JPS5839560A - Detector for position of unmanned travelling car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a position detection device for an unmanned vehicle that runs unmanned by remote control using a contact current collection method (so-called trolley one-way method).

In the reactor containment vessel interior inspection system, inspections are performed using a remote-controlled unmanned vehicle, and the unmanned vehicle is driven along the driving path K.
It is customary to use a contact current collection method (hereinafter referred to as "trolley one-way type") in which current is collected while contacting and sliding on a trolley wire laid by f8. Conventionally, the following method has been used to detect the position of an unmanned vehicle using this type of trolley type.

In other words, by installing something like a speedometer on an unmanned vehicle,
There are methods that calculate the position by converting this detected value into a distance, and methods that calculate the position by attaching a string to the unmanned vehicle and detecting the elongation of the string using an encoder. However, the former has problems with accuracy, and even with the latter, when the string becomes long, it stretches due to tension and environmental conditions, reducing accuracy, and the process of following the string for forward and backward movement requires a large-scale device. There are drawbacks. In addition, there is an intermittent but accurate method of placing limit switches on the path and knowing the position by contact with an unmanned vehicle, but there are many inconveniences when the interval between limit switches is too long. It becomes necessary to use multiple membranes for the force limit switch, and the structure of the lead wires becomes complicated.

The present invention is configured in a positioning device for an unmanned vehicle so that the current flowing through the trolley changes accordingly, and the position is continuously detected by detecting the current change. The purpose of the present invention is to provide a position detection device for an unmanned vehicle that directly measures the position using a trolley wire, which has been used only for A closed-loop circuit is constructed by laying a trolley wire along the running path, supplying current while sliding in contact with the trolley wire, and installing a current detector on the closed-loop circuit. It is electrically connected to an arithmetic processing unit and detects the position of the vehicle based on changes in the current value from the current detector.

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

In FIG. 1, an unmanned vehicle 1 has current collectors 8a on trolley wires 3a and 3b laid along a passageway 2.

8b, it travels while receiving electric power while contacting and sliding.

Power is supplied to the trolley wires 3a and 3b from a power supply facility 5 via a feeder line 4 and a connection 6. The trolley wires 3a and 3b are configured into an endless closed loop circuit. In this case, depending on the shape of the passage 2, the trolley wires 3a, 3b may be connected as part of a closed loose circuit. The figure shows a case where the trolley wires 3a and 3b are laid in a closed loop. Trolley wire 3m,
3b is an arbitrary position sum current detector 7m on the line, 7b
Set up. The signals of the current detectors 7a, )b are input to the arithmetic processing unit 9 electrically connected via signal lines 71m, 71b. Further, a current value signal from the power supply equipment 5 is input to the arithmetic processing device 9 through a signal line 51. Further, the arithmetic processing device 9 is attached with a display device 10 that displays the result of the arithmetic operation, that is, the position of the unmanned vehicle l.

The operating state of the position detector with the above configuration will be described next.

Considering that the unmanned vehicle 1 in FIG. 1 moves in the direction of the arrow, the signals of the current detection @ 7'a and 7b change as shown in FIG. 2. . Symbol A0. A1 shows a case where the unmanned vehicle 1 is located tangentially to the trolley wires 3a, 3b and the feeder line 4; in this position, current flows directly into and out of the unmanned vehicle 1, so the trolley wires 3a, 3b K hardly flows, and the current values of the current detectors 7a and 7b show almost zero. Also symbol B
0. In B1, the unmanned vehicle 10 current collector 8b is the current detector 7b
If the position matches K, the sum of the currents flowing through the trolleys i#i3b on both sides of the current detector 7b is detected, which is equal to the current value supplied by the power supply equipment, and the maximum value is When you show it, it becomes K. Trolley wire 3a @
Similarly, when the current collector 8a moves to the position where the current detector 7 is located, the current becomes maximum as shown by symbol C01C1.

By connecting these maximum and minimum values, the detected current values of the detected current values 7a and 7b change according to the position of the unmanned vehicle 1 as shown in FIG.

From the above, the tree y of changes in current value is stored in the arithmetic processing unit 9 in advance, and the position of the unmanned vehicle 1 can be determined by comparing it with the actual measured value. In this case, the current supplied from the power supply equipment 5 may change due to the power consumption of the unmanned vehicle 1, but as shown in FIG.
The current value of the current detectors 7a and 7b, which changes at the same rate as the rate of change of this value, can be corrected.

Another embodiment is shown in FIG. trolley wire 3
A, 3b and the feeder line from the power supply equipment 5 are connected by shifting their positions at connection lines 61m, 6b, and current detectors 7a, 7b are installed on the other lines in accordance with these positions. Each current detector 7a, 7
The change in the detected current value of b is as shown in FIG. In addition, even if the trolley wires 3m and 3b form part of a closed loop circuit, the position can be detected by the current change between them. Furthermore, more accurate position detection can be achieved by detecting not only one current detector but a plurality of current detectors and calculating the changes. [Detection is possible even when there is only one trolley wire using ground.] In this case, it is advisable to supplement this with means for detecting the running direction of the unmanned vehicle. It doesn't matter whether the current is direct current or alternating current. Three-phase AC is also possible. Various modifications can be made using the gist of the present invention.

As described above, the position detection device for an unmanned vehicle of the present invention configures the trolley wire into a closed loop circuit, and utilizes the fact that the current value at a fixed position on the circuit changes depending on the position of the unmanned vehicle. This is a 5K system that installs a current detector and uses the detection signal to calculate and display the position of an unmanned vehicle. Since it is constructed from materials that can be used for other purposes, it is simple in structure, easy to maintain, and economical. Continuous detection is performed with high precision, making it effective for use in detecting the position of unmanned vehicles in reactor containment vessel inspection systems.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing one embodiment of the position detection device for an unmanned vehicle of the present invention, FIG. 2 is a chart showing changes in the detected current value of the current detector used in the configuration of FIG. 1, and FIG. This figure is a configuration diagram showing another embodiment of the present invention, and FIG. 4 is a chart showing changes in the detected current value of the current detector used in the configuration of FIG. 3. 1...Unmanned vehicle, 2...Aisle, 3m, 3b.
...Trolley wire, 4...Feeder line, 5...Power supply equipment, 6゜6a, 6b...Connection ZEX, 7a
, 7b... Current detector, 8a, 8b... Current collector, 9... Arithmetic processing device, 10... Display device.

Claims (1)

[Scope of Claims] 1. In an unmanned vehicle that travels by receiving electric current while sliding in contact with a trolley wire connected to power supply equipment laid along a running path, the trolley wire is a closed loop circuit, a current detector is provided on the closed loop circuit, and the current detector is electrically connected to the arithmetic processing device;
A position detection device for an unmanned vehicle, characterized in that the position of the vehicle is detected based on changes in the current value from the current detector. 2. The method according to claim 1, wherein current detectors are respectively provided at appropriate positions of two trolley wires constituting a closed loop circuit, and each of the current detectors is electrically connected to an arithmetic processing device. Position detection device for unmanned vehicles. 3. The position detection device for an unmanned vehicle according to claim 1, wherein the arithmetic processing device has a display device, and the position of the vehicle calculated by the arithmetic processing device is displayed on the display device.