WO2006128437A1 - Procede et dispositif pour determiner des positions lors du deplacement d'objets de transport sur des transporteurs - Google Patents

Procede et dispositif pour determiner des positions lors du deplacement d'objets de transport sur des transporteurs Download PDF

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Publication number
WO2006128437A1
WO2006128437A1 PCT/DE2006/000936 DE2006000936W WO2006128437A1 WO 2006128437 A1 WO2006128437 A1 WO 2006128437A1 DE 2006000936 W DE2006000936 W DE 2006000936W WO 2006128437 A1 WO2006128437 A1 WO 2006128437A1
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WO
WIPO (PCT)
Prior art keywords
conveyors
sensor
signal
signal sequences
conveyor
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.)
Ceased
Application number
PCT/DE2006/000936
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German (de)
English (en)
Inventor
Jörg MONECKE
Dietrich Ziems
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Otto Von Guericke Universitaet Magdeburg
Original Assignee
Otto Von Guericke Universitaet Magdeburg
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Otto Von Guericke Universitaet Magdeburg filed Critical Otto Von Guericke Universitaet Magdeburg
Publication of WO2006128437A1 publication Critical patent/WO2006128437A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/66—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means

Definitions

  • the invention relates to a method and a device for position and position determination when moving transport objects on conveyors.
  • EP 0 698 568 discloses a device for detecting conveyed material on conveyor tracks, in particular piece goods in roller conveyors, in which light sensors arranged between the rollers are provided, which measure vertically against the floor of the transport objects and recognize them when they pass over their effective range ,
  • the conveyor track is divided into blocks by the sensors.
  • the disadvantage is the additional sensor system on the conveyor system and the discrete recognition of the transport objects. For conveyors with closed traction means, such. As belt conveyors, this device is not applicable.
  • EP 0 279 559 B1 relates to a device in which the edges of the transport objects are detected via an arrangement which is not described in greater detail.
  • the device has a counter, which passes by Transport objects are clocked at a lower rate than in the spaces between the transport objects. From the sequence of counts, the relative position between the objects is determined.
  • the disadvantage consists in the additional sensors on the conveyor system and in the fact that the detection of transport objects is only possible at individual, fixed points of a conveyor system.
  • a conveyor system is divided into its individual conveyor. Upon entry of the transport object in a conveyor this is detected by a position detection sensor installed on the system and tracked on its way along the conveyor line. The sensors' information is routed via a bus connection to a "position manager.” A control unit is used to influence the speeds of the individual conveyors, and the use of several position-sensing sensors in one conveyor is suggested Sensor technology with the required extensive signal transmission and processing.
  • JP 2003306217 A a synthetic resin conveyor belt is mixed with magnetic powder, and thus moving objects are detected by a metal detector. This solution is applicable only in the specific field of application of belt conveyors and requires the elaborate production of special straps.
  • the transport objects are equipped with a laterally mounted switching device consisting of at least two inductive sensors.
  • the conveyor system are also inductive sensors at certain target positions, which may be arranged spatially and in the switching distance differently. If the transport object reaches a destination point with a matching sensor arrangement, switching signals for further transport, transfer or arrest are triggered.
  • This solution requires the removal or retrofitting of the conveyor system with an additional sensor.
  • the analysis of the prior art thus results in a wide range of disadvantages of the known solutions, ranging from the limited field of application on additional technical effort to the conveyor systems to large additional costs.
  • the essence of the invention is that, according to the method, the position and position determination of the moving transport objects can take place from the detection of features, which inevitably result from constructive elements of the conveyor systems and individual conveyors.
  • the invention makes use of the fact that all conveyors, such. B. Geradrollen intensiveer, inclined roller conveyors, tapered roller conveyors, belt conveyors, curved conveyors, belt conveyors, chain conveyors, plate conveyors, side positioners and similar devices are characterized by typical design features that they are from the other sponsors differ.
  • sensors that are attached to a moving transport object, when moving or moving the transport object, the metallic components, such as rollers, frames, covers, directly or by non-metallic elements, such. B. conveyor belts, detect through.
  • a position generator with data analysis systems within the device claimed according to the invention assigns the signal sequences to the individual conveyors, branches and transitions.
  • the sensors preferably operate inductively, with an LC resonant circuit with a ferrite core coil or with a high-frequency alternating electromagnetic field, but can also be designed as capacitive sensors, ultrasonic sensors, optical sensors and radioactively operating sensors.
  • the method is inventively characterized by the position and orientation of transport objects without additional facilities on conveyors.
  • a suitable sensor or sensors on the transport object, preferably in the ground, the / z. B. detects the difference between metallic and non-metallic construction assemblies / detect, and its / their signal sequence (s), which is characterized by the constructive features of the conveyor / are, the position determination of the transport object is made.
  • the position of the transport object on the conveyors can be determined via the phase shift of the signal sequences.
  • Another important feature of the method is the use of multiple sensors with different detection depth or sensors with variable sensing distance. This increases the number of significant features of the signal sequences typical of the individual conveyors.
  • a further feature of the method is the possibility of determining the speed of the transport objects by using preferably two sensors arranged spatially offset in the direction of movement.
  • the essence of device invention consists in the arrangement of sensors on the moving transport object whose position and location is to be determined, these sensors are able to detect structural conditions of the conveyor or the conveyor in the movement of the transport object and their output Signal sequences to give the design conditions can be recognized and used as a Bais for a position and orientation.
  • the device according to the invention has directly or indirectly a position generator whose memory and Data analysis system contains typical signal sequences as a basis of comparison as well as the continuously recorded signals of the sensors of the transport object for analysis regarding current location and location receives.
  • Fig. 1 a scheme of a cargo handling system
  • FIG. 2 shows a diagram of a transport object with sensors
  • Fig. 5 is a diagram of the typical signal sequence at the transition between belt and roller conveyor
  • a piece goods conveying system may have belt conveyors GU1 to GU8, curve conveyors K1 to K5, straight roller conveyors GR1 to GR3, inclined roller conveyors SR, tapered roller conveyors KR, belt conveyors RF, side positioners SP, pushers PU and rotary tractors DA.
  • Gem. Fig. 2 are arranged as an embodiment of the device according to the invention sensors S1 to Sn on a transport object TO, z. B. send a magnetic field and generally structurally existing system elements of a conveyor, such as idlers, deflection and drive drums or the roller R shown in FIG. 2 of a belt conveyor GU, detect contactless and wear-free.
  • the direction of action of the sensors S1 to Sn is designed primarily perpendicular to the conveyor, but can also be designed laterally or upwardly if there are constructively present features to be detected.
  • the position generator stores the typical signal sequences of all sensors for each conveyor of a conveyor system.
  • the position (angle, rotation) of the transport object relative to the direction of movement of the conveyors is determined from the phase shift of the signal sequences s1 and s2 of the sensors S1 and S2. Due to the temporal offset of the signal sequences s1 and s3 of the sensors S1 and S3, the transport speed v can be determined.
  • Fig. 3 shows the position generator PG as a data analyzer and the connection of its inputs to the outputs of the sensors S1 to Sn.
  • the inputs of the position generator PG take over the signal sequences s1 to sn of the sensors S1 to Sn to be analyzed.
  • rollers R as in the roller conveyor, detected directly by the sensor field or the elements of a belt conveyor GU, such as drive and idler pulleys, idlers and support structures for the belt, are detected through the belt.
  • the use of sensors with a hysteresis in the switching point is advantageous.
  • Decision criterion for the position determination can acc.
  • the signal sequence s1 of the roller conveyor To the signal sequence s1 of the roller conveyor. the lower figure of Fig. 4 in addition to the pulse widths and the frequency of the signal.
  • FIG. 5 shows the signal sequence s1 for a transition of a roller conveyor to a belt conveyor GU.
  • the transition with its air gap at the distance between the conveyors also provides information for the data analysis for position and position determination.
  • FIG. 6 shows the use of sensors S1 and S2 with different depth of detection: both sensors S1 and S2 provide identical signal sequences s1 and s2 for the roller conveyor with its four rollers R shown.
  • the sensor S1 with the lower detection depth is not in the Able to detect structural elements of the conveyor through the belt - signal sequence s1 lacks the impulse for roller R of belt conveyor GU.
  • the advantage of the inventions is that the method according to the invention permits the position and position determination as well as the determination of further parameters of motion scenarios, such as acceleration and speed, derived therefrom, without any additional need for the conveyors or the conveyor systems in which the conveyors act Installations must be made.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Conveyors (AREA)

Abstract

L'invention se rapporte à un procédé pour déterminer des positions lors du déplacement d'objets de transport sur des transporteurs. Pendant le déplacement de l'objet de transport, au moins une séquence de signaux d'au moins un capteur est détectée, les paramètres de cette séquence de signaux reflétant directement ou indirectement des données structurales des transporteurs et/ou l'agencement de ceux-ci. Selon l'invention, les séquences de signaux détectées pendant le transport des objets de transport sont comparées en continu avec des séquences de signaux typiques qui sont obtenues lors de transports étalonnés d'un objet de transport sur l'ensemble des transporteurs d'une installation de transport. Des informations relatives à la position des objets de transport déplacés sont obtenues en continu à partir des résultats de comparaison des séquences de signaux. La présente invention concerne en outre un dispositif pour déterminer des positions lors du déplacement d'objets de transport sur des transporteurs. Ce dispositif comprend au moins un capteur qui est disposé sur l'objet de transport déplacé, et qui détecte, sans contact, les unités structurales des transporteurs. Ledit dispositif comporte des moyens pour évaluer la/les séquence(s) de signaux détectée(s) par le(s) capteur(s) lors du déplacement de l'objet de transport sur les transporteurs.
PCT/DE2006/000936 2005-06-03 2006-05-31 Procede et dispositif pour determiner des positions lors du deplacement d'objets de transport sur des transporteurs Ceased WO2006128437A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
DE102005025984.7 2005-06-03
DE102005025985 2005-06-03
DE102005025984 2005-06-03
DE102005025986 2005-06-03
DE102005025985.5 2005-06-03
DE102005025986.3 2005-06-03

Publications (1)

Publication Number Publication Date
WO2006128437A1 true WO2006128437A1 (fr) 2006-12-07

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/DE2006/000936 Ceased WO2006128437A1 (fr) 2005-06-03 2006-05-31 Procede et dispositif pour determiner des positions lors du deplacement d'objets de transport sur des transporteurs
PCT/DE2006/000937 Ceased WO2006128438A1 (fr) 2005-06-03 2006-05-31 Procede pour evaluer des sequences de signaux de capteurs pour determiner des positions lors du deplacement d'objets de transport sur des transporteurs

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/DE2006/000937 Ceased WO2006128438A1 (fr) 2005-06-03 2006-05-31 Procede pour evaluer des sequences de signaux de capteurs pour determiner des positions lors du deplacement d'objets de transport sur des transporteurs

Country Status (1)

Country Link
WO (2) WO2006128437A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001051895A1 (fr) * 2000-01-07 2001-07-19 Safeship International, Inc. Procede de surveillance de systemes d'expedition de colis
US20040049428A1 (en) * 2002-09-05 2004-03-11 Soehnlen John Pius Wireless environmental sensing in packaging applications

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001051895A1 (fr) * 2000-01-07 2001-07-19 Safeship International, Inc. Procede de surveillance de systemes d'expedition de colis
US20040049428A1 (en) * 2002-09-05 2004-03-11 Soehnlen John Pius Wireless environmental sensing in packaging applications

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HEUSCHMANN, CHRISTIAN; GARZ, THORSTEN; GERECKE, ARNHILD: "Telematisches Mess-System zur Prozessdiagnose von Behälter- und Palettenfördersystemen der Hochleistungs-Stückgut-Fördertechnik.", MAGDEBURGER SCHRIFTEN ZUR LOGISTIK, no. 17, 2004, Magdeburg, pages 39 - 40, XP002398718, Retrieved from the Internet <URL:http://www-f.uni-magdeburg.de/~logistik/publikationen/msl_heft17.pdf> [retrieved on 20060912] *

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Publication number Publication date
WO2006128438A1 (fr) 2006-12-07

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