JPS6045815A - Attitude detector of self-traveling truck - Google Patents

Abstract

PURPOSE:To detect easily and accurately the attitude of a self-traveling truck by using a guide plate made of a magnetic material as a guide means and therefore eliminating the defects of both electromagnetic and optical detection systems. CONSTITUTION:A guide plate 1 contains a belt-shaped metal 2 which has a magnetic material and has holes 3 of the same shape drilled periodically in its lengthwise direction. Such plate 1 is set on the surface of a driving route of a self-traveling truck. While an attitude detecting sensor 6 is set at the lower part of the truck, and detecting coils lR and lL are wound around the right and left core parts 7R and 7L respectively. No voltage is induced to both coils when the truck is at pause, and signal voltages eR and eL are induced at both coils respectively while the truck is driven. A phase detecting circuit 8 detects the phase difference phi between both voltages and delivers a steering command signal + or -est in response to the gain or delay between both voltages. This command signal is supplied to a steering drive circuit 10 to revolve a motor 11 forward or reverse.

Description

[Detailed description of the invention] The present invention relates to an apparatus for detecting the attitude of a self-propelled vehicle.

1.1 constant jlIll ((In order to detect the trend of j, the following method has been conventionally implemented.

(1) +4 Magnetic Detection Method An alternating current is passed through a dovetail conductor cable buried in the running track, and a pair of electromagnetic pickups placed in a self-propelled vehicle detect the alternating current magnetic field of the cable, and the difference in the output of each pickup is detected. The attitude of the self-propelled vehicle is detected from.

(2) fl: Detection method A light reflective tape is attached to the running road surface, and a self-propelled vehicle 'l' + l K
The attitude of the self-propelled vehicle with respect to the tape is detected based on the output signal of the arranged optical sensor.

However, the above method (1) has the following drawbacks.

a) The magnetic field is disturbed by the magnetic materials used in the steel frames and other equipment in the construction, and therefore the detection accuracy is not good.

b) Since it is necessary to constantly flow a current for generating a magnetic field over the entire running path, a large capacity '' requires a power source (lt) and consumes a large amount of power.

C) It takes a lot of money and time to install the induction cable.

d) Due to the power supply failure, breakage of the induction cable, etc., all of the regular trains will be unable to run.

”) Maintenance and inspection of the U-conductor cable is difficult.

f) A large amount of time and cost is required to change the layout of regular routes.
do.

Although it is easy to change the fixed percentage using method (2) above, it may not be appropriate due to dirt or damage on the tape or marker.
, 1:, 7 (NuJ, Gataka; ``It has the problem of becoming.

・1 [The purpose of the invention is to provide a detection device for self-propelled small parts that can eliminate the problems of the conventional ant population detection method described above.
There are many things.

For this reason, in the present invention, a belt-shaped guide plate made of a magnetic material with holes of the same shape perforated in the longitudinal direction is provided.
It was installed on the running road surface of ``1 River't'' 1iiffi, and on the other hand,
A pair of sensors for detecting air is arranged at a predetermined interval in the width direction of the above n'l guide, and their Sensor output 1
Based on the phase difference of the ε, the posture of the above-mentioned JSq-y is detected.

Embodiments of the present invention will now be described in detail with reference to drawing F5.

FIG. 1 shows an example of a guide plate that is applied to the invention. This guide plate 1 has holes of the same shape, e.g., rectangular holes 3, periodically drilled along its longitudinal direction in a strip-shaped metal plate 2 made of a magnetic material. It is laid on the city road surface 5 of the designated vehicle 4.

FIG. 3 shows an example of the l' iris detection sensor 6 provided at the lower part of the self-propelled vehicle 4. As shown in FIG. This sensor 6 has a configuration in which an excitation coil tC is wound around a central core portion 7C of an E-type core 7, and detection coils and tL are wound around each of a right core portion 7R and a left core portion 7LIC. 7.ilS
7C, 7R, and 7L are disposed at the center of the vehicle 40 in the vehicle width direction so that the lower end surfaces thereof closely face and hang from the guide plate 1. Since the sensor 6 has two detection coils tR2tT in this way, it is essentially a pair of sensors that are integrated in such a way that they share the excitation coil lc, and has a Mu configuration. Therefore, this sensor 6 Instead, two sensors having the same function may be arranged at a predetermined distance in the width direction of the guide plate 10.

Now, when current is applied to the coil tcK straight 121i, the core 7 is magnetized in such a manner that, for example, the core portion 157C is the N pole, and the core portions 7R and 7L are S, Tom, etc.:C1, respectively. Therefore, when the vehicle width - I h - is stationary, the coil tR,
The voltage at t is 1. η does not occur, but for example, if the vehicle is traveling normally along β 4-1 without changing its attitude, then both coils 1. , 1L in Figure 4(a)
In-phase No. 16 4 pressures e-, , e, , as shown in FIG.

-Lee-like body! , as shown in Figure 5, the core toy j of the 112th sensor 6; 7 C: Ej and 7 L, 7
When passing over the hole 3 of the guide plate 1, the core portion 7C.

The magnetic impedance between 7 it and 7 C and '7 L is:? 'lJ <, - direction - As each of the above lower end surfaces passes through the 9-hole part, the above magnetic impedances become low. Therefore, the car '+', n 4: With hyperactivity The voltage of the detection coils 1..1) changes, which generates the voltages described above in these coils.

・lrOh, 'i! , Figure 5 (l) The pressure waveform shown is for the case where the vehicle speed is constant.

Next, if the attitude of the vehicle 4 changes due to some factor, and the appearance of the sensor 6 changes as shown in FIG. Since the traveling direction '1tH1' is 4+, as shown in Fig. 4(b) and (C), the induced voltage eR of the coil tR and the induced 1d pressure e1 of the coil t1 are C6f7411 Produces a difference ψ. In a range where the attitude angle of the vehicle is small, a linear relationship as shown in FIG. 7 is established between the attitude angle θ and the upper phase difference ψ.

Fig. 8) shows the attitude (angle) of the vehicle 4 using the relationship shown in Fig. 7. are the 1G- signal and the d pressure e1□ inputted through the waveform shaping circuit 9)< and 9L.
.

Based on the signal voltage eLK, detect the difference ψ of the signal voltages, and also calculate the signal 1i pressure eL with respect to the signal voltage eR.
'I'll rji shi, whether the phases of are lined up or not.
If the phase is delayed, a steering command signal est corresponding to the phase difference ψ is output, and if the phase is delayed, a steering command value -1"st is output. In addition, in the above position, +: l - I difference ψ and (
Since the circuit means for detecting the 7bQ delay of :l 4'tj and the circuit means for generating the rotation pressure corresponding to the phase difference ψ are well known, their details ((1 have been omitted).

The steering command (d-1-e8t) is input to the steering drive motor 11 through the motor drive 1 and the υ circuit i4J, thereby causing the motor 11 to rotate in the forward and reverse directions.

The rotation direction of the motor and the rotation direction of the motor are as follows:
In the above, the correspondence is made so that the reasonable change in 11.44 is corrected. Correct the posture of the steering wheel (sword-C).

4(': Oh, like the guide plate 1 shown in this example, the hole 3
If they are provided at equal lc intervals, the above signal mound 1-E
By incrementing one of e, , and 'e to the counter 12, the distance traveled by the vehicle 4 can be measured by the vehicle itself. The signal corresponding to the travel distance obtained in this way is used for vehicle stop control jj.

The present invention can also be carried out using a guide plate 1' as shown in FIG. The holes 3a and 3b are symmetrically located at 1 circle on the right and 1 circle on the left of the metal plate 2.

Note that the guide plate 1. String and top 1 princess i transparent n root 1. '
! ;:t, rectangular holes 3 and holes 3a and 3b are provided; however, other shapes such as circular, elliptical, triangular, etc. may be adopted as the shape of the holes, and the present invention will not affect the present invention. Sumi 1tB2
DJ Noh.

Further, a magnetic foil may be used as the guide plates 1, 1', and the guide plates 1, 1'
Apply adhesive to the bottom surface of the guide plate 1, 11 in the same manner as applying tape, and apply it to the 1L surface 1. As shown in Figure 10, as shown in Figure 10, microcapsules 1.1p]2 containing 41 Wlj''1 of different f11j can be used in a pile 3. The therapeutic effect of the capsules 11 and 1 is apparent.
The agent encapsulated in 2 generates a strong adhesive force against each other, and therefore the adhesive force of the adhesive 13 is used to guide the guide plates 1 and 1' along the road. By pressing the guide board with a roller to destroy the microcapsules 11 and 12, the guide plate can be tightly and firmly adhered to the road surface.

Furthermore, in the above embodiment, hole 3 and hole 3a.

:Visit 3b and spread it evenly along the longitudinal direction of 2 piers 13 and 1'.
・Although they are formed at equal intervals, it is also possible to make the above-mentioned intervals different. However, in this case, the counter 12 indicates that the vehicle 4 is running r(,1
It becomes impossible to mt 611i from one larva i11.

By using an anisotropic metal plate having magnetism only in its width direction as the guide plates 1 and 1', posture detection with a higher degree of youthfulness can be performed.

This invention uses a guiding plate made of magnetic material as a guiding means, and
Since it is intended for historical use, it solves the problems a) to e) of the electromagnetic detection method described above, as well as the problems of the optical detection method, such as difficulty in proper guidance due to the guidance tape and marker being dirty. By easily and accurately detecting the attitude of a self-propelled vehicle,

[Brief explanation of the drawing]

Fig. 1 is a plan view showing an example of the configuration of a single-function guide plate applied to the present invention; Fig. 2) A car'1 for the O-chiang guide plate; ! Fig. 3 is a conceptual diagram showing the running mode of the
Output 1 (] Conceptual diagram showing an example of a sensor, %=:,; 4
1(a), (1)) and (C) are diagrams showing the output waveform of the attitude detection sensor, FIG. 5, and the 61st threshold Lt, respectively. A plan view illustrating the positional relationship with the conductive plate sensor, ', ', (j; Figure 7 (1jj1. of the phase of the output signal of one sensor and the attitude angle of the vehicle)
Figure 8 shows the attitude angle of the vehicle.
No. 91! J:! Another example of 14 rolls is shown on the plane 1-1, and FIG. ...Guidance board, 2...Gold 5; V2 board, 3.3
a. 3b... Hole, 4... Self-propelled Keihata, 5... Traveling road surface,
(j...attitude detection sensor, 8...phase detection 1r]
]+! 'ft, 11... Steering drive motor, ]2... Counter. Fig. 1 Fig. 1 Fig. 3 Fig. 4 Fig. 5 Fig. 6 I stand o eyes L Fig. 8 j! R -U Fig. 9 5° Fig. 10 112

Claims (1)

[Claims] A belt-shaped guide plate made of a magnetic material with holes of the same shape periodically drilled in the longitudinal direction is laid on the road surface of the self-propelled vehicle, A pair of sensors are disposed at an interval of yrJr9 cm in the width direction of the guide plate, and a circuit is provided to detect the phase difference between the output signals of these sensors, and the self-propelled vehicle is detected based on the phase difference. An attitude detection device for a self-propelled vehicle that detects the attitude of a self-propelled vehicle.