JPS63313210A - Magnetic data reader - Google Patents

Abstract

PURPOSE:To minimize the number of magnetic sensors, and to reduce a cost by disposing a magnetic marker in parallel to a running path. CONSTITUTION:A running robot 4 moves on the road surface 6 through a pair of left and right driving wheels 45a, 45b and runs along a running path which has been determined in advance. Also, a microprocessor 41 inputs various information and executes a prescribed processing, gives its instruction to acceleration/deceleration control parts 42a, 42b, are brings servo-motors 46a, 46b to a rotation control through servo use amplifiers 43a, 43b. A magnetic marker 7 provided on this running road surface 6 is constituted of two magnetic material parts, has a data recognizing part 7a and a data display part 7b, and detected by sensors 5a, 5b of a magnetic detector 5. In this case, the magnetic marker 7 is provided in the moving direction of the running robot 4. In such a way, as for the magnetic sensors 5a, 5b, two pieces for detecting the data display part 7b and the data recognizing part 7a are enough, and its number can be suppressed to the minimum.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a magnetic data reading device, and in particular, a magnetic label and a magnetic detector move relative to each other, and data expressed by the magnetic material of the magnetic label is read. The present invention relates to a magnetic data reading device that reads data using the magnetic detector.

Magnetic data reading devices are used, for example, in mobile robot systems to provide workstation position information to the mobile robot. By the way, a traveling robot is an unmanned, self-propelled transportation means that does not have a track such as a rail in its travel route, and is designed to meet the recent demands for labor saving and unmanned manufacturing in manufacturing plants. This traveling robot can, for example, be used to pick up workpieces and transport them to a predetermined location in a factory, or to carry an industrial robot integrally with it and move between workstations in a factory to perform a predetermined task. It is used for making things happen.

[Conventional technology]

FIG. 8 is a diagram showing a moving robot using a conventional magnetic data reading device. As shown in the figure, the magnetic marker 107 is placed on the travel route a predetermined distance ahead of the workstation 8 at address 7, and indicates the address of the next workstation to the traveling robot 104. Information and distance information to the next workstation are provided to the traveling robot o4. This magnetic indicator 107 represents, for example, 5 bits of information, and indicates the address of the next workstation, etc., depending on whether or not a magnet is embedded in the position corresponding to each bit. It is done like this. Specifically, magnets are embedded in three bit positions 107a=107c of the magnetic mark 1070, and two bit positions Z107d, 107
e does not have a magnet 7 embedded in it. The arrangement of the magnets at these five bit positions 107a-107e magnetically indicates that the next workstation 8 is at address 7.

As is clear from FIG. 8, the magnetic detector 105 loaded on the traveling robot 104 detects the five bit positions 107 of the magnetic marks 107 arranged in parallel with the traveling route.
In order to individually detect the presence or absence of magnets a to 107e, these five bit positions 107a to 107
Magnetic sensors 105a to 105e for 5 bits compatible with e
It is equipped with

Then, the five bit positions 107a~ of the magnetic label 107
When the presence or absence of the magnet 107e is detected by the magnetic detector 105 (magnetic sensors 105a to 105e), for example, the traveling robot 104 determines whether the address indicated by the magnetic sign 107 is a predetermined address at which it should stop, and the next address is determined. If the workstation is to be stopped, deceleration will start from the position where the magnetic marker 107 is placed and the workstation will stop at the workstation 8. At this time, since the magnetic marker 107 is placed a predetermined distance in front of the workstation 8, the traveling robot 104 starts decelerating according to the distance and stops accurately at the predetermined position of the workstation 8. Become.

[Problem that the invention seeks to solve]

As mentioned above, the conventional magnetic data reading device detects magnetic signs 107 (7) arranged in parallel with the travel route.
Magnetic sensors 105a''105e are provided in the magnetic detector 105 according to the positions f107a to 107e.

Specifically, the magnetic detector 105 mounted on the traveling robot 104 is provided with five magnetic sensors 105a to 105e corresponding to the number of bits (5 bits) of the magnetic marker 107.

In this way, conventional magnetic data reading devices use magnetic detectors to detect magnetic signs placed in parallel to the travel route, so the number of bits (data length) However, there is a problem in that the magnetic detectors are expensive if the data to be handled is long. Furthermore, the data length that can be expressed by the magnetic marker 105 is limited by the number of magnetic sensors of the magnetic detector 105, which poses a problem in that it is difficult to provide sufficient information to the traveling robot with one magnetic marker. There is.

In view of the above-mentioned problems with the conventional magnetic data reading device, the present invention arranges magnetic signs parallel to the travel route and minimizes the number of magnetic sensors constituting the magnetic detector. It is an object of the present invention to reduce the price of a magnetic data reading device and to make it possible to use the same magnetic detector for magnetic labels having different data lengths (number of bits).

[Means for solving problems]

FIG. 1 is a block diagram showing the configuration of a magnetic data reading device according to the present invention.

According to the first aspect of the present invention, a magnetic label having a data display section in which magnetic bodies are arranged in a moving direction and a data recognition section in which magnetic bodies are arranged in parallel with the data display section is detected. A magnetic data reading device for reading magnetic data, a first determining means 1 for determining whether or not the data recognition section is detected, when the data recognition section is detected,
a second determining means 2 for determining whether or not a magnetic body is detected in the data display section, and a distance at which a magnetic body is detected in the data display section or the data when the data recognition section is detected; There is provided a magnetic data reading device characterized by comprising a bit number calculating means 3 for calculating the number of bits of data from a distance at which no magnetic material is detected in the display section.

According to a second aspect of the present invention, a magnetic data reading device is provided in which a magnetic label and a magnetic detector move relative to each other, and the magnetic detector reads data expressed by the magnetic substance of the magnetic label. The magnetic label includes a data display section in which magnetic bodies are arranged in a direction in which the magnetic label and the magnetic detector move relative to each other, and a magnetic body arranged in parallel with the data display section. A magnetic data reading device is provided, characterized in that the magnetic detector includes two magnetic sensors that detect magnetic bodies of the data display unit and the data recognition unit, respectively. be done.

[For production]

According to the first embodiment of the magnetic data reading device of the present invention having the above-described configuration, the first determining means determines whether or not the data recognition section is detected, and when the data recognition section is detected, the first determination section determines whether or not the data recognition section is detected. The determination means 2 determines whether a magnetic substance is detected in the data display section. When the data recognition section is detected, the bit number calculation means 3 calculates the number of bits of the data from the distance at which a magnetic body is detected in the data display section or the distance at which a magnetic body is not detected at the data display section. .

Further, according to the second embodiment of the magnetic data reading device of the present invention having the above-described configuration, the magnetic label includes data in which magnetic bodies are arranged in a direction in which the magnetic label and the magnetic detector move relative to each other. It includes a display section and a data recognition section in which a magnetic body is disposed in parallel with the data display section. and,
The magnetic detector is provided with only two magnetic sensors for detecting the data display section and the data recognition section.

In this way, the price of the magnetic data reading device can be reduced by arranging the magnetic signs parallel to the travel route and minimizing the number of magnetic sensors constituting the magnetic detector. Furthermore, the same magnetic detector can be used for magnetic labels with different data lengths.

〔Example〕

Hereinafter, a magnetic data reading device according to the present invention will be explained with reference to the drawings.

FIG. 2 is a block diagram partially schematically showing a traveling robot using the magnetic data reading device of the present invention.

The traveling robot 4 moves on the road surface 6 via a pair of left and right drive wheels 45a and 45b, and travels along a predetermined travel route. Directly below the driving route, for example,
A guide wire (not shown) is buried, and the traveling robot 4 travels guided by an induced magnetic field generated from the guide wire. The microprocessor 41 receives various information, performs predetermined processing, and provides speed control commands to the acceleration/deceleration control sections 42a and 42b. Acceleration/deceleration control section 42a,
The output of 42b is supplied to servo amplifiers 43a and 43b, and the output of these servo amplifiers 43a and 43b drives a servo motor 46a.

46b is rotationally controlled. And the servo motor 46a
, 46b individually control the rotation of the pair of left and right drive wheels 45a, 45b, so that the traveling robot 4 correctly travels along the traveling route. In addition, the drive wheel 4
5a and 45b are provided with brakes 44a and 44b, which are adapted to stop the traveling robot 4 in accordance with a command from the microprocessor 41.

The magnetic sign 7 arranged on the road surface 6 of the driving route is composed of two magnetic parts. That is, magnetic label 7
is a data recognition unit 7 for recognizing the existence of magnetic data.
The magnetic detector 5 mounted on the traveling robot 4 has two magnetic sensors 5a corresponding to the data recognition section 7a and the data display section 7b. and 5b are provided. .

FIG. 3 is a diagram showing the traveling robot of FIG. 2 moving, and corresponds to FIG. 8 in which the conventional magnetic data reading device described above is used. As is clear from FIG. 3, the magnetic detector 5 mounted on the traveling robot 4 includes a magnetic sensor 5a for detecting the data recognition section 7a and a magnetic sensor 5 for detecting the data display section 7b.
b is provided.

FIG. 4 is a diagram showing an example of a magnetic label used in the present invention. The magnetic label 7 has a data recognition section 7a and a data display section 7.
For example, these two tapes are arranged in the direction in which the traveling robot 4 carrying the magnetic detector 5 moves.

The data recognition section 7a is for recognizing the position of the data display section 7b, and is a tape made of a magnetic material.

The data display section 7b displays information such as commands to the traveling robot 4 and workstation addresses. For example, the data content of each bit (each bit is 'IJ
Each bit is made of a magnetic material or a non-magnetic material depending on whether it is an OJ or an OJ. Here, the data display section 7b does not use a tape in which magnetic materials and non-magnetic materials are arranged according to the data content of each bit, but by magnetizing one magnetic tape to the north pole or the south pole. It can also be configured to display data content.

As is clear from FIG. 4, the first bit 71 of the data display section 7b is formed slightly before the starting point of the data recognition section 7a, and the first bit 71 of the data display section 7b
The last bit (end bit) 76 of b is formed slightly behind the end point of the data recognition section 7a. This end bit 76 is for indicating that the data shown in the data display 7b has ended.

In this way, both the start point and the end point of the data recognition section 7a are made shorter than the data display section 7b. Specifically, the data display section 7b in FIG. 4 displays '1, 1, 1.0. This shows the 5-bit data content of OJ.

FIG. 5 is a time chart when the magnetic label shown in FIG. 4 is detected by the magnetic data reading device of the present invention, and FIG. 6 is a flow chart showing an example of the magnetic data reading process based on the present invention.

The flowchart in FIG. 6 will be explained with reference to FIG. When the magnetic data reading process is started, first, in step 61, it is determined whether the data recognition unit detection signal A is on (a magnetic material is disposed). If it is determined in step 61 that the data recognition unit detection signal A is on, the process proceeds to step 62 and the flag of the data recognition unit processing signal A' is set on. Next, in step 63, it is determined whether or not the data display section detection signal B is on (the magnetic material is arranged). If it is determined in step 63 that the data display section detection signal B is on, the process advances to step 64. It is determined whether timer C is zero (not set). If the timer C is determined to be zero in step 64, the process proceeds to step 65, where the flag of the data display unit processing signal B' is set to ON, and further, in step 66, the timer C is set and the first round gate is set. The magnetic data reading process (one round after the data recognition unit detection signal A turns on) ends. Here, the timer C is zero (not set) in the initial state.

When the magnetic data reading process of the first round gate is completed, the second
The magnetic data reading process on the periodic day is started. At this time, if the data recognition section detection signal A and the data display section detection signal B are on, since timer C has been set in step 66, it is determined in step 64 that timer C is not zero (set). , the process proceeds to step 67, where it is determined whether the data display unit processing signal B' is off. Since the data display section processing signal B' is set to ON in step 65, the data display section processing signal B' is set to ON in step 67.
' is not off, and the magnetic data reading process on the second cycle day ends. If the data recognition section detection signal A is on, this path continues until it is determined in step 63 that the data display section detection signal B is not on, that is, from time T in FIG. 5 to T.

It will continue until.

If it is determined in step 63 that the data display section detection signal B is not on (from time T3 to time T in FIG. 5), the process proceeds to step 84, where it is determined whether or not the timer C is zero. . Since this timer C was set in step 66, it is determined in step 84 that timer C is not zero, and the process proceeds to step 87. In step 87,
It is determined whether the data display section processing signal B' is on, but since the data display section processing signal B' was turned on at step 65, the process proceeds to step 9 where the number of bits determination process is performed. . The bit number determination process performed in step 9 will be described in detail later. Then, when the bit number determination process is performed in step 9, the bit number ("
The number of bits corresponding to ``1'' is arranged as intermediate data B'', and the process proceeds to step 69 via the code, where timer C is reset and the next magnetic data reading process is started.

By the way, as shown in FIG. 5, for example, there is a time lag between the time T3 when the data recognition unit detection signal A is turned on and the data recognition unit processing signal A' which is set to be on in step 62. However, this delay time is a time lag caused by processing by a microprocessor, etc. Further, a similar time lag exists in the delay time between the time T when the data display section detection signal B is turned off and the intermediate data B''.

Next, at time TS when the data display section detection signal B changes from off to on, it is determined in step 63 that the data display section detection signal B is on, and steps 64, 65 and 66 are performed in the same manner as described above. After that, the next period of magnetic data reading processing is started again. Since timer C is set in step 66, timer C is set in step 64.
is determined to be not zero, the process proceeds to step 67, and it is determined whether the data display section processing signal B' is off. Since the data display unit processing signal B'' is turned on in step 65, the magnetic data reading process of this cycle is completed, and the magnetic data continuing process of the next cycle is started.

While the data recognition section detection signal A is on in step 61, the same processing is continued until it is determined in step 63 that the data display section detection signal B is off.

If it is determined in step 63 that the data display section detection signal B is not on, the process proceeds to step 84, and if the timer C is set, the data display section processing signal B is determined in step 85.
is turned off and the process proceeds to step 66.

Here, when the data display section detection signal B is turned on from off, the process proceeds to step 9' via steps 63, 64, and 67, and further, in step 68, the number of bits determined by the bit number determination processing performed in step 9' is (The number of bits corresponding to 'OJ' is arranged as intermediate data B''', the process proceeds to step 69, timer C is reset, the magnetic data reading process for that period is finished, and the next magnetic data reading process starts. Although this process is not shown in FIG. 5, steps 67 and 9'
, and 68 are similar to steps 87, 9, and 88 described above.

When it is determined in step 61 that the data recognition unit detection signal A is off (time TE in FIG. 5), the process proceeds to step 81 where it is determined whether the data recognition unit processing signal A° is on. Since the data recognition section processing signal A'' is turned on in step 62, it is determined that the data recognition section processing signal A'' is on in step 81, and the process proceeds to step 82.
Set ° to data recognition unit processing signal off. and,
The intermediate data B" arranged up to that point is output as output data. Furthermore, in step 69, the timer C is reset and the magnetic data reading process is completed. From then on, until the data recognition unit detection signal A turns on, the steps are continued. The process advances from step 61 to step 81, and the magnetic data reading process for that cycle is completed.

FIG. 7 is a flowchart showing an example of the bit number determination process in FIG. 6, and shows an example of the bit number determination process in steps 9 and 9° in FIG.

When the bit number determination process starts, first, step 91
In step 93, the value of timer C and constant C' are compared and determined, and if it is determined that C≦C', the process proceeds to step 93 and the number of bits is set to 1. Further, if it is determined in step 91 that C≦C' is not satisfied, the process proceeds to step 92, where the value of timer C and the constant C'' are compared and determined, and when it is determined that C50'', the process proceeds to step 94, where the bit Number=2. If it is determined in step 92 that it is not C50'', the process proceeds to step 95 and the number of bits is set to 3. In this way, the value of timer C and constants C' and C'' are compared and determined. The number of bits is determined. Here, the constants C" and C" are the values when timer C corresponds to 1 bit and 2 bits, respectively, and are used to determine how many consecutive bits of the same data ("11" or "0") are present. , which determines the number of bits.

The above-mentioned FIG. 7 is a flowchart for explaining the bit number determination process when the data length is 3 bits, that is, when a maximum of 3 bits of 'IJ' or '0' are consecutive. Similarly to constants C' and C'' corresponding to 1 bit and 2 bits, constants up to constant C1 corresponding to n bits of timer C are set in advance, and these constants are compared with the value of timer C. Once determined, the number of bits determination process can be performed for a data length of n bits.

In the above embodiments, the magnetic data reading device is applied to a traveling robot system, but the magnetic data reading device of the present invention is not limited to a traveling robot system and can be applied to various systems. In addition, in the above explanation, magnetic signs are placed along the travel route, etc., and the fixed magnetic signs are detected by a magnetic detection device mounted on a moving robot. Since the detector only needs to be moved relatively, it is of course possible to configure the magnetic detector to be fixed and the data mark to be moved.

〔Effect of the invention〕

As described above in detail, the magnetic data reading device according to the present invention arranges the magnetic markers parallel to the travel route and minimizes the number of magnetic sensors constituting the magnetic detector. The price of the magnetic data reading device can be reduced. Furthermore, the magnetic data reading device according to the present invention can use the same magnetic detector for magnetic labels with different data lengths.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of a magnetic data reading device according to the present invention, FIG. 2 is a block diagram partially schematically showing a traveling robot using the magnetic data reading device of the present invention, and FIG. 2
FIG. 4 is a diagram showing an example of a magnetic label used in the present invention. FIG. 5 is a diagram showing an example of the magnetic label used in the present invention. FIG. 6 is a flow chart showing an example of the magnetic data reading process based on the present invention. FIG. 7 is a flow chart showing an example of the bit number determination process of FIG. 6. FIG. 8 is a flow chart showing an example of the bit number determination process of FIG. FIG. 2 is a diagram showing how a traveling robot using a data reading device is moving. (Explanation of symbols) 1... First discrimination means, 2... Second discrimination means, 3... Bit number calculation means, 4... Traveling robot, 5... Magnetic detector, 5a , 5b... Magnetic sensor, 6... Road surface, 7... Magnetic sign, 7a... Data recognition section, 7b... Data display section, 8... Work station. Block diagram showing the configuration of a magnetic data reading device according to the present invention Part 1: A block diagram partially schematically showing a traveling robot using the magnetic data reading device of the present invention Part 2: 4° Traveling robot 5° °'Magnetic detectors 5a, 5b...Magnetic sensor 8''°Workstation Diagram showing an example of a magnetic sign used in the present invention No. 4'$7 Travel entrance using conventional magnetic data reading device Diagram showing how Zanodo is moving Part 8 +04... Traveling robot 105°... Magnetic detectors 105q-105e... Magnetic centimeter 107... Magnetic sign +07a-l07e... Bit position 8.・Workstation Yon

Claims (1)

[Claims] 1. Magnetic data is detected by detecting a magnetic label having a data display section in which magnetic bodies are arranged in the direction of movement and a data recognition section in which magnetic bodies are arranged in parallel with the data display section. A first magnetic data reading device for determining whether or not the data recognition unit is detected.
a second determining means (2) for determining whether or not a magnetic substance is detected in the data display section when the data recognition section is detected; and a bit number calculating means (3) for calculating the number of bits of data from a distance at which a magnetic body is detected in the data display section or a distance at which a magnetic body is not detected at the data display section. Features of magnetic data reading device. 2. The bit number calculation means (3) includes a timer, and calculates a distance at which a magnetic body is detected in the data display section or a distance at which a magnetic body is not detected at the data display section based on the addition time by the timer and the moving speed. 2. The device according to claim 1, wherein the device defines the distance and calculates the number of bits of data from the defined distance. 3. A magnetic data reading device in which a magnetic label and a magnetic detector move relative to each other, and the magnetic detector reads data expressed by the magnetic material of the magnetic label, the magnetic label comprising:
comprising a data display section in which magnetic bodies are arranged in a direction in which the magnetic label and the magnetic detector move relative to each other; and a data recognition section in which magnetic bodies are arranged in parallel with the data display section; A magnetic data reading device, wherein the magnetic detector includes two magnetic sensors that detect magnetic bodies of the data display section and the data recognition section. 4. The device according to claim 3, wherein the data recognition section is located at a shorter distance than the data display section. 5. The apparatus according to claim 3, wherein the data display section includes a data end bit arranged at the final end in the movement direction.