JPH07200055A - Guide sensing method and device therefor - Google Patents

Abstract

PURPOSE:To provide a guide sensor usable in a non-contact power feeding equipment and reduced in cost. CONSTITUTION:Guiding lines 5 laid along a prescribed carrier path and formed by winding coils (litz wire) 9 around ferrite 8 for generating electromotive force in pickup coils 10A and 10B provided in a vehicle moving on the carrier path are used as magnetic field generation lines by making the current of a high frequency flow. Magnetic sensors 21A and 21B are formed by separately winding second coils (the litz wire) 9A around the projecting parts 8A of the ferrite 8. Thus, a deviation from the guiding lines 5 is judged by the strength/ weakness of the electromotive force generated in the separately wound second coils 9A, the guide signals of the vehicle are obtained and thus, the vehicle can perform stable travelling along the carrier path. Also, the pickup coils 10A and 10B and the magnetic sensors 21A and 21B are manufacture together and the cost is reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide sensing method and apparatus used in a vehicle that travels along a predetermined transport path on which a line for generating a magnetic field is laid.

[0002]

2. Description of the Related Art As a conventional guide sensor device,
A pair of magnetic sensors are provided close to a magnetic field generation line such as a magnetic tape laid along a predetermined transportation path of the vehicle, and the vehicle guide signal is obtained by the difference between the magnetic intensity values detected by these magnetic sensors. A device for outputting is known. The steering is controlled by the guide signal of the guide sensor device, and the vehicle travels along a predetermined transport path.

[0003]

However, in equipment recently equipped with a vehicle which is actually used and which moves on a predetermined conveying path by being contactlessly fed with electricity, in addition to the magnetic field generating path, Since a guide line for power supply is laid along the above-mentioned carrier path, there is a problem that it takes a lot of labor and cost for the laying work. Furthermore, when another guide sensor device is provided, the power supply pickup coil and Since the position of the guide sensor is different, it is difficult to always keep the positions of the power feeding pickup coil and the power feeding induction line (power feeding line) optimal.

The present invention solves the above problems,
To provide a guide sensing method and device which can be used in a non-contact power feeding facility, can reduce costs, can always keep the positions of a pickup coil and a power feeding line optimal, and can perform stable power feeding. The purpose is.

[0005]

In order to solve the above problems, the guide sensing method according to the first aspect of the present invention lays a line through which a high-frequency current flows along a predetermined carrier path, and a coil is wound around the ferrite from this line. A guide sensing method used for a vehicle traveling along the predetermined conveyance path, which is contactlessly fed with power through a formed pickup unit, and determines a strength of electromotive force generated in the coil to determine a guide signal. It is characterized by

The guide sensor device according to the second aspect of the invention is laid along a predetermined transport path, is formed by winding a coil around ferrite by passing a high frequency current, and is provided in a vehicle moving along the transport path. A guide sensor device using an induction line for generating an electromotive force in a pickup unit as a magnetic field generation line, wherein a second coil is separately wound around the ferrite to form a magnetic sensor.

[0007]

According to the first aspect of the invention, the deviation from the guide line is determined by the strength of the electromotive force generated in the coil of the pickup unit, and the vehicle guide signal is obtained. Therefore, the vehicle can travel stably along the conveyance path. You can do it.

According to the second aspect of the invention, the deviation from the induction line is determined by the strength of the electromotive force generated in the second coil separately wound on the ferrite, and the vehicle guide signal is obtained.
Therefore, the vehicle can travel stably along the transportation path.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 3 is a partial cross-sectional perspective view of a traveling body and a conveyance path using a guide sensor device according to an embodiment of the present invention, and FIG.
FIG. 3 is a configuration diagram of a traveling device of a traveling body using the guide sensor device.

Reference numeral 1 denotes a traveling body (vehicle) which travels on a floor 3 along a traveling path (conveyance path) A by traveling wheels 2 at four corners of a lower surface, and a load is placed on the upper surface of the traveling body 1. Receiving section 4
Is provided. Reference numeral 5 denotes a pair of guide lines provided in the floor 3 along the travel path A within the width of the traveling body 1 or less, the guide lines being laid in the groove 6 and having different energizing directions. The start end 5 is connected to the power supply device 7, and the end is connected to form a loop. In addition, the guide line 5
A stranded wire (hereinafter, referred to as a litz wire) formed by collecting thin insulated wires is covered with an insulator, for example, a resin material.

Further, the traveling body 1 is provided with a pickup / sensor unit M shown in FIG. 1 as a power supply and guide sensor device. In the pickup / sensor unit M, the ferrites 8 formed in a shape in which a pair of channel materials are connected in parallel are laid down and arranged on a plane, and the side surfaces of the protrusions 8A of the two ferrites 8 facing each other are respectively arranged.
For example, the litz wire 9 having 10 to 20 turns is wound, and the litz wire 9A having 2 to 3 turns is wound on the upper surface of the convex portion 8A of the ferrite 8, respectively. The ferrite 8 is formed so that the distance (width) between the centers of the convex portions 8A in the lengthwise direction matches the distance (width) between the guide lines 5. As shown in FIG. 2, the litz wire 9 is connected between the opposing convex portions 8A to form a pair of feeding pickup coils 10A and 10B, and the litz wire 9A forms a pair of identical magnetic sensors 21A and 21B. ing. The pickup / sensor unit M is vertically installed such that the center of the convex portion 8A of each ferrite 8 in the lengthwise direction is located above each guide line 5.

Further, as shown in FIG. 4, the traveling body 1 converts the electromotive force generated in the pickup coils 10A, 10B by energizing (AC) the induction line 5 into a predetermined DC voltage. A power supply circuit 11 is provided, and an electric motor 12 with a reduction gear for driving the traveling wheels 2 is provided as a traveling drive device.
And a motor controller 13 for driving the motor 12.

The magnetic sensors 21A and 21B are connected to the sensor detection circuit 22 shown in FIG.
At, the difference between the magnetic intensities detected by these magnetic sensors 21A and 21B is detected, and a guide signal e described later is output to the traveling control device 23. The sensor detection circuit 22 and the pair of magnetic sensors 21A and 21B constitute a guide sensor device.

The control device 23 outputs a drive signal to the motor controller 13 in response to the traveling command signal to drive the traveling wheels 2 via the motor 12, and the guide signal e input from the sensor detection circuit 22 becomes zero. A command signal is output to the steering circuit 24 so that the traveling body 1 is steered, and the traveling body 1 is controlled to move along the guide line 5, that is, the traveling path A.

An example of the circuit configuration of the sensor detection circuit 22 is shown in FIG.
Shown in. The sensor detection circuit 22 converts the magnetic field strength signals a and b respectively detected by the first and second magnetic sensors 21A and 21B into the DC magnetic field strength signals a ′ and b ′ when the induction line 5 is energized (AC). 1, second rectifier circuit 31A, 31B
And a differential amplifier 32 that outputs a differential signal k between the DC magnetic field strength signals a ′ and b ′ of the first and second rectifier circuits 31A and 31B.
A summing amplifier 33 that outputs a summation signal m of the DC magnetic field strength signals a ′ and b ′ of the first and second rectifier circuits 31A and 31B, and a difference signal k and a summation amplifier 34 that are output from the differential amplifier 33. It is composed of a divider 34 that divides the output addition signal m and outputs it as a guide signal e.

With this circuit, the level of the guide signal e is adjusted by the added value of the magnetic field strength values detected by the pair of magnetic sensors 21A, 21B, so that the magnetic sensors 21A, 21B.
The magnetic field strengths detected in the respective fields change due to changes in the current I flowing through the induction line 5 due to changes in the load state of the induction line 5 caused by the moving / stopped state of the traveling body 1 or the like. Guide line 5 and magnetic sensor 21 shown
Even if the gap length D between A and 21B changes and changes, the guide signal e of the traveling body 1 when the current flowing through the guide line 5 has a predetermined value is obtained, and stable traveling can be performed.

A detailed circuit configuration of the power supply device 7 and the power supply circuit 11 of the traveling body 1 will be described with reference to the circuit diagram of FIG. The power supply device 7 includes an AC 200 V three-phase AC power supply 41 and a converter.
42, a sine wave resonance inverter 43, a transistor 44 and a diode 45 for overcurrent protection. The converter 42 includes a diode 46 for full-wave rectification, a coil 47 that forms a filter, a capacitor 48, a resistor 49, and a transistor 50 that short-circuits the resistor 49, and the sine wave resonant inverter 43 is as shown in the figure. Transistors 51 and 52 driven by rectangular wave signals oscillated alternately, current limiting coil 53, current supply coil 54 connected to transistors 51 and 52, induction line 5 and parallel resonant circuit And a capacitor 55 that forms The transistor control device is omitted.

The power supply circuit 11 includes a pickup coil 10
These pickup coils are arranged in parallel with A and 10B, respectively.
Capacitors 56A and 56B forming a resonance circuit resonating at the frequencies of 10 and the induction line 5 are provided, and a rectifying diode 57 is provided in parallel with the capacitors 56A and 56B of the resonance circuit.
A and 57B are connected to the diodes 57A and 57B, which are connected to stabilizing power supply circuits 58A and 58B for controlling the output to a predetermined voltage, and diodes 63A and 63B which form a high value priority circuit in the stabilizing power supply circuits 58A and 58B. It is configured by connecting. The power supply circuit 11 is connected to the motor 12 via the motor controller 13. The stabilized power supply circuit 58 includes a current limiting coil 59, an output adjusting transistor 60, a diode 61 and a capacitor 62 that form a filter. The transistor control device is omitted.

The operation of the circuit configuration of the power supply device 7, the guide line 5 and the traveling body 1 will be described. First, the AC 200 V three-phase AC output from the AC power supply 41 is converted into DC by the converter 42, converted into a high frequency, for example, a 10 kHz sine wave by the sine wave resonance inverter 43, and supplied to the induction line 5. Due to the magnetic flux generated in the induction line 5, a large electromotive force is generated in the pickup coils 10A and 10B of the traveling body 1 that resonates at the frequency of the induction line 5, and the alternating current generated by this electromotive force is rectified by the diodes 57A and 57B. The stabilized power supply circuits 58A and 58B regulate the voltage to a predetermined voltage, and a high value voltage is supplied to the motor controller 13.

The sensor detection circuit 22 outputs a guide signal e according to the magnetic field strengths detected by the pair of magnetic sensors 21A and 21B, and the guide signal e is input to the traveling control device 23.

The control device 23 outputs a drive signal to the motor controller 13 when a traveling command signal is input, and also outputs a command signal to the steering circuit 24 so that the guide signal e input from the sensor detection circuit 22 becomes zero. To do. Then, the motor controller 13 drives the traveling wheels 2 via the motor 12, the steering of the traveling body 1 is controlled, and the traveling body 1 moves along the traveling path A.

As described above, the electric power can be supplied to the traveling body 1 in a contactless manner while traveling, and the magnetic sensors 21A and 21B can be supplied.
The traveling body 1 can travel along the traveling path A by controlling the steering of the traveling body 1 so that the difference between the magnetic field strengths detected in step 0 becomes zero. Further, the guide line 5 can also be used as a guide magnetic field generation line, and it is not necessary to lay a magnetic field generation line for a guide, and the cost of installation work can be reduced. In addition, the pickup / sensor unit M
By this, the pickup coil and the magnetic sensor can be used in combination, the cost can be reduced, and the mounting is easy.
It can be installed in few places.

A second embodiment of the pickup / sensor unit M is shown in FIG. In this pickup / sensor unit M ', a ferrite 8'having a cross-section formed in an E shape is laid face down and arranged on a plane, and a convex portion 8B at the center of the ferrite 8'is provided.
For example, a litz wire 9B having 10 to 20 turns is wound to form a pickup coil 10C, and the recess 8 of the ferrite 8'is formed.
For example, the Litz wire 9 of 2 to 3 turns to C respectively
C is wound to form magnetic sensors 21A 'and 21B'. With such a configuration, the pickup coil and the magnetic sensor can be used in combination, and the cost can be reduced.
In addition, the installation is easy and the installation space is small.

A third embodiment of the pickup / sensor unit M is shown in FIG. The same components as those in FIG. 1 are designated by the same reference numerals. In this pickup / sensor unit M ″, the litz wire 9A is removed from the pickup / sensor unit M shown in FIG. 1 so that the litz wire 9 serves as a pickup coil and a magnetic sensor, and is wound around the side surface of the convex portion 8A. The litz wire 9 was used as a magnetic sensor.
21A ', 21A ", 21B', and 21B" are input to the guide sensor detection circuit 22 with the voltages across them. The guide sensor detection circuit 22 adds the voltages of the magnetic sensors 21A ′ and 21A ″ to detect the magnetic field strength of one of the magnetic sensors 21A ′ and 21A ″.
The voltages of B'and 21B "are added to obtain the detection voltage of the other magnetic field strength. With such a configuration, the pickup coil and the magnetic sensor can be used in the same manner, the cost can be reduced, and the mounting can be performed easily. It is easy and requires less installation space.

A fourth embodiment of the pickup / sensor unit M is shown in FIG. The same components as those in FIG. 7 are designated by the same reference numerals. This pickup / sensor unit M ″ ′ is similar to the pickup / sensor unit M ′ shown in FIG.
C serves as a pickup coil and a magnetic sensor, and the voltage across the litz wire 9C is input to the power supply circuit 11. With such a configuration, the pickup coil and the magnetic sensor can be used in the same manner, the cost can be reduced, the mounting can be facilitated, and the mounting place can be reduced.

[0026]

As described above, according to the first invention,
The strength of the electromotive force generated in the coil of the pickup unit determines the deviation from the guide line to obtain the guide signal of the vehicle, so that the vehicle can run stably along the conveyance path and guide the guide line. Can also be used as a line for generating a magnetic field, and it is not necessary to lay a magnetic field generation line for a guide, and the cost of laying work can be reduced.

According to the second aspect of the invention, the deviation from the induction line is determined by the strength of the electromotive force generated in the second coil separately wound on the ferrite, and the vehicle guide signal is obtained. In addition to being able to run stably along the line, the pickup coil and the magnetic sensor can be used in combination for cost reduction, easy installation, and a small number of installation locations.

Further, according to the first invention and the second invention, the positions of the pickup coil and the induction line can be always kept optimum, and stable power supply can be performed.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of a pickup / sensor unit provided on a traveling body using a guide sensor device according to an embodiment of the present invention.

FIG. 2 is a circuit configuration diagram of a pickup / sensor unit of the guide sensor device.

FIG. 3 is a partial cross-sectional perspective view of a traveling body and a conveyance path using the guide sensor device.

FIG. 4 is a configuration diagram of a traveling device of a traveling body using the guide sensor device.

FIG. 5 is a circuit configuration diagram of a guide sensor detection circuit of the guide sensor device.

FIG. 6 is a configuration diagram of a power supply circuit of a traveling body using the guide sensor device.

FIG. 7 is a schematic perspective view of another pickup / sensor unit of the guide sensor device.

FIG. 8 is a schematic perspective view of another pickup / sensor unit of the guide sensor device.

FIG. 9 is a schematic perspective view of another pickup / sensor unit of the guide sensor device.

[Explanation of symbols]

1 Running body 3 Floor surface 5 Induction line 7 Power supply device 8 Ferrite 8A Ferrite convex part 9, 9A, 9B, 9C Litz wire 10A, 10B, 10C Pickup coil 11 Power supply circuit 12 Motor 13 Motor controller 21A, 21B, 21A ', 21B 'Magnetic sensor 22 Guide sensor detection circuit 23 Controller 24 Steering circuit 31A, 31B Rectifier circuit 32 Differential amplifier 33 Summing amplifier 34 Divider 43 Sine wave resonance inverter 55 Capacitor forming resonance circuit with induction line 56 Pickup coil and resonance Capacitors forming a circuit A Traveling path M, M ', M ", M"' Pickup sensor unit e Guide signal

Claims (2)

[Claims] 1. A line for passing a high-frequency current is laid along a predetermined conveying path, and power is contactlessly fed from the line through a pickup unit formed by winding a coil around ferrite to the predetermined conveying path. A guide sensing method used for a vehicle traveling along, wherein the strength of electromotive force generated in the coil is determined and used as a guide signal. 2. An electromotive force is generated in a pickup unit which is laid along a predetermined transport path and is formed by winding a coil around ferrite by passing a high frequency current, and which is provided in a vehicle moving on the transport path. A guide sensor device using an induction line as a magnetic field generation line, wherein a second coil is separately wound around the ferrite to form a magnetic sensor.