JPS6349905A - Unmanned carrier guiding system - Google Patents
Unmanned carrier guiding systemInfo
- Publication number
- JPS6349905A JPS6349905A JP61194171A JP19417186A JPS6349905A JP S6349905 A JPS6349905 A JP S6349905A JP 61194171 A JP61194171 A JP 61194171A JP 19417186 A JP19417186 A JP 19417186A JP S6349905 A JPS6349905 A JP S6349905A
- Authority
- JP
- Japan
- Prior art keywords
- metal
- guiding part
- metals
- road surface
- annular
- 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.)
- Pending
Links
- 229910052751 metal Inorganic materials 0.000 claims abstract description 49
- 239000002184 metal Substances 0.000 claims abstract description 49
- 150000002739 metals Chemical class 0.000 abstract description 10
- 230000004907 flux Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000010426 asphalt Substances 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は無人搬送車誘導システムに関し、特に路面に敷
設した金属製誘導部を誘導路に有する無人搬送車誘導シ
ステムに関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an automatic guided vehicle guidance system, and more particularly to an automatic guided vehicle guidance system in which a guiding path includes a metal guiding section laid on a road surface.
従来、この種の無人搬送車誘導システムとしては、金属
製誘導部としての帯状金属を用いる種々のシステムが実
用化されている。Conventionally, as this type of automatic guided vehicle guidance system, various systems using a band-shaped metal as a metal guiding part have been put into practical use.
これらは、帯状金属を搬送車の走行すべき路面に貼付け
て誘導路を形成し、誘導されるべき搬送車等は、この搬
送車に取付けられた金属検知器の信号から進行方向を知
り、それに応じて操舵することにより、目的場所に誘導
するものである。この金属検知器は通常、以下のような
原理で動作する。第４図に示すように、金属検知器９は
１発振器３及び磁界を発生するコイル４を有する。コイ
ル４により発生した磁束７は接近した帯状金属５に渦電
流６を誘導する。渦電流６により生ずる磁束７はコイル
４の生成する磁束８を打消す方向（逆向き）となる、こ
の磁束７によりコイル４周辺の磁界が変化しあるいは、
コイル４のインピーダンスが変化する等の効果が生まれ
る。金属検知器９は、これらの磁界の変化、インピーダ
ンス変化を検知するよう構成されている。In these systems, a guideway is formed by attaching a metal band to the road surface on which the guided vehicle should travel, and the guided vehicle learns the direction of travel from the signal from the metal detector attached to the guided vehicle. By steering the vehicle accordingly, it guides the vehicle to its destination. This metal detector usually works on the following principle. As shown in FIG. 4, the metal detector 9 has an oscillator 3 and a coil 4 that generates a magnetic field. The magnetic flux 7 generated by the coil 4 induces eddy currents 6 in the metal strip 5 that approaches it. The magnetic flux 7 generated by the eddy current 6 is in a direction (in the opposite direction) that cancels out the magnetic flux 8 generated by the coil 4. This magnetic flux 7 changes the magnetic field around the coil 4, or
Effects such as changing the impedance of the coil 4 are produced. The metal detector 9 is configured to detect these changes in magnetic field and impedance.
従来、この種の誘導路の帯状金属としては、アルミニウ
ム製金属テープが用いられており、床面に接μすると５
゛う手段がとられてきた・〔解決すべき問題点〕
しかしながら、従来の接着されたアルミニウム製金属テ
ープからなる帯状金Ｊｉ！５は路面の汚れやすい場所、
大、車輌の往来の激しい場所、屋外等では、はがれやす
い破損しやすいという欠点があった。Conventionally, aluminum metal tape has been used as the metal strip for this type of taxiway, and when it comes into contact with the floor surface, it has a
[Problems to be solved] However, conventional methods have been taken to solve the problem. 5 is a place where the road surface is easily dirty;
However, it has the disadvantage that it is easily peeled off and damaged in areas with heavy vehicle traffic, outdoors, etc.
また、帯状金属５は路面に埋設するにしても、圧入する
ことが困難であり、屋外アスファルト道路等に用いる際
の掘削を要するため、実用化され難いという欠点もあっ
た。Further, even if the band-shaped metal 5 is buried in the road surface, it is difficult to press-fit and requires excavation when used for outdoor asphalt roads, etc., so it has the disadvantage that it is difficult to put it into practical use.
本発明は、上記従来の問題点を解決するためになされた
もので、その解決手段として、路面に敷設した金属製誘
導部を有する誘導路と、上記金属製誘導部を検知する金
属検知器を有する無人搬送車とからなる無人搬送車誘導
システムにおいて。The present invention has been made in order to solve the above-mentioned conventional problems, and as a means for solving the problem, a taxiway having a metal guide part laid on the road surface and a metal detector for detecting the metal guide part are provided. In an automated guided vehicle guidance system consisting of an automated guided vehicle with
上記金属製誘導部は路面に連ねて敷設した多数の環状金
属にて形成した構成としている。The metal guide portion is formed of a large number of ring-shaped metals laid in series on the road surface.
ここで環状金属における環状とは円形、角形を問わない
ものとする。Here, the annular shape of the annular metal does not matter whether it is circular or square.
また、路面に連ねる状態は、接触、非接触状態を問わな
いものとする。In addition, the state in which they are connected to the road surface does not matter whether they are in contact or non-contact.
以下、本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below based on the drawings.
第１図及び第２図は、本発明の一実施例を示す図でｉる
。FIG. 1 and FIG. 2 are diagrams showing one embodiment of the present invention.
この実施例では、路面ｌＯに多数の環状金属２を連ねて
敷設することで、誘導路ｌの金属製誘導部１１を形成す
るようにしている。In this embodiment, the metal guiding portion 11 of the guiding path l is formed by laying a large number of ring-shaped metals 2 in series on the road surface lO.
この環状金属２は、第２図に示す如く、円形リング状に
形成されたもので、図示せぬ無人搬送車にＭＳ載した金
属検知器のコイルにより発生した磁束が渦電流を誘導し
得るようになっている。As shown in FIG. 2, this annular metal 2 is formed into a circular ring shape so that the magnetic flux generated by the coil of a metal detector mounted on an automatic guided vehicle (not shown) can induce eddy currents. It has become.
また、このように、多数の環状金属２にて金属製誘導部
１１を形成することにより、環状金属２を路面ｌＯに圧
入して埋設することが容易で、シかも路面１０から容易
に外れることがなくなるものである。
、更に、上記環状金属２は所定間隔見を
もって連設されている。In addition, by forming the metal guide portion 11 with a large number of ring metals 2 in this way, it is easy to press-fit and bury the ring metal 2 into the road surface 10, and the ring metal 2 can be easily removed from the road surface 10. will disappear.
Furthermore, the ring-shaped metals 2 are arranged one after another at predetermined intervals.
無人搬送車については従来同様につき説明を省略する。The automatic guided vehicle is the same as the conventional one, so the explanation will be omitted.
′□第３図には
他の実施例を示す、 ゛この実施例では、上
記円形リング状の環状金属２に代えて、四角形リング状
の環状金属１２を用・いるようにしている。Another embodiment is shown in FIG. 3. In this embodiment, a square ring-shaped ring metal 12 is used in place of the circular ring-shaped ring metal 2 described above.
他の構成、作用は上記実施例と同様につき説明を省略す
る。 ・〔発明の効果〕
以上説明したように、本発明は、路面に多数の環状金属
を連ねて敷設することで金属製誘導部を形成することと
したため、従来のように金属製誘導部が簡単に剥がれる
ようなことがなく、確実に路面に固定でき、しかも固定
に際しては埋設が容易になし得るという効果がある。The other configurations and operations are the same as those in the above embodiment, so their explanations will be omitted.・[Effects of the Invention] As explained above, the present invention forms a metal guide part by laying a large number of ring-shaped metals on the road surface. It has the advantage that it does not peel off, can be securely fixed to the road surface, and can be easily buried.
その上、前記の金属検、知器の原理から、誘導路には渦
電流が流れる物がｙ！に設されておれば充分であり１本
発明の環状金属は閉ループ構成となっているため上記の
条件をも満足させることができるという効果もある。Furthermore, based on the principle of metal detection and detectors mentioned above, there are objects in which eddy currents flow in the guide path. However, since the annular metal of the present invention has a closed loop configuration, it also has the effect of satisfying the above conditions.
第１図は本発明の一実施例を示す斜視図、第２図は第１
図の環状金属を示す斜視図、第３図は他の実施例を示す
斜視図、第４図は従来の金属検知器の原理を説明する図
である。
１：？Ａ誘導路 ２，１２：環状金属４：コイル
５：帯状金属
６：ｉ！電流 、 ７，８：磁束９：金属検知器
ｌＯ：路面
１１：金属製誘導部
代理人 弁理士 村 １）幹 雄
第２図
＠ ４ 図FIG. 1 is a perspective view showing one embodiment of the present invention, and FIG. 2 is a perspective view showing one embodiment of the present invention.
FIG. 3 is a perspective view showing another embodiment, and FIG. 4 is a diagram illustrating the principle of a conventional metal detector. 1:? A guideway 2, 12: Ring metal 4: Coil 5: Band metal 6: i! Current, 7, 8: Magnetic flux 9: Metal detector lO: Road surface 11: Metal induction department representative Patent attorney Mura 1) Mikio Figure 2 @ Figure 4
Claims (1)
属製誘導部を検知する金属検知器を有する無人搬送車と
からなる無人搬送車誘導システムにおいて、上記金属製
誘導部は路面に連ねて敷設した多数の環状金属にて形成
したことを特徴とする無人搬送車誘導システム。In an automatic guided vehicle guidance system consisting of a taxiway having a metal guiding part laid on the road surface and an automatic guided vehicle having a metal detector for detecting the metal guiding part, the metal guiding part is connected to the road surface. An automatic guided vehicle guidance system characterized by being formed from a large number of laid metal rings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61194171A JPS6349905A (en) | 1986-08-20 | 1986-08-20 | Unmanned carrier guiding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61194171A JPS6349905A (en) | 1986-08-20 | 1986-08-20 | Unmanned carrier guiding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6349905A true JPS6349905A (en) | 1988-03-02 |
Family
ID=16320108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61194171A Pending JPS6349905A (en) | 1986-08-20 | 1986-08-20 | Unmanned carrier guiding system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6349905A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6095616A (en) * | 1983-10-28 | 1985-05-29 | Komatsu Ltd | Swerving detecting device of free-running vehicle |
-
1986
- 1986-08-20 JP JP61194171A patent/JPS6349905A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6095616A (en) * | 1983-10-28 | 1985-05-29 | Komatsu Ltd | Swerving detecting device of free-running vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US3750129A (en) | Conveyor belt apparatus | |
| US4270088A (en) | Method and apparatus for magnetically testing metal tapes | |
| US4864207A (en) | Unmanned vehicle guidance system | |
| JPS6367583A (en) | Magnetism detector | |
| JPS6349905A (en) | Unmanned carrier guiding system | |
| US3550077A (en) | Vehicle guidance system | |
| Jacobs et al. | Feasibility demonstration of a lateral position indication system based on magnetic pavement marking tape | |
| JPH01137311A (en) | Guide tape for unmanned carrier | |
| US5696447A (en) | Magneto-resistive magnetic field sensor with pole pieces and increased sensitivity | |
| JP3613548B2 (en) | Automated guided vehicle system | |
| Whitcomb | Using low cost magnetic sensors on magnetically hostile land vehicles | |
| JPS6341081B2 (en) | ||
| JP2611213B2 (en) | Laying structure of electromagnetic induction wires for unmanned vehicles | |
| JPH01211107A (en) | Marker for detecting position | |
| JPH0631523Y2 (en) | Electromagnetic induction carrier on the rope | |
| JPH0535344Y2 (en) | ||
| JPS63106014A (en) | Detecting method for unmanned carrying vehicle | |
| JPS56140275A (en) | Measuring method of buried position of underground cable | |
| JPH0631524Y2 (en) | Electromagnetic induction transfer device on grating | |
| JPS62184507A (en) | Unmanned vehicle guidance system | |
| GB1390606A (en) | Vehilce detector systems | |
| JP2639009B2 (en) | Guidance sensor | |
| JPH10312215A (en) | Traveling control method and unmanned vehicle | |
| JPS6240506A (en) | Guide sensor having branch point detecting function | |
| JPH0317589A (en) | Magnetic sensor |