JPH09145369A - Position detection system for mobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the position of an inside mobile among a plurality of, more than two, mobiles moving on one line accurately with no interference of outside mobile. SOLUTION: A light radiated from an optical distance measuring unit 20 on a mobile 12B is reflected on the concave reflection face 16b of a reflector 16B in a reflection means 18 and the distance X between an inside mobile 12B and reflection means 18 is measured. Horizontal distance Lb from directly under the reflection means 18 and inside mobile 12B is operated from the distance X and the vertical height H of reflection means 18 with respect to the optical distance measuring unit 20 on the mobile 12B thus detecting the position of inside mobile 12B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting the position of a moving body moving on a fixed track such as an overhead traveling crane in a warehouse, a carrier truck, etc. The present invention relates to a method of detecting the positions of a plurality of three or more moving bodies.

[0002]

2. Description of the Related Art One prior art moving body position detecting method for optically detecting the position of a moving body is as shown in FIG.
For example, moving bodies 12A, 12C such as overhead traveling cranes
The optical distance measuring devices 20A and 20C are mounted on the mobile body 1 and the light emitted from the optical distance measuring devices 20A and 20C is moved by the moving body 1.
Before and after the traveling direction of 2A, 12C, it is applied to the reflecting plates 16A, 16C installed in a fixed part in the warehouse as appropriate, and the reflected light is processed by the optical distance measuring devices 20A, 20C to make the moving body 1
The position of the moving body is detected by measuring the distance from 2A, 12C to the reflection means 16A, 16C or the reflection time.

In this system, as shown in FIG. 9, when only two moving bodies 12A and 12C are located on the same straight line, the positions of these moving bodies can be detected. When two or more moving bodies are moving on the same straight line, the inner moving body located between the moving bodies on both sides has the outer moving body located between this moving body and the reflector. Since they interfere with each other, light cannot be emitted from the inner moving body to the reflecting plate, and therefore the position of the inner moving body cannot be detected.

[0004]

The problem to be solved by the present invention is that the position of the inner moving body among three or more moving bodies moving on the same straight line is interfered by the outer moving body. An object of the present invention is to provide a position detection method for a moving body that can reliably detect the position of the moving body.

[0005]

The first means for solving the problems of the present invention is to provide an inner moving body that moves between moving bodies on both sides of three or more moving bodies that move on the same straight line. A method for detecting a position, comprising: a reflecting means having a concave curved reflecting surface, which is arranged above or behind an inner moving body, so that light emitted from the inner moving body is concavely curved by the reflecting means. Another object of the present invention is to provide a moving body position detecting method characterized by detecting the position of an inner moving body by reflecting the light on a reflecting surface.

A second means for solving the problems of the present invention is a method for detecting the position of a moving body according to the means for solving the first problem, wherein an optical distance measuring device is mounted on the inner side of the moving body to measure the optical distance. The light emitted from the vessel is reflected by the concave curved reflecting surface of the reflecting means to measure the distance X between the inner moving body and the reflecting means,
It is an object of the present invention to provide a position detecting method for a moving body, which is characterized in that a horizontal distance Lc from a position directly below the reflecting means to an inside moving body is calculated from a vertical height H and a distance X of the reflecting means with respect to the moving body. .

A third problem-solving means of the present invention is a position detecting method of a moving body according to the first problem-solving means, so that the elevation angle of the light-emitter / receiver can be adjusted on the inner moving body. It is mounted so that it can swing freely, and the light emitted from this light emitter / receiver is reflected by the concave curved reflecting surface of the reflection means and returns to the light emitter / receiver, and the elevation angle θ of the light emitter / receiver and the perpendicular to the light emitter / receiver of the reflection means. It is an object of the present invention to provide a position detecting method for a moving body, which is characterized in that the horizontal distance Lc from the height H to the moving body just below the reflecting means to the inside is obtained.

As described above, when the reflecting means having the concave reflecting surface is arranged above and behind the moving body on the inner side and the light emitted from the moving body on the inner side is reflected on the concave reflecting surface of the reflecting means, The position of the inner moving body can be detected without being interfered with by the outer moving body.

When the position of the inner moving body is detected from the distance between the inner moving body and the reflecting means, the optical distance measuring device mounted on the moving body and the output of this optical distance measuring device are used. The position of the moving body can be detected by a simple configuration with a calculator to which the vertical height H known in advance is input.

Further, when the position of the inner moving body is detected from the elevation angle of the light emitting / receiving device when the light from the light emitting / receiving device on the inner moving body is reflected by the reflecting means and returns, the moving body is detected. It is possible to know the elevation angle θ, which is the output of this angle detector, and the angle detector that detects the elevation angle θ of this emitter / receiver, which is mounted so that the elevation angle can be adjusted. The position of the moving body can be detected by a simple configuration with a computing unit to which the vertical height H is input.

In either case, the positions of the moving bodies on both sides are
The light from the optical distance measuring device mounted on it is reflected by the reflectors installed in front and back, and the distance can be measured and detected from the time when this reflection returns.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 and FIG. 3 systematically show an apparatus for carrying out a position detecting method for a moving body according to the present invention. The two moving bodies 12A, 12B and 12C are shown to travel on the fixed track 14 on the same straight line.

The two outer moving bodies 12A and 12C are
An optical distance measuring device (not shown) is mounted, and the light emitted from this optical distance measuring device is used for the front and rear reflection plates 16A, 16A.
After being reflected by C, the distances La and Lb between the reflectors 16A and 16C and the moving bodies 12A and 12C are measured from the reflection time h from the emission of this light to the reflection and return. Since this measuring method is known, a detailed description thereof will be omitted.

In one embodiment of the present invention shown in FIG. 1, in order to detect the position of the inner moving body 12B by measuring the distance Lc from the position where the reflecting plate 16A is installed to the inner moving body 12B. , A concave reflecting surface 16 above the reflecting plate 16A
The reflecting means 18 consisting of the reflecting plate 16B having b is installed, and the optical distance measuring device 20 is provided on the inner moving body 12B.
Is mounted.

In the example of FIG. 1, the light radiated from the optical distance measuring device 20 on the moving body 12B is reflected by the concave curved reflecting surface 16b of the reflecting means 18 so that the moving body 12B and the reflecting means 18 on the inner side are separated from each other. The distance X between them is measured, and from the vertical height H of the reflection means 18 with respect to the optical distance measuring device 20 on the moving body 12B and the distance X, the position where the reflection plate 16A is installed, that is, from directly below the reflection means 18 to the inside. Of the inner moving body 1 by calculating the horizontal distance Lb to the moving body 12B of
The position of 2B is detected.

As shown in FIG. 2, the distance X between the inner moving body 12B and the reflecting means 18 and the moving body 1 of the reflecting means 18 are shown.
The vertical height H with respect to the optical distance measuring device 20 on 2B and the moving body 12B inside from the position where the reflecting plate 16A is installed.
The horizontal distance Lb up to corresponds to each side of the right triangle. As shown in FIG. 7, the optical distance measuring device 20 has a known form including a light emitting / receiving device portion 21 and a computing device portion 21 ′, and the light emitting / receiving device portion 21 reflects the light Lo to the reflecting means 1.
Emitting toward the concave curved reflecting surface 16b of the reflecting plate 16B of No. 8,
The reflected light Lr that returns after being reflected by the concave curved reflecting surface 16b
Further, the computing unit portion 21 ′ measures the distance X from the moving body 10 to the reflecting means 18 from the time (reflection time) h from the emission of the light Lo to the return as the reflected light Lr.

As shown in FIG. 7, the control means 22 controls the distance signal Sx corresponding to the distance X from the optical distance measuring device 20.
And a height signal Sh corresponding to the vertical height H of the reflecting means 18 which is known in advance, and Lb is calculated from X and H according to the following equation. Lb = (H ² + L ² ) ^1/2 ----- (1)

In the optical distance measuring device 20, the light emitted from the optical distance measuring device 20 is reflected by the reflecting plate 16B of the reflecting means 18 as the inner moving body 12B carrying the optical distance measuring device 20 moves. Since it deviates from the concave curved reflecting surface 16b, its directivity can be adjusted so that the light from the optical distance measuring device 20 always strikes the concave curved reflecting surface 16b as the corresponding moving body 12B moves. And is supported by the moving body 12B. Although detailed description of the structure of the directivity adjusting means is omitted, the directivity adjusting means is capable of adjusting the optical distance measuring device 20 so that the elevation angle θ increases as the moving body 12B approaches the reflecting means 18. I support you. Therefore, the optical separation measuring device 20 is swingably displaced so as to adjust the elevation angle θ until the light emitted from the light emitter / receiver portion 21 hits the reflecting plate 16B and is reflected back to the light emitter / receiver B. It

In another embodiment of the present invention shown in FIG. 3, in order to detect the position of the inner moving body 12B by measuring the distance Lb from the position where the reflecting plate 16A is installed to the inner moving body 12B. , A concave reflecting surface 16b above the reflecting plate 16A
The reflecting means 18 including the reflecting plate 16B having the above is installed, and the projector / receiver 24 is mounted on the moving body 12B on the inner side and the elevation angle θ.
Is supported so that it can be adjusted.

The light emitted from the light emitter / receiver 24, which is swingably supported on the moving body 12B, is reflected by the reflecting plate 16 of the reflecting means 18.
The elevation angle θ of the light emitter / receiver 24 when being reflected by the concave curved reflecting surface 16b of B is measured, and the moving body 12B of the reflecting means 18 is measured.
Based on the vertical height H and the elevation angle θ with respect to the upper light emitter / receiver 24, the horizontal distance Lb from the position where the reflector 16A is installed, that is, from just below the reflecting means 18 to the inside moving body 12B is calculated to calculate the inside distance. The position of the moving body 12B is detected.

As shown in FIG. 4, the distance X between the inner moving body 12B and the reflecting means 18 and the moving body 1 of the reflecting means 18 are shown.
Vertical height H with respect to the emitter / receiver 24 on 2B and the reflector 1
The horizontal distance Lb from the position where 6A is installed to the inside moving body 12B corresponds to each side of the right triangle, and the elevation angle θ of the light emitter / receiver 24 corresponds to the angle between the side X and the side Lb.

As shown in FIG. 8, the light emitter / receiver 24 uses the light L.
O is radiated toward the concave curved reflecting surface 16b of the reflecting plate 16B of the reflecting means 18, and the reflected light Lr reflected by the concave curved reflecting surface 16b and returned is received. As shown in FIGS. 5 and 6, the moving body 12B swings by the appropriate swing support means 26 for swingably supporting the light emitter / receiver 24 and the light emitter / receiver 24. Emitter / receiver 2 when the projector emits and receives light
The angle detector 28 for obtaining the elevation angle θ of 4 is provided. The rocking | fluctuation support means 26 consists of rotary drive sources, such as a step motor which drives the rocking | fluctuation shaft of the light emitter / receiver 24, for example.

The angle detector 28 is, for example, as shown in FIG. 6, a potentiometer 3 interlocked with the swing support means 26.
This potentiometer 30 has its sliding terminal 30a displaced as the light emitter / receiver 24 swings,
A signal Sθ corresponding to the elevation angle θ that changes according to the swing of the light emitter / receiver 24 is output (see FIG. 8).

As shown in FIG. 8, the control means 32 reflects the light emitted from the light emitter / receiver 24 at an elevation angle signal Sθ corresponding to the ever-changing elevation angle θ from the angle detector 28 and a predetermined elevation angle θ. When reflected by the plate 18 and returned to the light emitter / receiver 24, the output Sr of the light receiver portion of the light emitter / receiver 24 and the height signal Sh corresponding to the vertical height H of the reflecting means 18 which is known in advance are received, and Lb is calculated from the elevation angle θ and H when Sr is input according to the following equation. Lb = H / Cos θ −−−−− (2)

In the above two examples, the moving bodies 12A on both sides are
The case where one inner moving body 12B moves between the two moving bodies 12C has been described, but when two or more moving bodies move between the moving bodies 12A and 12C on both sides, the same principle is applied to these cases. The position of the moving body inside can be detected.
In this case, the optical distance measuring device 20 or the light projecting / receiving device 24 on two or more inner moving bodies can reflect the light to the common reflecting means 18.

Further, in the above example, the inner moving body 12B
On the other hand, although the case where the reflection means 18 is installed in the left direction in FIGS. 1 and 3 is shown, it goes without saying that the reflection means 18 may be installed in the right direction.

[0027]

According to the present invention, as described above, the reflecting means having the concave curved reflecting surface is provided above or behind the inner moving body of the plurality of moving bodies arranged and moving in a straight line. Since the light emitted from the inner moving body is reflected by the concave curved reflecting surface of the reflecting means, the position of the inner moving body can be optically detected without being interfered by the outer moving body. You can

In this case, the position of the inner moving body is the distance X between the inner moving body and the reflecting means, or the elevation angle θ with respect to the reflecting means of the light emitting / receiving device on the inner moving body, which is known in advance. It can be easily detected from the height H by calculation.

[Brief description of the drawings]

FIG. 1 is a schematic system diagram of one mode of a position detection method for a moving body according to the present invention.

FIG. 2 is a diagram showing a mutual positional relationship between a moving body and a reflecting means in the form of FIG.

FIG. 3 is a schematic system diagram of another form of a position detecting method for a moving body according to the present invention.

FIG. 4 is a diagram showing a mutual positional relationship between a moving body and a reflecting means in the form of FIG.

FIG. 5 is a schematic explanatory diagram illustrating a state in which the elevation angle of the light emitter / receiver changes according to the position of the moving body in the configuration of FIG.

6 is a schematic diagram of an example of an angle of elevation detector in the configuration of FIG.

7 is a system diagram of a control system including control means used in the configurations of FIGS. 1 and 2. FIG.

8 is a system diagram of a control system including control means used in the configurations of FIGS. 3 and 4. FIG.

FIG. 9 is a schematic system diagram of a position detection method for a moving body when it has no inner moving body.

[Explanation of symbols]

 12A Outer moving body 12B Inner moving body 12C Outer moving body 14 Constant orbit 16A Reflector 16B Reflector 16b Concave reflecting surface 16C Reflector 18 Reflecting means 20 Optical distance measuring device 20A Optical distance measuring device 20B Optical Distance measuring device 21 Emitter / receiver part 21 'Computing part 22 Control means 24 Emitter / receiver 26 Swing support means 28 Angle detector 30 Potentiometer 32 Control means

Claims (3)

[Claims] 1. A method of detecting the position of an inner moving body that moves between moving bodies on both sides of three or more moving bodies that move on the same straight line. The position of the inner moving body is provided by including a reflecting means having a concave reflecting surface arranged above or below either of the front and rear, and reflecting light emitted from the inner moving body to the concave reflecting surface of the reflecting means. A method for detecting the position of a moving body, which is characterized by detecting 2. The position detecting method for a moving body according to claim 1, wherein an optical distance measuring device is mounted on the inner moving body, and light emitted from the optical distance measuring device is reflected by the reflecting means. The distance X between the moving body on the inside and the reflecting means is measured by reflecting it on the concave curved reflecting surface of the reflecting means, and the vertical height H of the reflecting means with respect to the moving body and the distance X are used to measure the reflecting means. A method for detecting a position of a moving body, wherein a horizontal distance Lc from directly below to the inside moving body is calculated. 3. The position detecting method for a moving body according to claim 1, wherein the light emitting and receiving device is swingably mounted on the inner moving body so that an elevation angle thereof can be adjusted, From the elevation angle θ of the light emitter / receiver and the vertical height H of the reflector means with respect to the light emitter / receiver when the light emitted from the light receiver is reflected by the concave reflecting surface of the reflecting means and returns to the light emitter / receiver. A horizontal distance L from directly below the reflecting means to the inside moving body
A method for detecting the position of a moving body, which is characterized in that c is calculated.