JPS61260103A - System for moving and measuring object to be controlled - Google Patents

Abstract

PURPOSE:To lay a magnetic sensor at a place where it cannot be conventionally laid by employing a tape-like object having spaced marks along a moving distance, a means detecting them optically and a counting means. CONSTITUTION:The tape-like object 1 is laid along the moving distance of the object to be controlled 2, and an opening hole 5 is pierced in the longitudinal direction of the center. With the same interval as the pitch of the opening hole 5, the 1st and 2nd light projectors 6 and 7 are provided, and emit light to the 1st and 2nd photodetectors 8 and 9 installed at the opposite side of the object 1. The light projectors 6 and 7 and the photodetectors 8 and 9 slide a guide rail part installed in parallel with the object 1, and move integrally with the subject 2. When the light emitted from the light projectors 6 and 7 is received by the photodetectors 8 and 9 through the opening hole 5, pulse signals S1 and S2 are outputted, and formed into a signal waveform by a pulse generator 15. A direction discriminating counter 16 discriminates the moving direction of the object 2. A pulse calculating means operates a multiplied pulse signal S3 corresponding to the number of detected opening holes, and inputs said signal to the object 2.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a system for measuring the movement of a controlled object used for controlling the movement of an unmanned self-propelled industrial robot, elevator, etc. within a factory, for example.

(Prior Art) Conventionally, there have been devices configured to measure the amount of movement of a controlled object by combining a rack and pinion and a rotary encoder. Some devices are configured to move a controlled object by providing a magnetic sensor and capturing the number of changes in magnetism by moving on this magnet scale.

(Problems to be Solved by the Invention) However, a combination of a rack and pinion and a row encoder is easily damaged because it has physical contact parts, and a combination of a rack and pinion and a row encoder is easily damaged, and a combination that uses limit switches etc. The problem was that it became complicated. Furthermore, devices using Magnescale and magnetic sensors are extremely expensive, resulting in high material costs and problems of malfunction.

(Means for Solving the Problems) As shown in FIG. a tape-shaped object having a mark provided thereon; and a detection means C that detects the mark with light using a light emitter and a light receiver provided on both sides of the tape-shaped object.

It comprises a pulse signal generating means d that generates a pulse signal corresponding to the number of detected marks, and a pulse counting means e that counts the pulse signal, and data based on the movement amount calculated from the counting result of the pulse counting means e is provided. This is input to the control object a.

In addition to the amount of movement, the data includes, for example, the movement speed or movement acceleration of the controlled object a.

(Function) When a mark provided on a tape-shaped object is detected by the detection means C, a pulse signal corresponding to the number of detected marks is emitted by the pulse signal generation means d, and this pulse signal is used for pulse counting. It is counted by the means e, and data based on the movement amount calculated from the counting result is manually applied to the controlled object a.

(Example) Hereinafter, two embodiments of the present invention will be described with reference to the drawings.

FIG. 2 shows a system for measuring the movement of a controlled object.

The tape-like object 1 is made of a tape-like base material made of synthetic resin, steel, etc., and is laid along the movement path of a controlled object (for example, an automatic guided vehicle) 2 moving in a factory, and is placed on the ground 3. Support stands 4, 4, erected at regular intervals
... (see Figure 3) and is provided along the ground 3. Further, openings 5, 5, . . . are formed along the longitudinal direction of the center of the tape-like object 1 at regular intervals (for example, several pitches).

A first projector 6 and a second projector 7 are arranged at intervals equal to the pitch of the apertures 5, 5... formed in the tape-like object 1.
The projectors 6 and 7 are connected to a first receiver 8 and a second receiver 9 provided on opposite sides of the tape-shaped object 1.
and emit light respectively. These projectors 6 and 7 and receivers 8 and 9 are held by a holding part 18, as shown in FIG. It moves integrally with the controlled object 2 while moving. The distance l between the light emitter 6.7 and the light receiver 8.9 is maintained at approximately 4H by the holding portion 18.

In Fig. 2, 10 is a central processing unit (hereinafter referred to as CPU).
), 11 is an input side interface that intervenes to input various input signals to the CPU 10, and 12 is an output side interface that sends out output signals from the CPU 10 to the controlled object 2. 13 is RAM, 14 is RO
M, and the contents of the RAM 13 are retained by a backup power source (not shown) even when the power is turned off.

When the light emitted from the projectors 6 and 7 passes through the aperture 5 and is received by the light receiver 8.9, the light receiver outputs two types of pulse signals S+ and St whose phases are different by 90 degrees. A pulse generator 1 that shapes these signal waveforms
5. The direction is inputted to the counter 16 with direction determination. The counter 16 with direction discrimination receives the pulse signals S+ and St, and discriminates in which direction the controlled object 2 is moving (left and right in FIG. 2), and also corresponds to the detected number of openings. This multiplied pulse signal S3 is output, and this multiplied pulse signal S is inputted to the input side interface 11.

In addition to the multiplied pulse signal S, the running conditions (distance, speed, etc.) of the controlled object 2 are set in the input side interface 11 in advance. A signal from an input key (not shown) provided on the controlled object 2 is also input.

Next, software that regulates the operation of the hardware configured as described above will be explained based on FIGS. 5 and 6.

Based on the start of the operation of the controlled object 2 at Step 3, R
Perform initial settings such as clearing the contents of AM13. Then, in step (2), interrupt settings are made. This interrupt is started two seconds, for example, t0 seconds after a timer (not shown) is cleared.

That is, when the movement of the controlled object 2 starts.

The data corresponding to the amount of movement is the direction determining force.

The data is sequentially input from the counter 16 to the input side interface 11, and this data is input to the CPU 10 by interruption. In step (2), activation of the controlled object 2 is controlled according to preset activation settings.

In step (2), it is determined whether the interrupt has occurred. When the interrupt in this step ■ is confirmed, step ■
Go to and set the 9th interrupt. The interrupt setting in step (2) is to input data indicating the moving speed of the controlled object 2 to the CPU 10 as interrupt data.For example, after the timer is cleared, 1. The interrupt will start after a few seconds. When the interrupt set in step ■ is started, in step ■ the movement of the controlled object 2 is controlled according to the movement speed stored in the RAM 13, and further, in step ■ it is determined whether or not the interrupt has occurred again. However, when new data comes in, the process returns to step (2). On the other hand, if no new interrupt occurs, step ■
Return to

FIG. 6 is a flowchart showing the process of calculating the value of the moving speed for control and using it as interrupt data in the step (2), in which the data is fetched from the direction discrimination counter 16 in the step The moving speed is calculated using the following equation (A) from this captured data and the data initialized in advance, and the calculation result is stored in the RAM 13.

Return.

((Imported data) - (Setting data))/l...(A
) However, t is the time from initial setting until data is captured in step (2).

Furthermore, when performing control based on the acceleration data in step (2) above, the calculation result obtained by setting t@t'' in the above equation (A) is used.

Note that the direction-discriminating counter 16 in the hardware described above can also be configured in software.

(Effects of the Invention) As described above, 1. According to the present invention, a mobile length measurement system using a magnetic sensor cannot be installed in an environment 1. For example, an environment with a lot of electrical noise, a high temperature environment, or a lot of dust. It can be installed in any environment, and since the length is measured using light, the distance between the tape-shaped object and the detector may be relatively loose.1 For example, the movement path may be complicated. can. Moreover, since the tape-shaped object can be laid over a long distance, the distance of the moving distance can be increased. Furthermore, the constituent members and circuit elements constituting this system are extremely inexpensive, and the entire system can be realized at low cost.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of a movement measurement system for a controlled object according to the present invention, and FIG. 2 is a block diagram showing an embodiment of the movement measurement system according to the invention. Fig. 3 is a side view illustrating the support state of the tape-shaped object, Fig. 4 is a side view illustrating the positional relationship between the tape-shaped object and the detection means, and Figs. 5 and 6 are the operations of the moving measurement system. It is a flow chart explaining. a... Controlled object b... Tape-shaped object C...
・Detection means d...Pulse signal generation means e...Pulse counting means 1...Tape-shaped object 2...Controlled object 16...
Counter with direction discrimination Figure 5 Figure 6

Claims (1)

[Claims] 1) A controlled object that moves along a predetermined movement path; a tape-like object that is laid along this movement path and has marks provided at regular intervals; and a tape-like object that moves along a predetermined movement path. a detection means for detecting the mark with light using a light projector and a light receiver provided on both sides of the mark; a pulse signal generation means for generating a pulse signal corresponding to the number of detected marks; and a pulse counting means for counting the pulse signal. A system for measuring movement of a controlled object, comprising: data based on a movement amount calculated from the counting result of the pulse counting means is input to the controlled object. 2) The system for measuring movement of a controlled object according to claim 1, wherein the data is a moving speed of the controlled object. 3) The system for measuring movement of a controlled object according to claim 1, wherein the data is a movement acceleration of the controlled object.