JPS6272011A - Guiding method for moving truck - Google Patents

Abstract

PURPOSE:To stop a moving truck at a specific position by sticking a rubber magnet tape on a floor surface as a guide path for the moving track, and incorporating a magnetic sensor and an electronic circuit in the truck and guiding the truck. CONSTITUTION:The rubber magnet tape 12 is stuck on the floor surface along the guide path. When the truck 17 moves correctly along the guide path, the outputs of distance sensors m1 and m2 are exactly similar to signals of a two- phase pulse generator and the outputs of sensors M1 and M2 or M3 and M4 are summed up to obtain a nearly constant value. The electronic circuit 19 inputs the outputs V1 and V2 of the distance sensors m1 and m2 to a reversible counter 21 to measure the movement distance of the truck 17 with an output S. When the outputs of deviation sensors M1 and M2 are inputted to the 1st adder 22 and the outputs of deviation sensors M3 and M4 are inputted to the 2nd adder 23 respectively. the output A of a subtracter 24 becomes an analog signal of the detection of a shift from the guide path and then compared with a reference value V by the 1st comparator 25 and with a reference value -V by the 2nd comparator 26 to detect a right shift with an output R and a left shift with an output L respectively.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a method for guiding a movable trolley, in which the movable trolley is guided along a guideway, and the movable trolley is stopped at a position at a predetermined distance. Regarding.

[Conventional technology]

Conventionally, the guiding method for a mobile cart is K, as shown in Fig. 12.
When guiding the mobile trolley (2) along the taxiway (1),
This is done using an induction sensor (3) provided on the trolley (2).

In the case of the electromagnetic induction method shown in FIG.
), the left and right pickup coils (5) are used, and the steering motor is driven by the deviation detection device (6), ensuring reliable operation.

In addition, in the case of the light reflection guiding method shown in Fig. 14, reflective paint or reflective tape (8) is used on the guiding path (1), a projector (9), two detectors αO1 amplifier 0υ, and a deviation detection device. (6) Steering motor (7)
The cost of installing the taxiway fl) is low.

[Problem that the invention attempts to solve]

By the way, in the case of the conventional electromagnetic induction method, the installation cost of the induction cable (4) is extremely expensive, and in the case of the light reflection guidance method, the disadvantage is that the reflective paint or reflective tape (8) is susceptible to dirt. be.

[Means for solving problems]

This invention was made with the above points in mind,
Rubber magnet tape magnetized at regular intervals and with non-magnetic metal wires embedded on the center line of the tape is pasted on the floor to serve as a guide path for the moving trolley, and six magnetic sensors and electronic circuits are installed in the trolley. Two of the six magnetic sensors are arranged one behind the other as a distance sensor for detecting a moving distance,
Other four magnetic sensors are arranged as displacement sensors, two in front and behind the distance sensor, and the electronic circuit measures the moving distance of the cart based on the detection signal of the distance sensor and moves the cart. Stop at a predetermined distance,
Guidance of a movable cart, characterized in that a deviation of the cart from a center line of the guideway is detected based on a detection signal of the deviation sensor, and the cart is moved onto the center line to guide the cart. It's a method.

[Effect]

Therefore, according to the present invention, the taxiway is formed by pasting on the floor a rubber magnet tape that is magnetized at regular intervals and has non-magnetic metal wires embedded on the internal center line. It is extremely simple and inexpensive, and even if the rubber magnetic tape has compressed and stretched parts in the curved part of the guideway, the non-magnetic metal wire is embedded on the center line, so the center part will not expand or contract. A precise guideway is formed without any problems.

Furthermore, the distance traveled by the trolley can be measured using a distance sensor.
The trolley can be stopped at a predetermined distance.

Moreover, the displacement sensor detects the displacement of the truck from the center line of the guideway, and the truck can be moved onto the center line of the guideway.

〔Example〕

Next, the present invention will be explained in detail with reference to FIGS. 1 to 11 showing embodiments thereof.

As shown in Figures 3 to 5, rubber magnet tape is formed into a tape shape by mixing powder of ferrite or rare earth magnetic material with rubber, and a non-magnetic metal wire such as an aluminum wire is attached to the center line α3. is embedded, adhesive material Q4) is formed on the floor surface, and magnetized at intervals d.

Then, as shown in Fig. 3, the wound tape Q is
As shown in Figure 6, it is pasted on the floor along the guideway αυ.

At this time, at the curved portion oQ of the taxiway α, the tape u
However, since the metal wire C1,1 is buried on the center line of the tape (2), the center of the guideway 0υ does not expand or contract, and an accurate guideway is formed. be done.

Next, as shown in FIGS. 1 and 2, the mobile trolley α
An induction sensor u-shape is incorporated in η, and the induction sensor (to) is composed of six magnetic sensors (ml), (m2), ('
1), (M2).

(M3), (M4) and an electronic circuit Q (J).

Then, two of the six magnetic sensors (
ml), (m2) are distance sensors for detecting moving distance, which are arranged in front and behind at an interval of d/4, and the other four magnetic sensors (Ml), (M2), CM3>,
(M4) has two on both sides of the distance sensor as a displacement sensor.
They are arranged one after the other at an interval of d/2.

Then, the displacement sensors (Ml), (M2), (M3), (
M4) has an output characteristic proportional to the magnetic field, as shown in Figure 7, and the distance sensors (ml') and (m2) are
As shown in FIG. 8, it has on/off switching characteristics.

Now, if the bogie 1.1"I) moves correctly along the taxiway 0!19, the distance sensor (ml), (m2)
As shown in Fig. 9(a) and (b), the output of d
/4. In other words, it becomes a rectangular pulse shifted by 174 cycles, and is exactly the same as the signal of a well-known two-phase pulse generator.

In addition, displacement sensors (Ml) and (M3) and country 2) and (
The outputs of M4) are exactly the same, and are respectively shown in Figure 9 (C).
, K, sensors (Ml) and (M3) as shown in (d)
and the outputs of sensors (M2) and (M4) are d/2.
In other words, the waveform is shifted by 172 cycles, and the sensor (M
When the outputs of the sensors (M3) and (M4) are added, the outputs of the sensors (M3) and (M4) are added, but as shown in FIG.

At this point, the electronic circuit 09 will be explained with reference to FIG.

Output vl of distance sensor (ml), (m2),
v2 to the reversible counter I2 via the reversible discrimination circuit (1)
When input to D, the output S of the counter C1) causes the trolley q
The distance traveled by η can be measured.

At this time, when the outputs of the displacement sensors (Ml) and (M2) are input to the first adder @, the output is as shown in Fig. 11(b).
The displacement sensors (M3) and (M4
) is input to the second adder @, the output becomes as shown in Fig. 9 (C), and when the output of both the logical operators is input to the subtracter (to), The output A of 124 is (
M1 + M2) - (M3 + M4), and Fig. 11 (
As shown in d), it becomes an analog signal for detecting the amount of left and right deviation of the bogie Q7) from the center line of the guideway q9.

Next, when the output A is compared with the reference value V in the first comparator (c), the output becomes as shown in FIG. When compared with the reference value -■, the output becomes as shown in FIG. 11(f), and the right shift can be detected by the output R, and the left shift can be detected by the output R, respectively, as digital signals.

Therefore, based on each of the above-mentioned outputs, the control device controls the forward movement, backward movement, deceleration, stop, and right/left direction of the truck (17), and moves the synthetic leather 0no to a position at a predetermined distance along the taxiway α9. Can be stopped.

〔Effect of the invention〕

As described above, according to the present invention, the taxiway can be laid very inexpensively and accurately, the bogie can be stopped at a predetermined position with the moving distance function, and the displacement of the bogie can be accurately detected. The trolley can be reliably guided along the taxiway.

[Brief explanation of drawings]

1 to 11 show an embodiment of the movable cart guiding method of the present invention, FIG. 1 is a plan view of each sensor and tape, FIG. 2 is a front view of the cart and tape, and FIG. Figure 4 shows the winding diagram and front view of the tape, Figure 5 (a), (
b) is a plan view of the tape and an explanatory diagram of the magnetized state, Fig. 6 is a plan view of the guideway, Figs. 7 and 8 are output characteristic diagrams for the sensor magnetic field, and Figs. 9 (&) to (e ) is the output diagram of the sensor, Figure 1O is the block diagram of the electronic circuit, and Figure 11 (
a) is a diagram of the positional relationship between the sensor and the tape, and Fig. 11(b) ~
(f) is an output diagram of each part of the electronic circuit, Figures 12 to 1
FIG. 4 is an explanatory diagram of a conventional guidance method. (12)...Rubber magnet tape, Q9...Nonmagnetic metal wire, (To)...Taxiway, Q7)...Moving trolley, Q9...
...Electronic circuit.

Claims (1)

[Claims] (1) Rubber magnetic tape magnetized at regular intervals and with non-magnetic metal wires embedded on the center line of the tape is pasted on the floor to serve as a guiding path for the moving trolley, and six magnetic sensors and electronic circuits are attached to the trolley. two of the six magnetic sensors are placed in front and behind as distance sensors for detecting the moving distance, and the other four magnetic sensors are placed two on both sides of the distance sensor as displacement sensors. The electronic circuit measures the moving distance of the cart based on the detection signal of the distance sensor, stops the cart at a predetermined distance position, and controls the guidance based on the detection signal of the displacement sensor. A method for guiding a movable cart, comprising: detecting a deviation of the cart from a center line of a road, moving the cart onto the center line, and guiding the cart.