JP3656938B2 - Method and apparatus for detecting fixed point position of automatic guided vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is guided unattended while detecting a bogie guiding magnetic body fixed (for example, embedded or fixed on a floor surface) with a magnetic sensor of the bogie main body inside or outside the factory. In addition, for the fixed point position identification such as the stop position, the fixed point position identification magnetic body fixed to the road floor is detected by another magnetic sensor of the bogie main body. The present invention relates to a fixed point position detection method and apparatus.
[0002]
[Prior art]
For example, unmanned transport carts for loading and transporting cylindrical transported objects such as steel sheet coils and papermaking coils in production lines such as steelworks and paper mills, stock yards, and the like are known. As shown in FIG. 10, this automatic guided vehicle has a trough-shaped mounting table 23 on which an object 22 is mounted on the upper surface of a vehicle body 20, is provided with traveling wheels 21 at the lower part, and is guided on a traveling path. It automatically travels along the magnetic body 10 for use. Then, the automatic guided vehicle detects and stops the fixed point position identifying magnetic body as necessary.
[0003]
Conventionally, as shown in FIG. 5, this fixed point position identifying magnetic body 1 is installed on a concrete surface 2 or an asphalt surface that is not affected by a magnetic force, and has an original magnetic characteristic (the magnetic force of the S pole in the S pole magnetic body). It is generated on the surface of the magnetic body 1 with a magnetic force of 5 gauss or more (shown as the S pole detection range 3 in the figure). The fixed-point position identifying magnetic sensor 11 incorporated in the traveling automatic guided vehicle identifies the fixed point position by detecting a magnetic force of 4 to 5 gauss or more on the magnetic body, and decelerates or stops the transport cart. Fixed point identification such as position has been performed.
[0004]
However, depending on the factory, there may be a case where the magnetic body cannot always be fixed to a concrete surface or the like that has no magnetic influence. For example, it is conceivable that the magnetic material must be fixed on the iron plate. In such a case, as shown in FIG. 6, the magnetic field changes, and the magnetic force 3 of the main body (S pole detection range). And the magnetic field 4 (N pole detection range) of the opposite polarity is generated, resulting in a malfunction of the magnetic sensor 11 and erroneous detection (detection of both N and S poles). The situation is not fixed directly. If it must be fixed, as shown in FIG. 7, the steel plate part 5 at the fixing part is cut out to the extent not affected by magnetism, filled with resin 6 or concrete, etc. The malfunction and detection of the position identification magnetic sensor 11 have been prevented.
[0005]
Moreover, it is common to detect the polarity opposite to the polarity of the guide wire as the polarity of the fixed point position identifying magnetic sensor incorporated in the automatic guided vehicle, thereby preventing erroneous detection of the guide wire. The purpose is. However, when the guide wire magnetic body 10 is directly fixed on the iron plate part 5, as shown in FIG. 8, the original magnetic force 4 is strengthened and the magnetic field 3 of the opposite polarity is generated, and the fixed point position identifying magnetic sensor. 11, there is a possibility of erroneous detection . As shown in FIG. 9 , the guide wire magnetic body 10 is also cut out to a range where there is no magnetic influence and cured with a resin 6 or the like. The malfunction and detection of the fixed point position identifying magnetic sensor 11 have been prevented.
[0006]
[Problems to be solved by the invention]
In the present invention, in the detection of the fixed point position identifying magnetic body of the automatic guided vehicle, when it is desired to directly fix the fixed point position identifying magnetic body or the guide wire magnetic body to the floor surface made of a material that disturbs the magnetic field such as the iron plate portion. Therefore, as a countermeasure when the floor surface is difficult to cut out due to structural problems of the floor surface, even if the fixed-point position identification magnetic body or the induction wire magnetic body is directly fixed to the floor surface, It is an object of the present invention to provide a fixed point position detection method and apparatus for an automatic guided vehicle that detects predetermined magnetic characteristics and is not affected by the opposite poles of disturbance.
[0007]
[Means for Solving the Problems]
The fixed point position detecting method of the automatic guided vehicle of the present invention according to claim 1 is guided unattended while detecting the guiding magnetic body fixed on the road surface with the magnetic sensor of the cart body, and the fixed point position is also the same. In a fixed-point position detection method for an automatic guided vehicle that detects a fixed-point position identifying magnetic body fixed to the track floor with another magnetic sensor of the cart body, a magnetic induction line is formed on the track floor formed of a material that disturbs the magnetic field. Fixed point position identification magnetic material with a magnetic pole detection length longer than the magnetic pole detection length of the opposite pole generated by magnetism is fixed, and the magnetic detection sensor of the automatic guided vehicle traveling at a constant speed along the guide wire is the fixed point position The magnetic material for identification is detected, the magnetic pole detection length of the detected magnetic material for fixed point position identification is measured with a measuring device installed in the main body of the carriage, and the actual value of the magnetic pole detection length obtained by the measurement is processed. Input to the device and the measured value Already compared with the set value of the magnetic pole sensing length being input, fixed point position when the measured value is below the set value and not detected, the fixed point position identification magnetic body when the measured value exceeds the set value It is characterized by having detected.
[0008]
According to a second aspect of the present invention for carrying out the above method, the fixed point position detecting device for the automatic guided vehicle of the present invention has a detection length longer than the magnetic pole detection length of the opposite pole with respect to the magnetic material for induction generated by the magnetic induction wire And measuring the moving distance of the carriage, the fixed point position identifying magnetic body fixed on the road surface formed of a material disturbing the magnetic field, the N pole or S pole detection magnetic sensor installed on the carriage body, and the carriage. a distance measuring device provided on the vehicle body for the pole detecting fixed-point position identification magnetic material having a respective polarity as measured by the measuring device for measuring the magnetic pole sensing length of fixed-point position identification magnetic material installed in the carriage body The actual measured value of the length is input, and the actual value is compared with the already set magnetic pole detection length setting value. When the actual measurement value is less than the set value, the fixed point position is not detected and the actual measurement value is the set value. If the value exceeds Out was the recognition determining arithmetic unit by constructed.
[0009]
In the present invention, the runway floor surface formed of a material that disturbs the magnetic field usually refers to a floor material made of a general structural steel material (simply referred to as an iron plate). This is the case when the reinforcing structure is disposed inside or a reinforcing bar is disposed inside. In addition, fixing the fixed point position identifying or guiding magnetic body to the road surface is embedded in the floor surface, pasted on the floor surface using an appropriate stopping means, or pasted with an adhesive or the like. It means to do.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a method for detecting a fixed point of an automatic guided vehicle and an apparatus therefor according to the present invention will be described below with reference to the drawings.
FIG. 1 is a plan view showing a general traveling layout and an arrangement of magnetic induction wires 10 and 10 '(assuming N pole) and fixed-point position identifying magnetic bodies 8 and 9 (assuming S pole) in the automatic guided carriage 7. FIG. 2 shows an arrangement viewed from the cross section of FIG. 1 and the speed pattern of the automatic guided vehicle 7.
[0011]
As shown in FIG. 1, the general automatic guided vehicle travel method is that the automatic guided vehicle 7 travels from the left side, and the magnetic force of the S pole generated from the deceleration position identification marker (magnetic body) 8 is installed in the vehicle body. The automatic guided vehicle 7 starts decelerating from the traveling speed 12 to the speed 13 by the detection by the fixed point position detection sensor 11. Thereafter, when the detection sensor 11 passes over the magnetic induction wires 10 ′ intersecting each other, the automatic guided vehicle 7 stops traveling 14 by detecting the stop position identifying marker (magnetic body) 9. After that, it is only necessary to select whether to proceed by spin-turning to the guiding line 10 'crossing at the stop position, or to proceed straight through the guiding line 10 as it is. A guidance magnetic sensor 11 ′ for detecting the guide wires 10 and 10 ′ to guide the traveling of the carriage is disposed at each wheel position of the vehicle body.
[0012]
At this time, when the fixed-point-position identifying magnetic bodies 8 and 9 and the magnetic induction wires 10 and 10 'are fixed on a material that disturbs the magnetic field such as an iron plate portion, the magnetic body and the induction wires have their original polarities. In addition, the opposite polarity occurs as shown in FIGS. Under such a magnetic field, the fixed-point position identification detection sensor 11 incorporated in the automatic guided vehicle simultaneously detects the N pole and the S pole at the same location, so that it is conventionally determined that the identification is impossible and an erroneous signal. It was.
[0013]
Therefore, in the present invention, only the S pole that should be detected is detected, and the N pole is ignored. However, when only the S pole is to be detected, in addition to the fixed point position identifying magnetic bodies 8 and 9 that should be detected originally, the magnetic induction wire embedded in the iron plate portion to guide the automatic guided vehicle There is a possibility that the detection sensor 11 erroneously detects the S pole of 10, 10 ′ as a fixed point position identifying magnetic body. As shown in FIG. 8, the magnetic induction wire 10 is an N-pole ferromagnet and normally generates 10 to 15 Gauss N-pole magnetism. The pole is generated. The magnetic detection sensor 11 for detecting the fixed-point position identifying magnetic bodies 8 and 9 according to the present invention always crosses the magnetic guide wire 10 ′ for guiding the automatic guided carriage 7 as shown in FIG. 2.
[0014]
In the present invention, when the original magnetism of the magnetic induction wires 10 and 10 'is the N pole, the fixed point position identifying magnetic body 8 having a detection length 15 longer than the detection length 16 of the opposite S pole generated. 9 (S pole) is fixed to the iron plate portion, and the magnetic detection sensor 11 determines the fixed point position when the S pole detection length 15 is less than or equal to the S pole distribution length 16 generated from the magnetic induction wires 10 and 10 '. When the magnetic bodies 8 and 9 are not detected and the S pole detection length 15 is equal to or longer than the S pole distribution length 16 generated from the magnetic induction wires 10 and 10 ', it is determined that the magnetic bodies 8 and 9 are for fixed point position identification. I tried to do it. This reliably prevents erroneous detection by the south pole of the magnetic induction wires 10 and 10 'and reliably detects the fixed point position identifying magnetic body.
[0015]
Further, as shown in FIG. 3, the magnetic body detection device according to the present invention includes a fixed point position identifying magnetic detection sensor 11 provided on the vehicle body 20 of the automatic guided carriage 7 and a traveling wheel 21 for measuring the movement distance of the carriage. The rotation number measuring device 17 provided in the traveling motor 19 of the traveling motor 19 and the S pole detection length obtained by the fixed point position identifying magnetic detection sensor 11 and the measuring device 17 are compared with the set length to calculate and output a determination signal. And an arithmetic unit 18 for outputting.
[0016]
FIG. 4 shows an example of a control block diagram of the detection process of the fixed point position identifying magnetic material by the apparatus of the present invention. When the magnetic detection sensor of the automatic guided vehicle traveling at a constant speed along the guide line detects the fixed point position identification marker, the measuring device is turned on and measurement of the magnetic pole detection length of the marker is started. Next, in the arithmetic processing unit, the actual measurement value of the detection length measured by the measurement device is input and compared with the set value of the detection length already input, and the actual measurement value is equal to or less than the set value. In this case, the fixed point position is not detected, a constant speed command is issued to continue the normal running state as it is, and when the measured value exceeds the set value, the fixed point position identification marker is detected. A deceleration command is issued, and the vehicle is decelerated to a predetermined speed.
[0017]
In addition, it is considered that the automatic guided vehicle is in a deceleration state in the preparation process for stopping at the next stop position and in the stage before entering a place where stable driving is difficult at a constant speed such as a curve. However, in order to distinguish the location, either of the following two means may be adopted.
[0018]
One is to store travel path information including various marker arrangements in the arithmetic unit in the automatic guided vehicle in the case of a simple travel path, and determine whether it is a deceleration marker before a stop or a deceleration marker for a curve. The second method is to make a judgment using an arithmetic unit in the automated guided vehicle. The second method is whether the travel direction information from an external signal is a deceleration marker before stopping or a deceleration marker for a curve when the travel path is complicated. A method that enables identification by receiving information can be considered.
[0019]
Assuming that the automatic guided vehicle is to be stopped at the position where the guide lines 10 and 10 ′ intersect in the state of FIG. 1, the detection length of the marker 8 exceeds the set value and the vehicle is decelerated, and the next marker ( In the detection of the guide wire 10 '), since the detection length is equal to or less than the set value, the marker 10' passes as undetected, and further, the detection of the marker 9 stops because the detection length exceeds the set value. When it is desired to enter the carriage in the direction of the guide line 10 ', if the carriage is rotated by 90 ° at the stop position and the carriage is started, the carriage travels with the detection sensor 11' detecting the guide line 10 '.
[0020]
【The invention's effect】
As described above, when the fixed point position identifying magnetic body is directly fixed to the iron plate portion or the like, the magnetic detection sensor conventionally incorporated in the automatic guided vehicle could not reliably detect the magnetic body. According to the method and apparatus, this can be detected reliably and accurately. As a result, it is possible to fix the fixed point position identification magnetic body and the guide wire directly to the floor surface of a material that may disturb the magnetic field such as an iron plate, thereby reducing the construction cost and accurately running and stopping the automatic guided vehicle. Can be done.
[Brief description of the drawings]
FIG. 1 is a plan view showing a general traveling layout and an arrangement of magnetic induction wires (N poles) and fixed point position identifying magnetic bodies (S poles) in an automatic guided vehicle.
FIG. 2 shows a cross-sectional view of FIG. 1 and a speed pattern of the automatic guided vehicle.
FIG. 3 is a schematic plan view of an automatic guided vehicle provided with the detection device of the present invention.
FIG. 4 is a diagram showing an example of a control block for carrying out the method of the present invention.
FIG. 5 shows a cross-sectional view in which a fixed point position identifying magnetic body is fixed on a concrete surface and a magnetic force distribution detected by a magnetic detection sensor.
FIG. 6 shows a cross-sectional view in which a fixed point position identifying magnetic body is fixed directly on an iron plate and a magnetic force distribution detected by a magnetic detection sensor.
FIG. 7 shows a sectional view and a magnetic force distribution detected by a magnetic detection sensor when a fixed point position identifying magnetic body is fixed on an iron plate by taking measures for avoiding the magnetic influence of the iron plate.
FIG. 8 shows a cross-sectional view in which a guide line for guiding an automatic guided vehicle is directly fixed on an iron plate and a magnetic force distribution detected by a magnetic detection sensor.
FIG. 9 shows a sectional view and a magnetic force distribution detected by a magnetic detection sensor when a guide line for guiding an automatic guided vehicle is fixed on an iron plate by taking measures for avoiding the magnetic influence of the iron plate.
FIG. 10 is a perspective view of an automatic guided vehicle with a transported object (coil) placed thereon.
[Explanation of symbols]
1 Magnetic material for position identification 2 Concrete surface 3 S pole magnetic range (detection range)
4 N pole magnetic range (detection range)
5 Iron plate 6 Resin or concrete surface 7 Unmanned transport cart 8 Deceleration position identification marker (magnetic material)
9 Stop position identification marker (magnetic material)
10, 10 'unmanned transport carriage guide line 11 fixed point position identifying magnetic detection sensor 11' guide line identifying magnetic detection sensor 12 traveling speed 13 deceleration speed 14 traveling stop 15 fixed point position identifying magnetic body S pole detection length 16 guiding line Magnetic material S pole detection length 17 Rotational speed measuring device 18 Arithmetic device 19 Traveling motor 20 Car body 21 Traveling wheel 22 Conveyed matter (coil)
23 Mounting table

Claims (2)

While detecting the magnetic material for guidance fixed to the track floor with the magnetic sensor of the cart body, the fixed point position identifying magnetic material fixed to the track floor is also separated from the cart body. of the fixed-point position detecting method of the automatic guided trolley for detecting the magnetic sensor, the opposite pole sensing length longer than the magnetic pole sensing the length of the pole to be generated in the magnetism of the magnetic induction lines runway floor surface formed of a material disturbing the magnetic field the fixed point position identification magnetic material having fixed to iron plate portion, a magnetic sensor of the unmanned conveyance carriage traveling at a constant speed speed detects the fixed-point position identification magnetic body along the guide line, the fixed point location identification this has been detected The magnetic pole detection length of the magnetic material is measured with a measuring device installed in the cart body, and the actual value of the magnetic pole detection length obtained by the measurement is input to the arithmetic processing unit. Compare with the set value of detection length. , Fixed point position when the measured value is below the set value and not detected, the fixed point of the unmanned conveyance carriage when said measured value exceeds the set value, characterized in that to detecting a fixed point position identification magnetic Position detection method. A detection device for carrying out the fixed point position detection method for an automatic guided vehicle according to claim 1, wherein the detection device has a detection length longer than a detection length of an opposite pole with respect to a magnetic material for induction generated by a magnetic induction wire, and a magnetic field is detected. Provided in the vehicle body to measure the moving distance of the carriage, the fixed point position identification magnetic body fixed on the track floor made of disturbing material, the N pole or S pole detection magnetic sensor installed in the carriage body Measured value of the magnetic pole detection length of the fixed point position identification magnetic material having the respective polarities measured by the distance measuring device and the measurement device measuring the magnetic pole detection length of the magnetic material for fixed point position identification installed on the cart body Is compared with the set value of the magnetic pole detection length that has already been input, and when the measured value is less than the set value, the fixed point position is not detected, and when the measured value exceeds the set value, Acknowledged that a magnetic material for fixed point position detection was detected Determining arithmetic unit and is constituted by, for unmanned conveyance carriage fixed point position detecting device.

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