JPH1165658A - Method and apparatus for checking position of moving object - Google Patents

Abstract

(57) [Problem] In a conventional method for checking the position of a moving body, since first and second two sensor cams are provided, a large cost is required for maintenance, and each sensor cam is required. The adjustment required a great deal of labor. SOLUTION: The method for confirming the position of a moving object according to the present invention comprises:
The sensor cams (30 ...) consist of one row, and the positioning sensors (20, 21) arranged on the moving body (10) and arranged in one row detect the sensor cams (30 ...) and decelerate. And stop, and each positioning sensor (20, 21) and position confirmation sensor (22-2
Moving body (10) using 5) and cam for position confirmation sensor (31 to 34)
This is a configuration in which the stop position or the passing position is checked and the operation of each sensor is checked.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for confirming the position of a moving body, and more particularly, to a single row arrangement provided on a track by a pair of positioning sensors arranged in one row along the moving direction of the moving body. The present invention relates to a novel improvement for obtaining a reliable operation with a simpler configuration than the conventional one by detecting the sensor cam.

[0002]

2. Description of the Related Art Conventionally, a method shown in FIGS. 8 and 9 has been employed as a method for confirming the position of a moving body of this kind. That is, what is indicated by reference numeral 12 in FIG. 8 is a traveling path on which the movable body 10 that can travel by the wheels 11 travels, and a pair of first and second sensor cams 30 and 31 are provided on the traveling path 12. They are provided in a row and shifted in the traveling direction. The moving body 10
A pair of first and second positioning sensors 20 and 2
The positioning sensors 20 and 21 are arranged in a direction orthogonal to the traveling direction of the moving body 10, that is, the wheels 1
It is provided in a row in parallel with one axle.

Next, the operation will be described with reference to FIG.
First, while the moving body 10 is stopped at the positioning A, the moving body 10 is accelerated by the high-speed movement command to have a high speed, and proceeds toward the positioning B. When approaching the positioning B, the first positioning sensor 20 detects the first sensor cam 40, and the moving body 10 is decelerated to a low speed via a control unit (not shown). Further, the second positioning sensor 2
The stop position is reached when 1 detects the second sensor cam 41. In the positioning C, the same positioning as the above-described positioning B is performed. On the other hand, when the moving body 10 moves to the positioning F and returns to the positioning A again, the second positioning sensor 21 detects the second sensor cam 71 first, and then the first positioning sensor 20 detects the first The sensor cam 70 is detected and stopped.

[0004]

Since the conventional method and apparatus for confirming the position of a moving object have been constructed as described above,
The following issues existed. That is, two sensor cams are required at each positioning position, and it takes a great deal of time to adjust the position of the sensor cam at each positioning.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and in particular, a single row provided on a track by a pair of positioning sensors arranged in a row along the moving direction of a moving body. An object of the present invention is to provide a method and an apparatus for confirming the position of a moving body, which can obtain a reliable operation with a simpler configuration than in the past by detecting a sensor cam for arrangement.

[0006]

According to the present invention, there is provided a method for confirming the position of a moving object, comprising: a pair of first and second moving members arranged in a line separated from each other along a moving direction of the moving object; (2) A positioning sensor and a longitudinal sensor cam provided on the track of the moving body are used, and one of the positioning sensors located at the front end side in the moving direction of the moving body is used as the sensor cam. It is a method of decelerating the moving body by detecting, and then stopping the moving body by detecting the sensor cam by the other positioning sensor. A sensor mounting body having a pair of first and second positioning sensors and a plurality of position confirmation sensors provided, and a sensor cam provided on a track of the moving body and having a plurality of position confirmation sensor cams, When each of the positioning sensors detects the cam mounting body and the moving body stops positioning, the stop position of the moving body is confirmed based on whether or not each of the position confirmation sensors detects each of the position confirmation sensor cams. And a sensor mounting body having a pair of first and second positioning sensors and a plurality of position confirmation sensors provided on a movable body configured to be movable; and a sensor mounting body provided on a track of the mobile body. A plurality of sensor cams having a plurality of position confirmation sensor cams, wherein each of the positioning sensors detects the sensor cam and passes the positioning, and the position confirmation sensor detects the position confirmation sensor cam. This is a method of confirming the passing position depending on whether or not there is, and further has a pair of first and second positioning sensors and a plurality of position confirmation sensors provided on a movable body configured to be movable. And the sensor mounting body,
Using a sensor cam provided on a track of the moving body and having a plurality of position confirmation sensor cams, confirming that each of the positioning sensor and the position confirmation sensor is in a non-operating state while the moving body is moving. After that, the positioning sensor and the position confirmation sensor operate one or more times after the moving body passes the stop position, thereby confirming the operation of the positioning sensor and the position confirmation sensor as self-diagnosis. And further using a plurality of the sensor cams,
This is a method of setting a positioning stop position with respect to the moving body by making a code code of each position confirmation sensor cam different in each sensor cam. Further, the mobile object position confirmation device according to the present invention includes a pair of first and second positioning sensors arranged in a line separated from each other along a moving direction of the mobile object configured to be movable; A longitudinal sensor cam provided on the traveling path of the moving body, and a control unit connected to each of the positioning sensors and for controlling the operation of the moving body, wherein one of the positioning sensors is The control unit slows down the moving body by detecting a sensor cam, and the control unit stops the moving body when the respective positioning sensors detect the sensor cam. A configured mobile,
A sensor mounting body provided on the moving body and having a pair of first and second positioning sensors and a plurality of position confirmation sensors;
And a plurality of sensor cams having a plurality of position confirmation sensor cams provided on a traveling path of the moving body, wherein the plurality of position confirmation sensors are arranged at predetermined intervals and in a row between the respective positioning sensors. Further, the position confirmation sensor cam is made of any one of an iron plate, a magnetic body, a light-emitting body, and a limit switch, and is detachable from the sensor cam.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred first embodiment of a method and an apparatus for confirming the position of a moving object according to the present invention will be described below with reference to the drawings. The same or equivalent parts as those in the conventional example will be described with the same reference numerals. In FIG. 1, what is indicated by reference numeral 12 is a track on which a movable body 10 that can travel by wheels 11 travels. On this track 12, a plurality of sensor cams 30 and 40 are arranged in a row at a predetermined interval. It is provided in the traveling direction. 1 on the lower surface of the moving body 10
A pair of first and second positioning sensors 20, 21 are provided in a row at intervals along the traveling direction. In addition,
The positioning sensors 20 and 21 are mounted so as to detect both ends of the sensor cam 30 when positioning is stopped.

Next, the operation will be described. In FIG. 2, when the moving body 10 travels from the positioning A to the positioning B and moves, while the moving body 10 is stopped at the positioning A, the moving body 10 is accelerated by a high-speed movement command from a control unit (not shown), and the moving body 10 is accelerated. , And proceeds toward positioning B. When the moving body 10 approaches the positioning B, the first positioning sensor 20 detects the sensor cam 40, so that the moving body 10 decelerates to a low speed. Further, when the second positioning sensor 21 detects the sensor cam 40, the moving body 10 stops at the positioning B. That is, the time when the first positioning sensor 20 detects the sensor cam 40 and the time when the second positioning sensor 21 detects the sensor cam 40 is the stop position. Therefore, the following positionings C, D,... Are the same as described above. On the other hand, when the moving body 10 moves from the positioning F to the positioning E in the opposite direction to the above, the second positioning sensor 21 detects the sensor cam 70 first, and then the first positioning sensor 20 Detects the cam 70 for the sensor and
Stops. Note that the specific relationship between the movement and the position of the moving body 10 is as shown in FIG.

Next, a second embodiment will be described with reference to FIGS. The same parts as those in the above-described embodiment will be described using the same reference numerals. In FIG.
A moving object indicated by 0 is a moving object having wheels 11 and configured to run on a runway 12, and the moving object 10 may not use the wheels 11 in some cases. On the lower surface of the moving body 10, a sensor mounting body 20A is provided downward.
A plurality of sensor cams 30, 40,... 80 are provided at predetermined intervals on the runway 12 in a state corresponding to the sensor mounting body 20A.

The sensor mounting body 20A has one end at each end.
A pair of first and second positioning sensors 20 and 21 are provided, and a plurality of position confirmation sensors 22 to 25 are provided between the respective positioning sensors 20 and 21. Therefore, each of the positioning sensors 20, 21 and each of the position confirmation sensors 22 to 2
The reference numerals 5 are provided in a row at predetermined intervals along the traveling direction of the moving body 10. The sensor cams 30, 40,.
.. 80 are provided with position confirmation sensor cams 31 to 34 which can correspond to the position confirmation sensors 22 to 25 as shown in FIG. , An iron plate, a magnetic body, a light-emitting body, a limit switch, etc., and is configured to be detachably provided and replaceable. The positioning sensors 20 and 21 are configured to detect both ends of the cam mount 30.

Next, the operation will be described. 4 and 7
As shown in the figure, a plurality of sensor cams 30,
80 are provided in a line, and the position confirmation sensor cams 31 to 34 are positioned at the positioning stop positions A as shown in FIG.
After setting the code codes 100 different from each other so as to be F, the moving body 10 is moved to correspond to the sensor cams 30, 40,. The position confirmation sensors 22 to 25 can identify the respective positioning stop positions A to F and confirm the positions. That is, when the mobile object 10 reads the code code 100 based on the code code 100 including the different codes described above, stop or pass control can be performed. Each of the above-described positioning stop positions A to F is
Positioning can be stopped in both cases where 0 is the forward path and the return path. In addition to the positioning stop function, each of the sensor cams 30 to 80 has a code code identified as shown in FIG. Can be controlled as follows. When the mobile unit 10 stops positioning during high-speed running, the mobile unit 10 travels at a constant speed until one of the positioning sensors 20 and 21 operates, and when one operates, deceleration control is performed to a low speed. The control for stopping the operation when is operated is the same as in the above-described conventional example.

In the sensor configuration diagrams shown in FIGS. 5 and 6, as shown in FIG. 7, positioning stop positions A, B, C,.
In the configuration of the position confirmation sensor cams 31, 32, 33, 34, the position confirmation sensor cams 31, 32, 33, 34
In a position confirmation method that does not adopt a configuration in which everything is “absent” (a zero number is not used), when the positioning sensor 20 and the positioning sensor 21 both detect the sensor cam 30 and stop positioning, the position confirmation sensor 22, 23, 24, 2
Does 5 detect the position confirmation sensor cams 31, 32, 33, 34? / Not detected? Can be checked by a control unit (not shown) to check the stop position. Also,
At the time of passing the stop position, both the first positioning sensor 20 and the second positioning sensor 21 detect the sensor cam 30 and when the positioning is passed, the position confirmation sensor 2
2, 23, 24 and 25 are cams 31 and 3 for position confirmation sensors.
Have you detected 2,33,34? / Not detected? , It is possible to confirm the passing position. Also,
When the moving body 10 is in the moving body, the positioning sensors 20 and 2
1 is not operating, the position confirmation sensors 22, 23,
It is confirmed that the moving bodies 24 and 25 are not operating (the moving body 10 can be confirmed to be between the positioning stop position and the stop positioning position, that is, between the cam mounts 30, 40,... 80). Next, after the moving body 10 passes the stop position, it is confirmed that each of the positioning sensors 20, 21 operates at least once, and the position confirmation sensors 22, 23, 24, 2 are checked.
The operation of each sensor 20, 21, 22, 23, 24, 25 as a self-diagnosis can be confirmed by confirming that the sensor 5 operates at least once. Therefore, when the moving body 10 is positioned at the positioning stop position (that is, the sensor cams 30, 40,.
.. 80), the self-diagnosis of each of the sensors 20 to 25 can be performed. In the method for confirming the position of a moving body according to the present invention, (1) the moving body 10 includes two positioning sensors 20 and 2;
By reading the signals of the position confirmation sensors 22 to 25 when the positioning of the actuator 1 is stopped by the operation, the stop position can be confirmed. (2) When the two positioning sensors 20 and 21 are operating when the moving body 10 passes an arbitrary stop position, the passing position is confirmed by reading the signals of the position confirmation sensors 22 to 25. Becomes possible. (3) When the moving body 10 passes an arbitrary stop position, the positioning sensors 20 and 21 and the position confirmation sensors 22 to 25 are used.
Is operated at least once, thereby confirming the operation of the positioning sensors 20 and 21 and the position confirmation sensor 22.
It is possible to confirm the operation of the operation from ２５25

[0013]

The method and apparatus for confirming the position of a moving object according to the present invention are configured as described above, so that the following effects can be obtained. That is, since a single row of sensor cams is detected by a single row of positioning sensors, the structure and adjustment are simple. ・ Position confirmation and confirmation can be performed in a larger number than the number of positioning sensors.・ It is easy to set and change the positioning stop position (stop position number).・ It is easy to check the operation of the positioning stop position sensor. -Sensor operation can be checked without installing a special sensor for checking, such as duplicating sensors and adding parity bits. Therefore, when a large number of stop positions are to be set, they can be set freely without using many sensors as in the related art, by using a combination code of each position confirmation sensor cam.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a mobile object position confirmation device according to the present invention.

FIG. 2 is an explanatory diagram showing the operation of FIG.

FIG. 3 is an explanatory diagram showing ON and OFF of the sensor of FIG. 1;

FIG. 4 is a configuration diagram showing another embodiment of FIG. 1;

FIG. 5 is a configuration diagram of the sensor of FIG. 4;

FIG. 6 is a combination diagram showing a sensor cam and a positioning stop position.

FIG. 7 is an explanatory diagram showing the operation of FIG.

FIG. 8 is a configuration diagram illustrating a conventional mobile object position confirmation device.

FIG. 9 is an explanatory diagram showing the operation of FIG. 8;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Moving body 20A Sensor mounting body 20 Positioning sensor 21 Positioning sensor 22 Position check sensor 23 Position check sensor 24 Position check sensor 25 Position check sensor 31 Position check sensor cam 32 Position check sensor cam 33 Position check sensor cam 34 Cam for position confirmation sensor 30, 40-80 Cam for sensor

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Toshiyuki Ninomiya 1-6-1, Funakoshi Minami, Aki-ku, Hiroshima-shi, Hiroshima Japan Steel Works Hiroshima Works

Claims (8)

[Claims] A pair of first and second positioning sensors (20, 21) arranged in a row in a row along a moving direction of a movable body (10) configured to be movable; Mobile (10)
Any one of the positioning sensors (20, 21) located on the distal end side in the moving direction of the moving body (10) using a longitudinal sensor cam (30) provided on the runway (12). By detecting the sensor cam (30), the moving body (10) is decelerated, and then the other positioning sensor (20 or 21) detects the sensor cam (30) to move the moving body (10). Body (1
A method for confirming the position of a moving body, characterized by stopping 0). 2. A sensor mounting having a pair of first and second positioning sensors (20, 21) and a plurality of position confirmation sensors (22 to 25) provided on a movable body (10) configured to be movable. Body (20A)
And a sensor cam (30) provided on the track (12) of the moving body (10) and having a plurality of position confirmation sensor cams (31 to 34), and each of the positioning sensors (20, 21). When the mobile unit (10) stops detecting the position after detecting the sensor cam (30), the position confirmation sensors (22 to 25) detect the position confirmation sensor cams (31 to 34). Whether the moving object
(10) A method for confirming the position of a moving object, comprising confirming a stop position. 3. A sensor mounting having a pair of first and second positioning sensors (20, 21) and a plurality of position confirmation sensors (22 to 25) provided on a movable body (10) configured to be movable. Body (20A)
And a sensor cam (30) provided on the track (12) of the moving body (10) and having a plurality of position confirmation sensor cams (31 to 34), and each of the positioning sensors (20, 21). Detects the sensor cam (30) and determines the passing position by detecting whether the position confirmation sensor (22 to 25) detects the position confirmation sensor cam (31 to 34) when passing the positioning. A method for confirming a position of a moving body, characterized by comprising: 4. A sensor mounting having a pair of first and second positioning sensors (20, 21) and a plurality of position confirmation sensors (22 to 25) provided on a movable body (10) configured to be movable. Body (20A)
And a sensor cam (30) having a plurality of position confirmation sensor cams (31 to 34) provided on a runway (12) of the moving body (10), while the moving body (10) is moving. Confirm that each of the positioning sensors (20, 21) and the position confirmation sensors (22 to 25) are in a non-operating state, and then, after the moving body (10) has passed a stop position, the positioning sensors ( 20, 21) and the position confirmation sensor (22 to 25) operate at least once, so that the positioning sensor (20, 21) and the position confirmation sensor (22 to 25)
A method for confirming the position of a moving object, wherein the operation is confirmed as a self-diagnosis of the moving object. 5. A plurality of said sensor cams (30-80),
By differentiating the code code (100) of each position confirmation sensor cam (31-34) in each sensor cam (30-80), the positioning stop position with respect to the moving body (10) is distinguished. The method according to claim 2, wherein the position of the moving object is confirmed. 6. A pair of first and second positioning sensors (20, 21), which are arranged in a row and are separated from each other along a moving direction of a movable body (10) configured to be movable; Mobile (10)
A longitudinal sensor cam (30) provided on the runway (12),
The moving body connected to each of the positioning sensors (20, 21)
And a control unit for controlling the operation of (10), and one of the positioning sensors (20, 21) is provided with the sensor cam (3).
0) is detected and the moving body (10) is decelerated by the control unit.When the positioning sensors (20, 21) detect the sensor cam (30), the moving body (10) is controlled by the control unit. ) Is stopped. 7. A movable body (10) configured to be movable, a pair of first and second positioning sensors (20, 21) and a plurality of position confirmation sensors (20) provided on the movable body (10). 22 to 25), and a plurality of sensor cams (30 to 30) provided on the track (12) of the moving body (10) and having a plurality of position confirmation sensor cams (31 to 34). 80), and between the positioning sensors (20, 21), the plurality of position confirmation sensors (22
25) The position confirmation device for a moving object, wherein the devices are arranged in a row at predetermined intervals. 8. The cam for a position confirmation sensor (31-34),
8. The position confirmation device for a moving body according to claim 7, wherein the apparatus comprises any one of an iron plate, a magnetic body, a luminous body, and a limit switch, and is detachable from the sensor cam (30, 70).