JPH07200056A - Guide sensing method and device therefor - Google Patents

Abstract

PURPOSE:To provide a guide sensor usable in a non-contact power feeding equipment and capable of obtaining guide signals even at a branching point. CONSTITUTION:A magnet tape 8 is laid over the branching point of a carrier path A and a branch line B for which guiding lines 5A and 5B are laid and a travelling body 1 is provided with a first magnetic sensor disposed adjacently to the guiding lines 5A and 5B, a second magnetic sensor disposed adjacently to the magnet tape 8 and a switching circuit for judging the strength/weakness of the output signals of the first magnetic sensor and defining the guide signals at the time of travelling the branch line B or the carrier path A and judging the strength/weakness of the output signals of the second magnetic sensor and defining the guide signals at the time of the branching or joining of the travelling body 1. Thus, By judging the strength/weakness of DC electromotive force induced by the magnet tape 8 and defining the guide signals at the time of the branching or joining of the travelling body 1, the guide signals of the travelling body 1 are obtained without interruption even at the branching point.

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 running along a conveyance path or a branch 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 in proximity to a magnetic field generation line such as a magnetic tape laid along a conveyance route or a branch route of the vehicle, and the vehicle guide is provided by the difference in magnetic intensity value detected by each of the magnetic sensors. Devices that output signals are 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 the power supply guide line is laid along the transport path, there is a problem that the laying work requires much labor and cost. When the guide line is used as a magnetic generation path, the guide line is often laid in a loop along the transfer path and the branch path, or power is often supplied from different power supply devices. There is a problem that the magnetic generation path is interrupted at the branch point of the branch path and the guide signal cannot be obtained.

The present invention solves the above problems,
An object of the present invention is to provide a guide sensing method and an apparatus thereof that can be used in a contactless power supply facility and can obtain a guide signal even at a branch point.

[0005]

In order to solve the above problems, the guide sensing method according to the first aspect of the present invention lays lines for passing high-frequency currents along branch lines and carrier lines, respectively, and feeds power from these lines without contact. And a guide sensing method used for a vehicle traveling along the branch road and the transport path, wherein a DC magnetic field generation path is laid across a branch point of the branch path and the transport path, and the vehicle is the When traveling on a branch road or a transport road, the strength of the high-frequency electromotive force induced by the line is determined and used as a guide signal, and when the vehicle branches from the transport road to the branch road or from the branch road to the transport road. When the vehicle merges, the strength of the DC electromotive force induced by the DC magnetic field generation path is determined and used as a guide signal.

In the guide sensor device according to the second aspect of the present invention, lines for passing high-frequency current are laid along the branch path and the transport path, respectively, and electric power is contactlessly fed from the line, and the branch path,
A guide sensor device used in a vehicle traveling along a transportation path, wherein a DC magnetic field generation path is laid across the branch path and a branch point of the transportation path, and the DC magnetic field generation path is installed in the vehicle in the vicinity of the track. A first magnetic sensor provided, a second magnetic sensor arranged near the DC magnetic field generation path, a high frequency filter for inputting a magnetic field strength signal detected by the first magnetic sensor, and the second magnetic sensor With a low-frequency filter that inputs the magnetic field strength signal detected by, the branch road, or when traveling on the transport path, the strength of the output signal of the high-frequency filter is determined as a guide signal, and from the transport path to the branch path. When the vehicle is branched or when the vehicle is merged from the branch road to the transport road, a switching circuit is provided which determines the strength of the output signal of the low frequency filter and uses it as a guide signal.

Further, the guide sensor device of the third invention is
The guide sensor device according to the second aspect of the invention is characterized in that the first magnetic sensor and the second magnetic sensor are shared.

[0008]

According to the first aspect of the present invention, when traveling on a branch road or a transport road, the strength of high-frequency electromotive force induced by the line is determined and used as a guide signal, and when the vehicle branches from the transport road to the branch road, Alternatively, when a vehicle merges from the branch road to the transport road, the strength of the DC electromotive force induced by the DC magnetic field generation path is determined and used as a guide signal. Therefore, the vehicle guide signal can be obtained without interruption even at the branch point, and the vehicle can travel stably.

Further, according to the second aspect of the present invention, when traveling on the branch road or the transport road, the interference of the magnetic field generated by the DC magnetic field generation path is eliminated by the high frequency filter, and the strength of the output signal is determined to be the guide signal. That is, the strength of the high-frequency electromotive force induced by the line is determined as a guide signal, and when the vehicle is branched from the conveyance path to the branch path or when the vehicles are merged from the branch path to the conveyance path, the low-frequency filter is used. Eliminates the interference of the magnetic field generated by the induction line,
The strength of the output signal is determined to be the guide signal, that is, the strength of the DC electromotive force induced by the DC magnetic field generation path is determined to be the guide signal. Therefore, the vehicle guide signal can be obtained without interruption even at the branch point, and the vehicle can travel stably.

Further, according to the third aspect of the present invention, the first magnetic sensor and the second magnetic sensor are shared, so that the cost is reduced, the mounting is facilitated, and the mounting place is small.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 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, 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 floor surface 3 by running wheels 2 at four corners of the lower surface.
Is a traveling body (vehicle) that travels along the conveyance path A and the branch path B set as shown in FIG. 3, for example, and the load receiving portion 4 for mounting a load is provided on the upper surface of the traveling body 1. Has been. 5A and 5B are within the range less than the width of the traveling body 1
A groove 6 is provided on the floor surface 3 along the branch path B and a branch path B, and a pair of guide lines laid in the groove 6 and having different energizing directions are provided. They are connected and the ends are connected to form a loop. Further, a magnetic tape 8 is laid along the center of the conveyance path A and the branch path B as a DC magnetic field generation path along the center thereof, and the floor surface 3 is made to recognize the branch points at both ends thereof. An ID tag 9 is provided. The guide line
Each of 5A and 5B is formed by covering a twisted wire (hereinafter referred to as a litz wire) formed by collecting insulated thin wires with an insulator, for example, a resin material.

As shown in FIG. 2, the traveling body 1 is provided with a power feeding pickup coil 10 formed by winding a litz wire of 10 to 20 turns around ferrite as a power feeding device in the longitudinal direction. An electromotive force generated in the pickup coil 10 by vertically arranging so that the center is located above the pair of inductive lines 5A or 5B and energizing (alternating current) to the inductive lines 5A and 5B inside. Is provided with an AC / DC converter 11 for converting the DC voltage to a predetermined DC voltage, a battery 11A charged by the AC / DC converter 11 is further provided, and a traveling wheel using the battery 11A as a driving power source 2 drive electric motor with reducer
A motor controller 13 for driving the motor 12 is provided.

Further, as shown in FIGS. 2 and 4, the traveling body 1 is provided with two identical first and second magnetic sensors at a reference position in the vicinity of the pair of guide lines 5. 21A and 21B are arranged, and the magnetic field intensity signals a and b detected by these magnetic sensors 21A and 21B are the first guide signal detection unit 22.
The first guide signal detector 22 detects the difference between the magnetic intensities detected by the first and second magnetic sensors 21A and 21B, and outputs a guide signal e described later to the traveling control device 23. It

Further, as shown in FIGS. 2 and 4, the traveling body 1 is provided with two identical third and fourth magnetic sensors 24A, 24A at a reference position outside the magnet tape 8 in the vicinity thereof. 24B
Are arranged, and the magnetic field intensity signals c and d detected by these magnetic sensors 24A and 24B are input to the second guide signal detecting section 25, and the second guide signal detecting section 25 detects the third, fourth, and third magnetic field strength signals c and d. A difference in magnetic intensity detected by the magnetic sensors 24A and 24B is detected, and a guide signal f described later is output to the traveling control device 23.

A tag detector 26 consisting of an ID tag reading device is vertically provided above the ID tag 9 on the traveling body 1, and a tag detection signal g of the tag detector 26 is a traveling control device 23. Has been entered in.

The control device 23 outputs the traveling signal h to the motor controller 13 in response to the command signal to drive the traveling wheels 2 via the motor 12, and at the same time, the first guide signal detecting section.
22 or the steering signal j is output to the steering circuit 27 so that the guide signal e or f input from the second guide signal detection unit 25 becomes zero, and the traveling body 1 is steered to guide the traveling body 1. Control is performed so as to move along the lines 5A and 5B, that is, the transport path A and the branch path B and further across the branch points.

FIG. 4 shows an example of the circuit configuration of the first guide signal detecting section 22 and the second guide signal detecting section 25. The first guide signal detection unit 22 includes first and second high-pass filters 30A and 30B that pass only high frequency components of the magnetic field intensity signals a and b detected by the first and second magnetic sensors 21A and 21B, respectively.
The magnetic field strength signals a ′ and b ′ that have passed through the first and second high pass filters 30A and 30B are converted into DC magnetic field strength signals a ″ and b ″.
The first and second rectifying circuits 31A and 31B, and the DC magnetic field strength signals a ″ of these first and second rectifying circuits 31A and 31B,
a differential amplifier 32 that outputs a differential signal k of b ″, a summing amplifier 33 that outputs a summed signal m of the DC magnetic field strength signals a ″ and b ″ of the first and second rectifier circuits 31A and 31B, and a differential amplifier It is composed of a divider 34 that divides the difference signal k output from 33 and the addition signal m output from the addition amplifier 34 and outputs as a guide signal e.

With this circuit, first, the interference of the DC magnetic field generated by the magnet tape 8 is eliminated by the first and second high-pass filters 30A, 30B, and the strength of the magnetic field generated by the energization (AC) of the induction lines 5A, 5B. Is detected, and the level of the guide signal e is a pair of magnetic sensors 21
The magnetic field strengths detected by the magnetic sensors 21A and 21B are adjusted by the added value of the magnetic field strength values detected by A and 21B, respectively. Even if the current I flowing through the induction line 5 changes due to changes in the load state, or if the gap length D between the induction line 5 and the magnetic sensors 21A and 21B shown in FIG. The guide signal e of the traveling body 1 when the current flowing through the line 5 has a predetermined value can be obtained.

The second guide signal detector 25 includes first and second low pass filters 35A, which pass only low frequency components of the magnetic field intensity signals c and d detected by the third and fourth magnetic sensors 24A and 24B, respectively. 35B and the DC magnetic field strength signal c ′ passing through the first and second low pass filters 35A, 35B,
The differential amplifier 36 is configured to calculate the difference of d ′ and output it as a guide signal f.

With this circuit, the interference of the high frequency magnetic field generated by the energization (AC) of the induction line 5 by the first and second low pass filters 35A, 35B is eliminated, and only the strength of the magnetic field generated by the magnetic tape 8 is detected. The guide signal f is obtained from the difference.

The configuration of the control device 23 will be described with reference to the block diagram of FIG. The input / output device for the command signal is omitted. 41 is an RS flip-flop,
The start command signal is used as a set signal and the stop command signal is used as a reset signal, and its output excites the relay 1. When the relay 1 is excited, the traveling signal h is output to the motor controller 13. Further, the relay 2 is a relay for determining whether to go straight or branch / merge, and is excited by the output of the RS flip-flop 42.
In the RS flip-flop 42, the logical sum (OR) of the branch command signal and the merge command signal is added to the logical product (A) of the tag detection signal g.
The signal obtained by taking the ND) is used as the set signal, and the signal obtained by taking the logical product (AND) of the delay signal output by the timer 43 of the RS flip-flop 42 and the tag detection signal g is taken as the reset signal. The timer 43 is provided so that the RS flip-flop 42 does not repeatedly set and reset when the same ID tag 9 is detected.

When the relay 2 is not excited, that is, when the relay 2 is excited, that is, when the guide signal e of the first guide detection unit 22 is selected while traveling on the conveyance path A and the branch path B, the relay 2 is branched / merged. Sometimes the guide signal f of the second guide detector 25
Is selected and input to the subtractor 44, and the deviation from the setting signal p (normally “0”) output from the setting unit 45 is taken, and the deviation signal q is input to the PID control unit 46 and its control The signal is output to the steering circuit 27 as the steering signal j when the relay 1 is excited.

The operation of the traveling body 1 having the above structure will be described. In addition, a high frequency current from the power supply device 7 is applied to the induction line 5A,
It is assumed to be supplied to 5B. First, in the stop state, the guide signals e and f are input to the control device 23 from the first guide detection unit 22 and the second guide detection unit 25 according to the deviation from the conveyance path A or the branch path B, and the guidance is also provided. Track 5A,
The alternating current generated by the electromotive force induced in the pickup coil 10 by the magnetic flux generated in 5B is rectified by the alternating current-direct current conversion unit 11 to charge the battery 11A.

In this state, when the start command signal is input, the relay 1 is excited by the RS flip-flop 41, the traveling signal h is output to the motor controller 13, and the motor controller 13 drives the traveling wheel via the motor 12. Two
Is driven, and the traveling body 1 starts moving. The guide signal e is initially selected as the guide signal, and when the relay 1 is excited, that is, when the traveling signal h is output, the steering signal j is output according to the deviation from the set signal (“0”). Is output to the steering circuit 27, and steering of the traveling body 1 is controlled by the steering circuit 27, so that the traveling body 1 moves along the conveyance path A or the branch path B.

During this movement, when a branch command signal or a merge command signal is input and the tag detection supply 26 detects the ID tag 9, the RS flip-flop 42 excites the relay 2 and the subtractor 44 is excited. The input guide signal is switched to the guide signal f output from the second guide detection unit 25, and the steering signal j is output to the steering circuit 27 according to the deviation from the setting signal (“0”), so that the traveling body 1 runs along the magnetic tape 8 and branches or joins.

Then, after the timer 43 delays, when the tag detector 26 detects the terminal ID tag 9 again,
The RS flip-flop 42 is reset, the relay 2 becomes non-excited, and the guide signal input to the subtractor 44 is the first signal.
The guide signal e output from the guide detection unit 22 is switched to, so that the traveling body 1 again moves along the conveyance path A or the branch path B.

As described above, electric power can be supplied to the traveling body 1 in a contactless manner while traveling, and the difference in magnetic field strength detected by the magnetic sensors 21A and 21B is zero in the transport path A or the branch path B. By controlling the steering of the traveling body 1 so that the traveling body 1 can travel along the conveyance path A or the branching path B, the difference between the magnetic field strengths detected by the magnetic sensors 24A and 24B is zero at the branch point. The traveling body 1 can be branched or merged by controlling the steering of the traveling body 1 so that

As described above, the guide lines 5A and 5B can also be used as the guide magnetic field generating line in the transport path A or the branch path B corresponding to the normal traveling path, and the magnetic field generating line is laid for the guide. It is possible to reduce the cost of the laying work because it is not necessary to do so, and at the branch point where the magnetic generation path is interrupted, the guide signal can be obtained by laying the magnetic tape 8 to branch or join. it can.

As shown in FIG. 6, the magnetic sensor 21
High-pass filter 30A, 30
B and the low-pass filters 35A and 35B, the induction line 5A,
5B Magnetic field detection voltage and magnetic tape 8
It is also possible to obtain the guide signal e and the guide signal f by separating the detected magnetic field into the detected voltage.

[0031]

As described above, according to the first invention,
When traveling on a branch road or a transport road, the strength of the high-frequency electromotive force induced by the line is determined and used as a guide signal.
At the time of branching of the vehicle from the transport path to the branch path, or at the time of merging of the vehicles from the branch path to the transport path, by determining the strength of the DC electromotive force induced by the DC magnetic field generation path and using it as a guide signal, The vehicle guide signal can be obtained without interruption at the branch point, and the vehicle can travel stably. Further, in the branch path or the transport path, the guide line can also be used as a line for generating a magnetic field for guiding, and it is not necessary to lay a magnetic field generating line for guiding, and the cost of laying work can be reduced.

According to the second aspect of the present invention, when traveling on the branch road or the transport road, the strength of the output signal of the high frequency filter is determined as a guide signal, that is, the strength of the high frequency electromotive force induced by the line is determined. As a guide signal, when the vehicle is branched from the conveyance path to the branch road, or when the vehicle is merged from the branch road to the conveyance path, the strength of the output signal of the low frequency filter is determined to be the guide signal, that is, By determining the strength of the DC electromotive force induced by the DC magnetic field generation path and using it as a guide signal, it is possible to obtain a vehicle guide signal without interruption at the branch point, and the vehicle can run stably. it can. Further, in the branch path or the transport path, the guide line can also be used as a line for generating a magnetic field for guiding, and it is not necessary to lay a magnetic field generating line for guiding, and the cost of laying work can be reduced.

Further, according to the third invention, by sharing the magnetic sensor, the cost can be reduced, the mounting becomes easy, and the mounting place can be reduced.

[Brief description of drawings]

FIG. 1 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.

FIG. 2 is a configuration diagram of a traveling device of a traveling body using the guide sensor device.

FIG. 3 is an arrangement diagram of a transport path and a branch path of a traveling body using the guide sensor device.

FIG. 4 is a circuit configuration diagram of a guide sensor detection unit of the guide sensor device.

FIG. 5 is a block diagram of a traveling body control device using the guide sensor device.

FIG. 6 is a circuit configuration diagram of another guide sensor detection unit of the guide sensor device.

[Explanation of symbols]

 1 traveling body 3 floor surface 5A, 5B induction line 7 power supply device 8 magnetic tape (DC magnetic field generation path) 9 tag 10 pickup coil 11 AC-DC converter 12 motor 13 motor controller 21A, 21B, 24A, 24B magnetic sensor 22, 25 Guide signal detector 23 Control device 26 Tag detector 27 Steering circuit 30A, 30B High-pass filter 31A, 31B Rectifier circuit 32, 36 Differential amplifier 33 Summing amplifier 34 Divider 35A, 35B Low-pass filter A Running path B Branch path a, b, c, d magnetic field strength signal e, f guide signal g tag detection signal h traveling signal j steering signal

Claims (3)

[Claims] 1. A guide used for a vehicle that runs along a branch road and a transport path, in which a line for flowing a high-frequency current is laid respectively, and electric power is supplied from this line without contact. A sensing method, wherein a DC magnetic field generation path is laid across a branch point between the branch road and the transport path, and the vehicle generates high-frequency waves induced by the railroad track when traveling on the branch road or the transport path. A DC signal electromotive force induced by the DC magnetic field generation path is determined when the vehicle is branched from the carrier path to the branch path or when the vehicle is merged from the branch path to the carrier path by determining the strength of power as a guide signal. A method for sensing a guide, characterized by determining the strength of the signal and using it as a guide signal. 2. A guide used for a vehicle that runs along the branch road and the transport path, in which a line for passing a high-frequency current is laid along the branch road and the transport path, respectively, and electric power is supplied from the line without contact. A sensor device, wherein a direct-current magnetic field generation path is laid across a branch point of the branch path and a transfer path, and is arranged in the vehicle in the vicinity of the track.
A magnetic sensor, a second magnetic sensor arranged near the DC magnetic field generation path, a high-frequency filter for inputting a magnetic field strength signal detected by the first magnetic sensor, and a second
A low-frequency filter for inputting a magnetic field strength signal detected by a magnetic sensor, and when traveling on the branch road or the transport path, the strength of the output signal of the high-frequency filter is determined as a guide signal, and the branch path from the transport path is determined. When the vehicle is branched to the vehicle or when the vehicle is merged from the branch road to the transport path, a guide sensor device is provided with a switching circuit that determines the strength of the output signal of the low-frequency filter and uses it as a guide signal. . 3. The guide sensor device according to claim 2, wherein the first magnetic sensor and the second magnetic sensor are shared.