicle A in the lateral direction of the vehicle body are expressed by the above coordinates (Xc, Yc). ) Is subtracted from the coordinates (W, -U) of the vehicle body center AC when the vehicle is stopped in the setting proper stop state, and each is calculated by the following equations (ii) to (iii).

[0032]

## EQU00004 ## X = x0 + U.times.sin .theta.-W.times. (1-cos .theta.) ... (ii) Y = y0 + U.times. (1-cos .theta.) + W.times.sin .theta.

Then, based on the information of the deviation amounts X, Y, θ of the vehicle body center AC of the moving vehicle A determined from the above equations (i) to (iii), the operation amount of the manipulator 1 is determined. A correction amount is obtained, and the obtained correction amount is given from the moving vehicle controller 10 to the manipulator controller 12, and even if the moving vehicle A deviates from the setting proper stop state for the station ST, the load gripping tool 2 can grip the load properly. In addition, the information on the determined displacement amounts X, Y, and θ is
It will also be used as control information for causing the moving vehicle A to travel to the next station ST.

The moving vehicle A is moved to the next station ST (S
Explaining the travel for traveling to T2), basically, a target travel position after the next fixed time is set every fixed time (for example, 10 ms), and autonomous travel is performed toward the target travel position. The target traveling position is the current position on the floor determined by the traveling direction detected by the gyro device Sb, that is, the tilt information of the vehicle body and the traveling distance information of the traveling distance detecting sensor Sc at regular intervals. The traveling position is set so as to approach the regular route L0 based on the deviation information between the position and the regular route L0. Then, the vehicle travels on the regular route L0 as much as possible by repeatedly traveling toward the set target traveling position. However, in consideration of the fact that the deviation from the regular route L0 becomes large due to the accumulation of running errors caused by the slip of the running wheels or the like only in autonomous driving, the deviation information from the setting proper stop state of the station ST is used. Thus, the accumulated running error is reset (set to zero) at each station ST. The details will be described below.

As shown in FIG. 10, the moving vehicle A is at the stop position MP1 with respect to the station ST1 on the regular route L0.
It is assumed that the vehicle is stopped at the position SP at a position deviated from the position, that is, in the state of the deviation amounts X and Y in the vehicle front-rear direction and the lateral width direction and the inclination θ with respect to the vehicle body front-rear direction. Therefore, the moving vehicle A
The coordinate position on the floor can be recognized from the shift information. Then, after resetting the gyro device Sb with the value of the inclination θ to optimize the detected value of the inclination, the next target position after the predetermined time is set so as to approach the regular route L0, and the propulsion wheels 6 are set. The vehicle starts traveling toward the target position while steering with a difference in rotational speed.

Here, the traveling position SP1 after the next fixed time
Suppose that the inclination at 1 is detected as θ1 and the traveling distance from the previous traveling position SP to this traveling position SP1 is detected as m1, then the moving vehicle A detects the previous traveling position from both detection information θ1, m1. It is determined that the vehicle has traveled a distance m1 in the direction of θ1 from SP. Therefore, the next target traveling position is set so as to approach the regular route L0 from the traveling position SP1, the vehicle is caused to travel, and the inclination θ2 at the traveling position SP2 after the traveling.
And the traveling distance m2 to the traveling position SP2 is detected.
From the detection information θ2, m2, it is determined that the moving vehicle A has traveled from the previous traveling position SP1 in the direction of θ2 by the distance m2. Hereinafter, the above procedure is repeated at the traveling position at regular time intervals to set the next target traveling position so as to always approach the regular route L0, and the moving vehicle A is caused to travel. The fixed time, that is, the detection interval of the gyro device Sb is set to a relatively short time, and the traveling direction is corrected every short traveling distance, thereby reducing the error in the traveling position with respect to the regular route L0. There is.

Then, the traveling distance detecting sensor Sc
When it is detected that the vehicle has reached the turning start point RST with respect to the waypoint MP3, the vehicle travels along the turning section L2. Even when the vehicle is traveling in the turning section L2, the target traveling position is set at regular time intervals and the vehicle travels on the regular route L2 as much as possible, as described above. Then, when it is detected that the turning end point REN is reached, the vehicle travels by setting the target traveling position at regular intervals so that the straight line section L3 to the next station ST2 is also along the regular route L3. Based on the information of the traveling distance detection sensor Sc, the automatic stop is performed when the vehicle arrives at the stop position MP2 of the next station ST2.

[Other Embodiment] In the above embodiment, the reference member 3 is used.
Although the sheet-shaped permanent magnets 3a and 3b are formed in a circular shape, they may be formed in a rectangular shape or a square shape, and the specific shape of the reference member 3 can be variously changed. Further, the mounting arrangement on the floor surface is such that the pair of permanent magnets 3 are arranged in the lateral direction of the vehicle body.
Although the a and 3b are arranged so as to be aligned, they may be arranged in the front-rear direction of the vehicle body, or may be arranged in an intermediate direction between the lateral width direction of the vehicle body and the front-rear direction of the vehicle body. Also, the number of pairs is (2
It is not limited to one), and three or more may be appropriately arranged and installed.

Further, in the above embodiment, the reference member 3 formed on the sheet-like permanent magnets 3a and 3b, for example, is installed so as to be stuck on the floor surface. However, as shown in FIG. When a panel board 17 having a constant shape is arranged on 16 to form a traveling floor surface, permanent magnets 3a and 3b may be attached to the back surface side of the panel board 17 for installation. Further, as shown in FIG. 12, when the concrete floor 16 itself is used as the traveling floor surface, a recess for accommodating the panel plate 17 is provided in a part of the concrete floor 16 and the rear surface is provided in this recess. Permanent magnets 3a, 3b on the side
You may make it insert the panel board 17 which stuck.
In any of these cases, for example, a pair of permanent magnets 3
Since it is sufficient to fit the panel plate 17 in which a and 3b are pre-positioned and attached to a predetermined place on the floor surface, there is an advantage that the installation work can be simplified and the reference member 3 is not directly exposed to the traveling floor surface. There is an advantage that the reference member 3 can be prevented from being damaged by the contact of the wheels of the moving vehicle A.

In the above embodiment, the Hall elements are used as the plurality of magnetic sensing elements Si provided in the magnetic sensing type reading means Sa, but a magnetic strength higher than the set strength is sensed. Any sensor that can be turned on and off may be used, and not only the Hall element but also various types such as a sensor using a magnetoresistive element or an oscillation sensor can be used.

Further, in the above embodiment, the magnetic sensing type reading means Sa having a plurality of magnetic sensing elements Si arranged in a two-dimensional array in a plan view is provided in the vehicle longitudinal direction from the vehicle body center AC of the moving vehicle A. Also, an example is shown in which they are attached at positions separated by set distances U and W in the lateral direction of the vehicle body, respectively.
This does not necessarily have to be the case. For example, the body center A
You may attach to C. In this case, U = 0, W = 0
Therefore, according to the equations (ii) and (iii), the displacement amounts X and Y in the vehicle front-rear direction and the lateral width direction are X = x0 and Y =, respectively.
It becomes y0 and the calculation formula is simplified. Further, in the above-mentioned embodiment, the outer shape of the magnetic sensing type reading means Sa is square, but other than square, rectangle or circle can be appropriately changed.

Further, in the above embodiment, the case where the moving vehicle A is configured to autonomously travel has been illustrated, but, for example, the traveling guide is made to travel by using a light reflecting tape, a magnetic induction band or the like. However, the specific configuration of each part necessary for carrying out the present invention can be changed in various ways.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram of a control configuration.

FIG. 2 is a block diagram of reading means and its signal processing circuit.

FIG. 3 is an enlarged plan view of a reading unit.

FIG. 4 is an explanatory diagram of an output signal of a reading unit.

FIG. 5 is an explanatory diagram for determining a deviation amount.

FIG. 6 is a diagram illustrating a positional relationship between a reference member and a reading unit.

FIG. 7 is a schematic plan view showing a state in which a moving vehicle is stopped at a stop point.

FIG. 8 is a schematic front view showing a state in which a moving vehicle is stopped at a stop point.

FIG. 9 is an explanatory diagram of a travel route

FIG. 10 is an explanatory view of correcting a traveling direction of a moving vehicle.

FIG. 11 is a sectional view showing the installation of a reference member of another embodiment.

FIG. 12 is an installation sectional view of a reference member of another embodiment.

[Explanation of symbols]

 A moving vehicle 3 reference member Sa reading means X displacement amount Y displacement amount θ inclination 100 displacement amount determination means Si magnetic sensing element

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location G05D 3/12 E 9179-3H

Claims (1)

[Claims] 1. A reference member (3) using a permanent magnet for displaying reference position information in a plan view at a stop position of a moving vehicle (A).
Is provided, and the reference member (3) is provided on the moving vehicle (A).
Magnetic sensing type reading means (Sa) for reading display information of
And a deviation amount discriminating means (10) for discriminating the deviation amount (X, Y, θ) of the moving vehicle (A) with respect to the setting proper stop state at the stop location based on the information of the reading means (Sa).
0) is provided, the reading means (Sa) includes a plurality of magnetic sensing elements (Si) arranged in a two-dimensional array in a plan view. The reference member (3) includes a vehicle body longitudinal direction position of the moving vehicle (A), a vehicle body lateral width direction position, and
A magnetic field is formed to change one of the plurality of magnetic sensing elements (Si) that senses a magnetic intensity higher than a preset intensity in accordance with each change in the inclination, and the shift amount determining means ( 100) is based on the information specifying the arrangement relationship of the magnetic sensing elements (Si) that have detected a magnetic strength higher than the set strength among the plurality of magnetic sensing elements (Si), and The displacement amount (X) of the moving vehicle (A) in the front-rear direction of the vehicle body, the displacement amount (Y) of the vehicle width direction, and the inclination (θ) of the vehicle body (A) are determined. Stop state detection device.