JPH03216706A - Present position detecting method for unmanned carrier - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for detecting the current position of an automatic guided vehicle that travels while being guided by electromagnetic guide wires laid along a travel path.

[Conventional technology]

Conventionally, in addition to the electromagnetic guide line that guides the automatic guided vehicle, electromagnetic guide lines (hereinafter referred to as trigger lines) that transmit necessary information to the automatic guided vehicle are installed on the route that the automatic guided vehicle travels. Based on the information obtained from this trigger line, controls such as selecting the route of the automatic guided vehicle are performed.

In addition, the automatic guided vehicle is equipped with a sensor for absolute position detection, and this sensor detects the information plate installed on the ground side and detects the frequency of the magnetic field emitted from the trigger line. Determining the current location of the car.

[Problem to be solved by the invention]

However, with the above conventional method of detecting the current position of an automatic guided vehicle,
There were problems that increased equipment costs, such as installing a sensor to detect absolute position on the automated guided vehicle, installing multiple information plates on the ground, and having to run currents with different frequencies through the trigger wire.

This invention was made for the purpose of improving the above-mentioned problems, and is a method for detecting the current position of an automatic guided vehicle, which allows the current position of the automatic guided vehicle to be detected without the need for absolute position detection sensors or information plates. This is what we are trying to provide.

[Means and effects for solving the problem] In order to achieve the above object, the present invention guides a vehicle body along a running electromagnetic guide line using information obtained from a running electromagnetic guide line installed on a running path. At the same time, in an automatic guided vehicle that selects a route based on information obtained from a trigger wire installed on a travel route, a plurality of induced currents with different frequencies are passed through the electromagnetic induction wire for traveling and the trigger wire, respectively, Magnetic fields with different frequencies emitted from these electromagnetic induction wires and trigger wires are detected by the running magnetic detection means and the trigger wire magnetic detection means provided on the vehicle body, and the current position of the vehicle body 1 (absolute position)
The present invention provides a method for detecting the current position of an automated guided vehicle that allows the current position of the vehicle body to be detected at multiple points without installing a sensor or information plate to detect the absolute position. be.

〔Example〕

An embodiment of the present invention will be described in detail with reference to the drawings.

In the figure, reference numeral 1 indicates a vehicle body of an automatic guided vehicle, 2 indicates a running electromagnetic guide line laid out on a running road, and 3 indicates a trigger line laid across the running electromagnetic guide line 2.

A plurality of drive wheels 4 and a plurality of caster wheels 5 are provided at the bottom of the vehicle body 1, and the drive wheels 4 and caster wheels 5 allow the vehicle to move freely in any direction.

In addition, magnetic detection means 6 for guiding the vehicle body are arranged at the front and rear of the vehicle body 1 so as to sandwich the electromagnetic guide wire 2 for traveling, and one driving wheel 4
Magnetic detection means 7 for detecting trigger lines are installed before and after the vehicle body 1, and the vehicle body 1 is guided and its current position is detected as follows.

Now, from the running electromagnetic induction wire 2, there are multiple frequencies F,,F2
When a magnetic field of multiple frequencies f,, f2, etc. is generated from the trigger line 3, the magnetic detection means 6 for guiding the vehicle body detects the frequency F1 and moves the vehicle body 1. It is guided along the running electromagnetic guide line 2.

The trigger wire magnetic detection means 7 detects the frequency f emitted from the trigger wire 3 to obtain necessary information, and the absolute position of the vehicle body 1 is detected as follows. This will be explained in detail with reference to the flowchart shown in FIG. 5. When the absolute position detection program is started, frequency data is collected from the running electromagnetic guide line 2 in step (3).

Frequency data is collected by magnetic detection means 6 shown in FIG.

That is, the frequencies F1, F2, . . . detected by the coil 6a provided close to the running electromagnetic induction wire 2 pass through the active filter 6b, and then are rectified and smoothed by the rectification and smoothing circuit 6C to become analog data. is input to.

The comparator 6 compares the detected frequencies F, F2, . . . with a reference, determines the detected frequencies, and outputs them as data via the buffer 6e.

If it is determined that the frequency detected in step ■ of the flow shown in FIG. , Steps ■, ■', . . . , data on the frequency emitted from the trigger line 3 is collected.

Data collection from the trigger line 3 is performed by magnetic detection means 7 for trigger line detection shown in FIG.

That is, when the coil 7a detects the frequency f1+'f2... emitted from the trigger wire 3, this frequency f1+
After passing through the active filter 7b, f2 is rectified and smoothed by the rectifying and smoothing circuit 7C to become an analog current, which is input to the comparator 7d.

The comparator 7d compares the frequency f with the reference.
, , f2 . . . are determined and output as data via the buffer 7e.

If the frequency is determined to be f1 in step ■ of the flow shown in FIG.
2+f3... is determined.

If the frequency is determined to be f1, the origin data is set in step ■, and! If it is determined that 2r f3..., charging field data is set in step 2', or temporary origin 1 data is set in step 2'.

By detecting the frequencies F, ... emitted from the running electromagnetic induction wire 1 and the frequency emitted from the trigger wire 3 as described above, it is possible to determine in which position the vehicle body 1 is currently traveling or stopped. The automated guided vehicle will be able to determine whether the vehicle is present or not.

In addition, the frequencies F, , F emitted from the running electromagnetic induction wire 2
2... and the frequency f, , emitted from the trigger line 3.
By combining f2..., the current position (
(absolute position) can be detected.

An example of the combination is shown below.

Combination example when using three types of frequencies '1+'2+f3 for trigger line 3 ■f, ■f, ■f3 ■f, +f2 ■f, +f, ■f2+13 ■f, +f2 +f3 The above 7 patterns are obtained .

When three types of frequencies are used for the running electromagnetic induction wire 2 and the trigger wire 3: ■F, +f, ■F, +f2 ■F. +fs ■F2+f, ■F2+f2 ■F2+f3 ■F3+f, ■F3+f2 ■F, +f, @lF1 +t 1 +f2 @F1+f1+f3 oF, ten f2 +f3 ◎F2 +f1 +f2 [Phase] F2 +f, +f3 ■F2+f2 +f3 @ F3+fl+f2 @F3+f, +f3 ■F3 +f2 +f3 9F, +f, +f2 +f3 ΦF2+f1 +f2 +f3 [Phase] F3 +f1 +f2 +f3 The above 21 patterns can now be obtained, and the positions of the above-mentioned number of patterns can be detected.

In addition, if the detection is made on the front side and the rear side of the magnetic detection means 7 for detecting the trigger line, and also when the detection is made on both sides, the number of combination patterns will increase, and the amount of information will increase accordingly. .

〔Effect of the invention〕

As described in detail above, this invention detects the frequency emitted from the traveling electromagnetic induction wire that guides the automatic guided vehicle and the frequency emitted from the trigger wire, and uses a combination of these to determine the current position (absolute position) of the automatic guided vehicle. ), there is no need to provide a sensor or an information plate for detecting the absolute position as in the conventional case, thereby reducing equipment costs.

In addition, compared to methods that detect the current position based on the frequency emitted from the trigger wire, more positions can be detected by combining frequencies, so the number of oscillators that flow induced current in the trigger wire can be reduced, and the absolute position can be detected. It is economical because the trigger line is no longer needed.

Moreover, since the current position can be determined on the automatic guided vehicle side, accurate control can be performed without causing malfunctions.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a plan view showing an automatic guided vehicle on a running path, FIG. 2 is a detailed view of the automatic guided vehicle, and FIG. 3 is a circuit diagram of magnetic detection means for guiding the vehicle body. , FIG. 4 is a circuit diagram of the trigger line magnetic detection means, and FIG. 5 is a flowchart showing the operation. 1 is the vehicle body, 2 is the electromagnetic induction wire for running, 3 is the trigger wire, 6
7 is a magnetic detection means for running, and 7 is a magnetic detection means for a trigger line.

Claims (1)

[Claims] The vehicle body 1 is guided along the running electromagnetic guide line 2 based on the information obtained from the running electromagnetic guide line 2 installed on the running path, and the route is selected based on the information obtained from the trigger line 3 installed on the running path. In an automated guided vehicle that performs
Magnetic detection for running by passing a plurality of induced currents with different frequencies through the electromagnetic induction wire 2 and trigger wire 3, respectively, and providing magnetic fields with different frequencies emitted from these electromagnetic induction wires 2 and trigger wire 3 on the vehicle body 1. The current position (absolute position) of the vehicle body 1 is detected by the means 6 and the trigger line magnetic detection means 7, respectively, and the combination of the detected frequencies.
A method for detecting the current position of an unmanned guided vehicle, the method comprising: detecting the current position of an unmanned guided vehicle.