JPH03216707A - Present position detecting method for unmanned carrier - Google Patents

Abstract

PURPOSE:To eliminate a sensor and an information plate for detecting a present position from being installed by detecting the present position of a carrier body from a starting line separated from information on the selection of a route, etc. CONSTITUTION:Induction currents different in frequencies are made to flow in the starting line 3 transmitting information in the selection of the route, etc., to an unmanned carrier and magnetic field different in the frequencies emitted from the starting line is detected in a starting line magnetism detecting means 7 provided on the carrier body 1. Then, the present position (absolute position) of the carrier body 1 is detected by the detected frequency. Thus, the present position of the unmanned carrier can be detected without the need of the sensor for the detection of absolute position and the information plate.

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.

Furthermore, the automatic guided vehicle is equipped with a sensor for detecting an absolute position, and the current position of the automatic guided vehicle is determined by detecting an information plate installed on the ground side with this sensor.

[Problem to be solved by the invention]

However, with the above conventional method of detecting the current position of an automatic guided vehicle,
The automatic guided vehicle had to be equipped with a sensor for absolute position detection, and many information plates had to be installed on the ground side, resulting in increased equipment costs.

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. In addition, in an automatic guided vehicle that selects a route based on information obtained from a trigger wire installed on the travel route, induced currents with different frequencies are passed through the trigger wire, and the different frequencies emitted from the trigger wire are generated. The current position (absolute position) of the car body is detected by detecting the magnetic field with a trigger wire magnetic detection means installed on the car body and using the detected frequency, and is equipped with a sensor and an information plate to detect the current position. Instead, the present invention provides a method for detecting the current position of an automatic guided vehicle in which the current position of the vehicle body can be detected by a trigger wire magnetic detection means.

〔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, a magnetic field f1 of multiple frequencies is generated from the trigger line 3. f2・
... is occurring, trigger wire magnetic detection means 7
is the frequency f1+ f2・ generated from the trigger line.
... is detected to obtain the necessary information, and the current position of the vehicle body 1 is detected as follows.

This will be explained with reference to the flowchart shown in FIG. 4. Data collection from the trigger wire 3 is performed by the trigger wire detection magnetic detection means 7 shown in FIG. 3, that is, the coil 7a.
is emitted from the trigger line 3 at frequencies f,, f2...
When detected, these frequencies f, f2, .

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 (2) of the flow shown in FIG. 4, proceed to step (2), and if it is determined to be other than f, step (2). ■ Proceed to “…” and select each frequency f.
2, f3'' is determined.

If the frequency is determined to be f, the origin data is set in step ■, and if it is determined to be f2, f3, etc., charging field data is set in step ■', or temporary data is set in step ■'. Origin 1 data is set.

The frequency f generated from the trigger line 3 as described above
, , f2 . . . by the trigger wire magnetic detection means 7, the current position (absolute position) of the vehicle body 1 is detected.

In addition, by detecting the frequency emitted from the trigger line 3 while traveling by the trigger line magnetic detection means 7 and processing it according to the flow shown in FIG. 5, route selection can be performed as before.

〔Effect of the invention〕

As described in detail above, this invention generates magnetic fields of different frequencies in the trigger line that sends information such as route selection to the automatic guided vehicle, and detects this magnetic field with the trigger line magnetic detection means, thereby detecting the route. In addition to information such as selection, the current position (absolute position) of the vehicle body can be detected from the trigger line, so there is no need to install sensors or information plates to detect the current position as in the past. Therefore, it is possible to reduce the amount of equipment required.

In addition, since the automatic guided vehicle side directly detects the signal and determines the current position, reliability is improved by controlling the automatic guided vehicle based on the obtained information, such as enabling reliable control.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a plan view showing an automated guided vehicle on a running path, Fig. 2 is a detailed view of the automated guided vehicle, and Fig. 3 is a block diagram of magnetic detection means for trigger line. , FIG. 4, and FIG. 5 are flowcharts showing the operation. 1 is the vehicle body, 2 is the electromagnetic induction wire for running, 3 is the trigger wire, 7
is a magnetic detection means for trigger wire.

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
By passing induced currents with different frequencies through the trigger wire 3,
It is characterized in that the magnetic fields of different frequencies emitted from the trigger wire 3 are detected by trigger wire magnetic detection means 7 provided in the vehicle body 1, and the current position (absolute position) of the vehicle body 1 is detected based on the detected frequency. A method for detecting the current position of an automated guided vehicle.