JPS59177612A - Guide path of unattended wagon - Google Patents
Guide path of unattended wagonInfo
- Publication number
- JPS59177612A JPS59177612A JP58053302A JP5330283A JPS59177612A JP S59177612 A JPS59177612 A JP S59177612A JP 58053302 A JP58053302 A JP 58053302A JP 5330283 A JP5330283 A JP 5330283A JP S59177612 A JPS59177612 A JP S59177612A
- Authority
- JP
- Japan
- Prior art keywords
- coil
- guide path
- induction coil
- coils
- guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000006698 induction Effects 0.000 claims description 23
- 239000002184 metal Substances 0.000 claims description 23
- 238000001514 detection method Methods 0.000 description 14
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 239000004020 conductor Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- BZHJMEDXRYGGRV-UHFFFAOYSA-N Vinyl chloride Chemical compound ClC=C BZHJMEDXRYGGRV-UHFFFAOYSA-N 0.000 description 1
- 235000013365 dairy product Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は無人搬送車の誘導路に係り、特に金属センサ方
式を用いた無人搬送車の誘導路の切換１こ好適な分岐部
構造に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a guideway for an automatic guided vehicle, and more particularly to a suitable branch structure for switching a guideway for an automatic guided vehicle using a metal sensor method.
金属センサ方式の誘導の原理を第１図乃至第４図Ｉこ示
す。The principle of guidance using the metal sensor method is shown in FIGS. 1 to 4.
車体１に金属センサ２か車輪３の操舵角に比例して可動
するように取付けられてつる。地上には路床４上１こ金
属帯５か車両の走行方向１こ沿って配設されている。金
属センサ２の動作原理図は第３図１こ示すように、金属
帯５の直上に一定高さ離して、一対の検出コイル５ａ、
５ｂか配され、インピーダンス素子７ａ、７ｂとブリッ
ヂを構成し、発振器８で図の如く課電すると、ブリツヂ
の不平衡分か検出装置９に現われる。A metal sensor 2 is attached to a vehicle body 1 so as to be movable in proportion to the steering angle of a wheel 3. On the ground, one metal strip 5 is disposed on the roadbed 4 along one direction in which the vehicle travels. The operating principle of the metal sensor 2 is shown in FIG. 3. As shown in FIG.
5b is arranged to form a bridge with impedance elements 7a and 7b, and when a voltage is applied by an oscillator 8 as shown in the figure, an unbalance of the bridge appears on a detection device 9.
もし、金属帯５の中心が、一対の検出コイル６ａ、６ｂ
の中心に一致したとき検出装置９のピ
出力ｖ０か０になるよう１こイン窒−ダンス素子７ａ、
７ｂを調整しておくと、金属帯５と検出コイル６ａ、６
ｂの相対位置っれＸｌこよ１て、ブリッヂの平衡、かく
ずれ、第４図の曲線で示すような出力電圧Ｖ。を発生す
る。この曲線より、ブリッヂの出力か０になるようにサ
ーボモータなどの手段１こよって車輪３の操舵角を制御
すれは、車体１を金属帯５に沿って走行させることかで
きる。If the center of the metal band 5 is located between the pair of detection coils 6a and 6b,
1 Ni-dance element 7a, so that the pin output of the detection device 9 becomes v0 or 0 when it coincides with the center of
7b, the metal band 5 and detection coils 6a, 6
Depending on the relative position of b, Xl, the balance of the bridge or imbalance, the output voltage V as shown by the curve in FIG. occurs. From this curve, the vehicle body 1 can be made to travel along the metal band 5 by controlling the steering angle of the wheels 3 by means 1 such as a servo motor so that the output of the bridge becomes zero.
ところで、無人搬送車の誘導路を分岐させて走行させる
場合、金属帯５を第５図のようＩこ敷設すると無人搬送
車はＡ方向に進行すべきか、Ｂ方向に曲るべきかが判断
出来ないので、あらかじめ無人搬送車になんらかの情報
を与えておかなければならない欠点かある。By the way, when the automatic guided vehicle is run on a branched guideway, by laying the metal strip 5 as shown in Fig. 5, it is possible to judge whether the automatic guided vehicle should proceed in direction A or turn in direction B. The disadvantage is that some information must be given to the automated guided vehicle in advance.
不発明は上記の欠点を除去するもので、誘導路の任意の
方向に切換走行させることかできる分岐部構造を提供す
るものである。The present invention eliminates the above-mentioned drawbacks and provides a branch structure that allows the taxiway to be switched to any direction.
本発明は、誘導路の分岐部に分岐方向へコイルを敷設し
、かつ、該コイルにコイルのループを開閉する接点を設
けたことを特徴とするものである。The present invention is characterized in that a coil is laid in the branching direction of the guideway, and that the coil is provided with a contact for opening and closing the loop of the coil.
本発明の実施例における基本構成を第６図に示す。The basic configuration of an embodiment of the present invention is shown in FIG.
６ａ、６ｂは無人搬送車の金属センサ２として車体１に
取付けられている検出コイルであり、路床４に金属帯５
に代えて誘導フィル１０を敷設した状態のそれぞれ（ａ
Ｊ正面図、（Ｉｌｌ平而図面示しており、矢印のようｌ
こ進むとして、検出コイル５ａ、５ｂの進行方向長さを
ＰＹとし、巾方向長さをＰＸとし、その地上高さをＨと
し、金属帯５に代わる誘導コイル１０の進行方向長さを
ＳＹ、巾方向長さをＳＸとして実施例ではＰＹ＝６０、
ＰＸ＝１００．５Ｘ＝８０．５Ｙ＝３００、Ｈ＝５（１
（酪）とした。検出コイル６ａ１６ｂはそれそ・れエナ
メル線を１００ターン巻き、誘導コイル１０は塩化ビニ
ル被覆線を３ターン巻き、該誘導コイル１０のループを
開閉するスイッチ１１を備えている。6a and 6b are detection coils attached to the vehicle body 1 as metal sensors 2 of the automatic guided vehicle, and metal strips 5 are attached to the roadbed 4.
Each state (a
J front view, (Ill plain drawing shown, as shown by the arrow)
In this case, the length of the detection coils 5a and 5b in the traveling direction is PY, the length in the width direction is PX, the height above the ground is H, and the length of the induction coil 10 in place of the metal band 5 in the traveling direction is SY, In the example, the width direction length is SX, PY=60,
PX=100.5X=80.5Y=300, H=5(1
(dairy). Each of the detection coils 6a16b is wound with 100 turns of enameled wire, and the induction coil 10 is wound with 3 turns of vinyl chloride coated wire, and is equipped with a switch 11 for opening and closing the loop of the induction coil 10.
第７図は本発明の２方向へ分岐の場合の実施例を示し、
誘導コイル１０ａ、１０ｂはそれぞれ電気的に分離した
状態で設置し、各誘導コイル１０ａ、１０ｂｌこはスイ
ッチ１１１１１１ｂか取付けられている。FIG. 7 shows an embodiment of the present invention in the case of branching in two directions,
The induction coils 10a and 10b are installed electrically separated from each other, and a switch 111111b is attached to each induction coil 10a and 10bl.
今、無人搬送車の車体か金属帯５Ｉこ沿って矢へ
印の方向Ｉこ進行して来るとし、スイ・ノチｌｌａを開
、ｌｌｂを閉にしておくと、検出コイル６’ａ、６ｂは
誘導コイル１０ａとは電磁的結合かないので、誘導コイ
ル１０ｂとの電磁的結合によって車体１は右折し、金属
帯５ｂ上に移行することになる。また、スイッチｌｌａ
を閉、１１ｂを開にすれば車体１は左折する。このよう
に、誘導コイル１０ ａ、 １０’ｂのスイ、ツチ１．
１ ａ、 １ ’１ ｂの操作によって車体１の走行
路を変えることか出来る。尚、スイ・ンチ１１ａ１１１
ｂは２系統の選択スイ・ノチに統合することもてきる。Now, suppose that the automatic guided vehicle is moving along the body of the automatic guided vehicle or the metal band 5I in the direction of the arrow I, and if the switch lla is opened and llb is closed, the detection coils 6'a and 6b will be Since there is no electromagnetic coupling with the induction coil 10a, the vehicle body 1 turns right due to the electromagnetic coupling with the induction coil 10b and moves onto the metal band 5b. Also, switch lla
If 11b is closed and 11b is opened, the vehicle body 1 will turn left. In this way, the induction coils 10a, 10'b are 1.
The traveling path of the vehicle body 1 can be changed by operating 1a, 1' and 1b. In addition, Sui Nchi 11a111
b can also be integrated into two systems of selection sui-nochi.
検出コイル５ａ、６ｂと誘導コイル１０ａ１１０ｂとの
電磁的結合の強さは高さＨを一定にした場合、誘導コイ
ルのターン数を複数にした方かより効果的である。When the height H is constant, it is more effective to increase the strength of the electromagnetic coupling between the detection coils 5a, 6b and the induction coil 10a110b by using a plurality of turns in the induction coil.
ところで、誘導コイル１０の長さ方向寸法ＳＹはあまり
長くすると経済的でないはかりてなく、自己インダクタ
ンスか増加し、検出装置９から見た感度を低下させる。By the way, if the lengthwise dimension SY of the induction coil 10 is too long, it will be uneconomical and unreasonable, and the self-inductance will increase, reducing the sensitivity seen from the detection device 9.
車体１を分岐走行さ゛せるに必要な長さは少くとも検出
コイル６ａ。The detection coil 6a is at least long enough to allow the vehicle body 1 to travel in a branched manner.
６ｂの進向方向長さＰＹ以上となるか、特に長（したい
場合は誘導コイル１０を第８図またはば、３組の誘導コ
イル１０か並んだと同等となる。さらに第９図は導体１
． Ｑ １．１０２．１０３を独立のコイル状に並べて
、その各−辺にスイッチ１１３１１２．１１３を取付け
ている。The length in the advancing direction of the conductor 6b is greater than or equal to the length PY (if desired, the induction coil 10 shown in FIG.
．． Q 1.102.103 are arranged in an independent coil shape, and a switch 113112.113 is attached to each side.
この場合は誘導コイル１０として複数ターンを巻くこと
かできる。In this case, the induction coil 10 can be wound with a plurality of turns.
一方、誘導コイル１０の巾方向寸法ＳＸは、金属帯５で
得られる第４図に示したＶＤ−Ｘ曲−ンの場合には検出
コイル６ａ、６ｂとの電磁的結合か小さいので、前記中
方向寸法ＳＸは金属帯５の巾より大きくする方か良好な
結果か得られる。On the other hand, in the case of the VD-X curve shown in FIG. 4 obtained with the metal band 5, the width direction dimension SX of the induction coil 10 has a small electromagnetic coupling with the detection coils 6a and 6b. Better results can be obtained by making the directional dimension SX larger than the width of the metal strip 5.
第１０図は第８図の変形例を示しており、Ｔ分岐なとで
は車体１の最小回転半径が大きい場合に直角に曲かるこ
とは出来ないので、適当な曲率半径をもつ誘導コイル１
０を使うのが良い。FIG. 10 shows a modification of FIG. 8, in which a T-branch cannot be bent at right angles when the minimum turning radius of the vehicle body 1 is large, so an induction coil 1 with an appropriate radius of curvature is used.
It is better to use 0.
尚、第９図に示すような誘導コイル１０を円弧状に配置
しても良い。Incidentally, the induction coil 10 as shown in FIG. 9 may be arranged in an arc shape.
第１１図は３又路のいずれの方向からも分岐走行可能な
誘導路の例を示した。誘専コイル他の２つを閉にすると
車体１は２組の閉じられり誘導コイル１０上を通ること
になる。この原理は一般にＮ個の分岐に適用可能である
。FIG. 11 shows an example of a three-way taxiway that allows branching from either direction. When the other two induction coils are closed, the vehicle body 1 passes over two closed induction coils 10. This principle is generally applicable to N branches.
上述したよう１こ、従来金属センサ方式の無人搬送車は
進路の分岐か困難であったか、本発明により分岐か可能
となり、きわめて敷設か容易で安価、かつ信頼性の高い
無人搬送車誘導路を提供出来る。As mentioned above, it has been difficult for automatic guided vehicles using conventional metal sensors to branch their routes, but the present invention makes it possible to do so, providing an automated guided vehicle guideway that is extremely easy to install, inexpensive, and highly reliable. I can do it.
第１図は金属センサ方式の無人搬送車の概略を示す正面
図、第２図は同しく側面図、第３図は金属センサ方式の
原理を示す基本回路図、第４図は第３図１こおける検出
装置に表われる特性曲線図、第５図は従来の誘導路にお
ける分岐部の説明図、第６図は本発明の一実施例におけ
る分岐部の誘導コイル配置を示す（ａＪ正而面と（１）
）平面図、第７図は本発明の一実施例を示す平面図、第
８図乃至第１０図（す誘導コイルの変形例を示す平面図
、第１１図は本発明の他の実施例を示す平面図である。
１は車体、２は金属センサ、３は車輪、４は路床、５．
５ａ１５ｂは金属帯、５ａ、６ｂｉ；Ｌ検出コイル、７
ａ、、７．ｂはインピーダンス素子、８は発振器、９
は検出装置、１ｏ、１０ａ、１０ｂ、ＩＯＣは誘導コイ
ル、１１．１１ａ１１１ｂ、ＩＩＣ，１１１，１１２，
１１３はスイッチ、１０１．１０２．１０３は導体第６
図Figure 1 is a front view schematically showing a metal sensor type automatic guided vehicle, Figure 2 is a side view, Figure 3 is a basic circuit diagram showing the principle of the metal sensor type, and Figure 4 is Figure 3.1. FIG. 5 is an explanatory diagram of a branch in a conventional guideway, and FIG. 6 is an illustration of the induction coil arrangement at a branch in an embodiment of the present invention. and (1)
7 is a plan view showing one embodiment of the present invention, and FIGS. 8 to 10 are plan views showing modified examples of the induction coil. FIG. 11 is a plan view showing another embodiment of the present invention. 1 is a plan view showing the vehicle body, 2 is a metal sensor, 3 is a wheel, 4 is a roadbed, and 5.
5a15b is a metal band, 5a, 6bi; L detection coil, 7
a,,7. b is an impedance element, 8 is an oscillator, 9
is the detection device, 1o, 10a, 10b, IOC is the induction coil, 11.11a111b, IIC, 111, 112,
113 is the switch, 101.102.103 is the sixth conductor
figure
Claims (1)
る金属センサの出力て操舵輪の向きを制御する方式の無
人搬送車の誘導路において、けたことを特徴とする′ｈ
１’６人搬送車の誘導路。 項記載の無人搬送車の誘導路。 （３） 前記誘導コイルか、複数個に分割され、それ
ぞれのコイル部分（こ該コイル部分のループを開閉する
接点を設けたことを特徴とする特許請求の範囲第１項ま
たは第２項記戦の無人搬送車の誘導路。 （４〕 前記誘導コイルか、車両の回転半径に合せて
配列されたことを特徴とする特許請求の範囲第３項記載
の無人搬送車の誘導路。[Claims] (υ A guideway for an automated guided vehicle in which the direction of a steering wheel is controlled by the output of a metal sensor that detects the position of a metal strip laid along a travel route, characterized by do'h
Taxiway for 1'6-person transport vehicle. Taxiway for automated guided vehicles as described in section. (3) The induction coil is divided into a plurality of parts, and each coil part (as described in claim 1 or 2) is provided with a contact point for opening and closing a loop of the coil part. (4) The guideway for an automatic guided vehicle according to claim 3, wherein the induction coils are arranged in accordance with the turning radius of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58053302A JPS59177612A (en) | 1983-03-29 | 1983-03-29 | Guide path of unattended wagon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58053302A JPS59177612A (en) | 1983-03-29 | 1983-03-29 | Guide path of unattended wagon |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59177612A true JPS59177612A (en) | 1984-10-08 |
| JPH0327929B2 JPH0327929B2 (en) | 1991-04-17 |
Family
ID=12938927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58053302A Granted JPS59177612A (en) | 1983-03-29 | 1983-03-29 | Guide path of unattended wagon |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59177612A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0289033A2 (en) * | 1987-05-01 | 1988-11-02 | Kollmorgen Corporation | Linear motion screened inductance sensors |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55111949A (en) * | 1979-02-20 | 1980-08-29 | Mita Ind Co Ltd | Electrophotographic material and manufacture thereof |
-
1983
- 1983-03-29 JP JP58053302A patent/JPS59177612A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55111949A (en) * | 1979-02-20 | 1980-08-29 | Mita Ind Co Ltd | Electrophotographic material and manufacture thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0289033A2 (en) * | 1987-05-01 | 1988-11-02 | Kollmorgen Corporation | Linear motion screened inductance sensors |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0327929B2 (en) | 1991-04-17 |
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