JPH03216710A - Travel control information instruction device for mobile carrier - Google Patents

Abstract

PURPOSE:To prevent the trouble of installation work of a travel control information instruction mark by forming the travel control information instruction mark by means of the removal of a part of a magnetic induction body and providing a mark sensor equipped with a magnetic field sensing part for a mobile carrier. CONSTITUTION:The travel control information instruction mark (m) for giving an instruction to the mobile carrier A is formed by the removal of a part of the induction body L, namely, by blanking or cutting of the induction body L with various travel control information as the combination of the magnetic pole arrangement of plural permanent magnets. The mark sensor 8 provided with the magnetic field sensing parts S1-S4 sensing the presence or absence of a magnetic field is provided for the mobile carrier A. Thus, positioning with the mark sensor 8 is eliminated at the time of providing the travel control information instruction mark (m) and the efficiency of installation work can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a travel control information indicating device for a mobile vehicle that automatically travels along a tape-shaped magnetic induction material.

[Conventional technology]

The above-mentioned driving control information indicating device for mobile vehicles is used, for example, at intersections where driving routes diverge or merge, in order to automatically drive an unmanned mobile vehicle along a predetermined driving route in a factory or warehouse, etc. It is used to indicate various control information such as position and stop position.

Conventionally, the control information indication mark is a magnetic induction material and It: J
It was composed of i pieces and was installed on the road surface on the side of the magnetic induction body.

[Problem to be solved by the invention]

In the above-mentioned conventional technology, when installing the travel control information indication mark on the road surface, it is necessary to accurately position and install it so as not to cause misalignment with the mark sensor, and the installation work is time-consuming.

An object of the present invention is to eliminate the above-mentioned conventional drawbacks.

[Means to solve the problem]

In order to achieve this object, a first feature of the travel control information indicating device for a moving vehicle according to the present invention is that the travel control information indicating mark is formed by partially removing the magnetic induction material, and detects the presence or absence of a magnetic field. A mark sensor equipped with a magnetic field sensing section that detects a magnetic field is provided in the mobile vehicle.

Further, the second to fourth characteristic configurations specify specific configurations suitable for implementing the present invention.

A second characteristic configuration is that the mark sensor includes a plurality of the magnetic field sensing sections arranged side by side in the longitudinal direction of the moving vehicle, and the traveling control information indication mark corresponds to each of the plurality of magnetic field sensing sections, and and is configured to instruct different information by forming a plurality of sensed parts with the magnetic field inducer, which are selected to have a magnetic field forming state and a non-forming state depending on whether the removal is performed or not. It is.

A third characteristic configuration is that the mark sensor includes one magnetic field sensing section, and the travel control information indication mark moves the sensed section, which is created in a non-magnetic field state by the removal, in the longitudinal direction of the moving vehicle. It is configured to indicate different information depending on the numbers arranged at intervals.

A fourth characteristic configuration is that the mark sensor includes one magnetic field sensing section, and the traveling control information indication mark is located in the longitudinal direction of the moving vehicle in the sensed section that is created in a state in which no magnetic field is formed by the removal. It is configured to indicate different information by changing its shape.

[For production]

The traveling control information indication mark is formed on the magnetic induction body, so if the mark sensor is configured to pass over the magnetic induction body while the moving vehicle is traveling along the magnetic induction body, the mark can be detected. Control information can be read by the sensor.

According to the second characteristic configuration, different information is created depending on whether each of the plurality of sensed parts is in a magnetic field formation state or a non-magnetic field formation state, and the third characteristic configuration According to , different information is created depending on the number of sensed parts created in a state where no magnetic field is formed and arranged in the longitudinal direction of the moving vehicle. Different information is created depending on the shape of the sensed part along the longitudinal direction of the moving vehicle.

〔Effect of the invention〕

Therefore, when carefully installing the travel control information indication mark, there is no need to align it with the mark sensor, and the efficiency of the installation work can be improved.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 7, a magnetic tape-shaped dielectric (L) formed so that the front side is a north pole and the back side is a south pole is pasted on the road surface of the mobile vehicle (A). In this state, the vehicle is installed along a travel route having an intersection (CR) to form a line for guiding moving vehicles, and a load transfer station (ST) is located on the side of the travel route. It is provided.

In addition, a branching start point or a merging start point at each intersection (CR), a deceleration start point for decelerating the moving vehicle (A) at a point on the near side of the merging at the intersection (CR), a point on the near side of the station (ST), etc. , and the station (S
Travel control information for instructing the mobile vehicle (A) various travel control information such as a stop position for automatically stopping the mobile vehicle (A) at T) as a combination of magnetic pole arrangements of a plurality of permanent magnets. The instruction mark (m) indicates the derivative (
It is formed by removing a portion of L), that is, by punching or cutting out the derivative (L).

Further, the mobile vehicle (A) is informed of the branching/merging direction at the intersection (CR) and the next station (ST).
), etc., from the central controller (MC), is provided in each of the above-mentioned stations (ST).

An explanation will be added regarding the configuration of the travel control information indication mark (m).

As shown in Figures 2 and 3, there are four sensing areas (m
1) to (m4) are set in the magnetic induction body (L) in a line in the longitudinal direction of the moving vehicle and near the center in the width direction.

The driving control information is then transmitted to each sensed part (m1) to (m4).
) is determined based on the combination of the magnetic field formation state and non-formation state selected depending on whether or not to perform each removal.

In addition, the sensing part (m4
) is used as a trigger for information reading by the mark sensor (8), so it must be removed.

To explain the configuration of the mobile vehicle (A), as shown in FIGS. 1 and 7, a pair of left and right idle wheels (3) are provided on the rear side of the vehicle body, and a driving motor (4) is provided with a pair of left and right idle wheels (3). The steering motor (5) is configured to be able to be driven and stopped at will.
A steering wheel that also serves as a propulsion wheel is supported so that its direction can be changed freely (
6) is provided on the front side of the vehicle body.

Further, a magnetic sensing type steering control sensor (7) for detecting deviation in the width direction of the vehicle body with respect to the induction body (L) is provided below the front of the vehicle body, with its detection surface facing downwardly of the vehicle body. A magnetically sensitive mark sensor (8) for detecting the control information indication mark (m) is provided at the lower part of the vehicle body so that its detection surface is near the center in the width direction of the guide (L).

Further, a vehicle body side communication device (1b) for the ground side communication device (la) is provided on the side of the vehicle body facing the station (ST), and the steering control sensor (7) and mark sensor (8) are provided on the side of the vehicle body facing the station (ST). ) and the detection information from the communication device (
A control device (9) is provided which discriminates information instructed via the mobile vehicle (A) and controls the traveling of the mobile vehicle (A). In FIG. 1, (IO) is a drive device for the traveling motor (4) and the steering motor (5).

To further explain the configuration of the mark sensor (8), as described above, the control information indicating mark (m) is arranged at a combination of the positions of the plurality of sensed parts (m1) to (m4) and their magnetic poles. , configured to distinguish between display contents,
A plurality of sensing parts (m1) arranged in a line
Sensed part (m4) located at the rearmost end of ~(m4)
, these plurality of sensed parts (m1)
Since the magnetic pole arrangement and the arrangement position of the plurality of sensed parts (m1) to (m4) are to be determined,
) At positions corresponding to the respective arrangement positions, magnetic sensors (SL) to (S
4) are arranged in a line in the longitudinal direction of the vehicle at intervals corresponding to the arrangement intervals of the sensed parts (m1) to (m4).

An explanation will be added regarding the configurations of the magnetic sensors (Sl) to (S4).

As shown in FIG. 4, a pair of magnetoresistive elements (rN) and (rs) are connected in series to a reference resistor (r) so that they are located on each of two opposing sides of the bridge circuit (11). It is set up in the same condition.

The bridge circuit (11) is connected to a constant current source (l2) and is supplied with a constant current.

The magnetoresistive element (rN). One (rN) of (r5) has a resistance value that increases as the strength of the north pole magnetic field increases, and the other (rS) has a resistance value that increases as the strength of the south pole magnetic field increases. Both the magnetoresistive elements (r
A bias magnet (13) is provided that applies a bias magnetic field (B4) to the bridge circuit (11) from the inside to the outside of the bridge circuit (11).

The pair of outputs of the bridge circuit (11) are amplified by a differential amplifier (14) and input to a window comparator (16) via a compensation circuit (15). Then, a pair of logic signals (QN), (Q5), corresponding to the N-pole sensing state, the S-pole sensing state, and the non-sensing state, respectively, are provided.
(φ). These logic signals are input to the control device (9).

In addition, both signals (QN). (Q.) are both at the "L" level, it is determined that the non-sensing state (φ) is present.

However, as shown in FIG. 5, the magnetic sensor (S4) located at the rearmost end detects the sensed portion (m4) located at the rearmost end from the state of detecting the magnetic field of the dielectric (L). The control information indicating mark (m) is read as the state changes to detect the absence of a magnetic field.

That is, as shown in FIG. 3, when the magnetic sensor (S4) located at the rearmost end is located near the boundary between the induction body (L) and the sensed part (m4) located at the rearmost end, , other magnetic sensors (31), (St), (Ss
) respectively have corresponding sensed parts (m, ), (m2),
(m4) are positioned directly above each.

That is, a control device (9) is provided that reads control information as the falling edge (H4) of the magnetic sensor (S4) located at the rearmost end is detected.

However, the control device (9) is configured to prohibit reading the control information for a predetermined period of time after reading the control information, thereby avoiding reading the same control information indication mark (m) multiple times.

To explain the configuration of the steering control sensor (7), as shown in FIG.
A plurality of magnetic sensors (S) having the same configuration as S4) are arranged at predetermined intervals in the vehicle width direction, and the output (Q.) of each magnetic detection sensor (S),
Detecting the same magnetic field of (Q.) and connecting adjacent ones to each other,
It is connected to each connection point of a plurality of resistors (R) connected in series.

Each of the series-connected resistors (R) is in a state where the direction of current flowing therethrough can be freely switched by a switch (SW.), and the N output (Q.) and the S output (Qs
) is connected to a constant current source (l7) in a state where it can be freely switched by a switch (Sw, ) to which side of the current is applied.

In other words, each connection point of the series-connected resistors (R) connects the two outputs (Q.). Since the magnetic sensor (Qs) senses the magnetism from the dielectric (L) and is grounded inside the button, the voltage (Vx) at the connection point with the constant current source (17) is A voltage according to the position of the magnetic detection sensor (S) located on either the left or right end of the induction body (L), that is, according to the position of the mobile vehicle (A) in the width direction with respect to the induction body (L). This is done so that the voltage is as high as possible.

By switching the current direction to the resistors (R) connected in series, it is possible to switch which edge of the dielectric (L), the right or left edge, is to be detected. Therefore, the mobile vehicle (A) is connected to the derivative (
The deviation of the voltage ffx) from the reference voltage corresponding to the state in line with the proper state for the dielectric (
Steering control is performed using information corresponding to the deviation with respect to L).

and information detected by each of the sensors (7) and (8),
And, by controlling the steering based on information etc. instructed via each of the communication devices (la) and (lb),
The moving vehicle (A) automatically branches and merges along the designated travel route at the intersection (CR), and automatically travels between the stations (ST) while decelerating and stopping at predetermined locations. They will be asked to carry out various types of cargo transportation work.

[Another example]

In the above embodiment, different information is indicated depending on the combination of the magnetic field formation state and non-formation state in the plurality of sensed parts (m4) to (m4). Different information may be indicated depending on the number of parts (m+) to (m4) arranged at intervals in the longitudinal direction of the moving vehicle.Also, different information may be indicated depending on the number of parts (m+) to (m4) arranged at intervals in the longitudinal direction of the moving vehicle. Different information may be indicated by changing the shape growth along the direction, and the specific configuration of the travel control information instruction mark (m) can be changed in various ways.

In addition, in the above-described other embodiment, the mark sensor (S) may include only one magnetic field sensing section (S). In other words, in the former case, the non-magnetic field portion can be counted by the magnetic field sensing section (S), and in the latter case, the magnetic field sensing section (
What is necessary is to find the traveling distance or time during which S) detects the non-magnetic field portion.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment according to the present invention, FIG. 1 is a block diagram showing the schematic configuration of the control system, FIG. 2 is a plan view showing the configuration of the travel control information indicator mark, and FIGS. 3 and 4 are Block diagram showing the configuration of the travel control information reading means, No. 5
FIG. 6 is a block diagram showing the configuration of the steering control sensor, and FIG. 7 is a schematic plan view showing the layout of the guidance line. (8)...Mark sensor, (L)...
Magnetic induction material, (m)... Traveling control information indication mark, (m1) to (m4)... Sensed part, (S1
) ~ (S4)...Magnetic field sensing section, (A)...
・・Moving car

Claims (1)

[Claims] 1. A travel control information indicating device for a moving vehicle (A) that automatically travels along a tape-shaped magnetic induction material (L), wherein the travel control information indication mark (m) is Magnetic conductor (L
) is formed by removing a portion of the mark sensor (8) and is equipped with magnetic field sensing parts (S_1) to (S_4) for sensing the presence or absence of a magnetic field. Travel control information indicating device. 2. The traveling control information indicating device for a moving vehicle according to claim 1, wherein the mark sensor (8) is connected to the magnetic field sensing section (S_1).
A plurality of ~(S_4) are arranged in the front and rear direction of the moving vehicle,
The travel control information instruction mark (m) corresponds to each of the plurality of magnetic field sensing units (S_1) to (S_4), and can be in a magnetic field formation state or a non-formation state depending on whether or not the removal is performed. A plurality of selected sensing parts (m_1) to (m
A traveling control information indicating device for a moving vehicle, which is configured to indicate different information by forming _4) with the magnetic field guide (L). 3. The traveling control information indicating device for a mobile vehicle according to claim 1, wherein the mark sensor (8) includes one magnetic field sensing section (S), and the traveling control information indicating mark (m) is , the sensed part (m_
1) A traveling control information indicating device for a moving vehicle configured to indicate different information depending on the numbers of 1) to (m_N) arranged at intervals in the longitudinal direction of the moving vehicle. 4. The traveling control information indicating device for a moving vehicle according to claim 1, wherein the mark sensor (8) includes one magnetic field sensing section (S), and the traveling control information indicating mark (m) is , the sensed part (m'
) A traveling control information indicating device for a moving vehicle configured to instruct different information by changing the shape and length of the moving vehicle in the longitudinal direction of the moving vehicle.