JPS6058501A - Position measuring device by using magnetic marking - Google Patents

Abstract

PURPOSE:To determine the position and attitude of a conveying vehicle itself, by laying floor blocks, in which a plurality of permanent magnets are combined, coded, and buried, on a floor surface, and detecting a marking by sensors. CONSTITUTION:A plurality of permanent blocks 2 are combined, coded, and buried in a block 1. A running floor C for an unmanned conveying vehicle B is paved by the floor block A. A sensor 3 is attached to the conveying vehicle B, which runs on the floor. The position of the vehicle is detected by the sensor. By attaching the sensors 3 at the two points of the conveying vehicle B, the attitude of the conveying vehicle B itself can be simultaneously detected. By inputting the detected signal to a control device, the operation and control of the conveying vehicle can be accurately performed.

Description

[Detailed description of the invention] Conventionally, when driving an automatic guided vehicle, magnetic guide wires were buried in the running floor or relied on optical detection devices, but the configuration and construction were complicated and later changes were difficult. There were drawbacks such as it was not easy.

The present invention has been proposed to solve these problems, and is based on block VC? The present invention relates to a position measuring device using magnetic marking, which is characterized in that a floor block is laid on a floor surface, and is made up of a combination of permanent magnets with a number of watts coded and buried therein.

In the present invention, as described above, a block is combined with a plurality of permanent magnets to form a coat 9 to form a buried floor block, and the same floor block is buried at a predetermined position on the floor surface.
A sensor mounted on an automatic guided vehicle traveling on the same floor surface detects markings made by permanent magnets encoded and embedded in the floor blocks, and the position and orientation of the guided vehicle itself can be known.

In the present invention, since a permanent magnet is used as a marking for position measurement of a transport vehicle, maintenance is not required, and there is no need for ground equipment such as wiring or power supply on the floor. The present invention has many advantages, such as the position marking device itself serving as a paving material by using a floor marker, which simplifies the structure and makes it easier to locate the epicenter later on.

The present invention will be described below with reference to the illustrated embodiments.

A floor block (A>), which is a coded combination of a plurality of permanent magnets (2) in a block (1), is placed in an automatic guided vehicle (13
) is paved on the running bed (C).

Therefore, the position of the transport vehicle (B) traveling on the floor can be detected by the sensor (3) attached to the transport vehicle (B). By attaching the sensors (3) at two locations on the transport vehicle (B), the attitude of the transport vehicle (B) itself can be detected at the same time.

By inputting the detection signal to the control device, the operation of the transport vehicle (B) can be accurately controlled.

In the figure, (4) is the magnetic marking center line, and (5) is the wheel.

FIG. 6 shows a floor marking method using the block (A), in which a location indicating part encoded magnetically by the merock (A) is formed on the floor surface, and a magnetic field for guiding a guided vehicle that connects the same part is provided. Point (6) is buried in the floor.

Note that it is also possible to navigate the transport vehicle (B) by detecting the rotational speed of the left and right wheels (5) of the transport vehicle (B) using the sensor (3).

Although the present invention has been described above with reference to embodiments, various design changes can be made without departing from the spirit of the present invention.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of a position measuring device using magnetic marking according to the present invention, FIG. 2 is a perspective view of a floor track, FIG. 6 is a plan view of an automatic guided vehicle, and FIG. FIG. 3 is a plan view showing a marking method. (A)...Floor control (B)...Transportation vehicle (C)
...Floor (11...Block (2)...Permanent magnet agent, patent attorney, 3 non-Kaimoto Important Cultural Properties)

Claims (1)

[Claims] A position measuring device using magnetic marking, characterized in that a floor block is constructed by laying a plurality of permanent magnets in a block, coded and buried on the floor surface.