CN103631260A - Transport vehicle and control method thereof - Google Patents
Transport vehicle and control method thereof Download PDFInfo
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- CN103631260A CN103631260A CN201210300704.1A CN201210300704A CN103631260A CN 103631260 A CN103631260 A CN 103631260A CN 201210300704 A CN201210300704 A CN 201210300704A CN 103631260 A CN103631260 A CN 103631260A
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Abstract
The invention provides a transport vehicle and a control method thereof. The transport vehicle includes a power unit, a sensing unit and a drive control unit. The power unit is configured to respond to a drive signal group so that the transport vehicle can travel on a guide magnetic track. The sensing unit is configured to sense a magnetic force on the guide magnetic track, and generate a plurality of sensing signal groups in a sensing period. The drive control unit is coupled between the power unit and the sensing unit. The drive control unit is configured to receive the sensing signal groups; conduct averaging process of the sensing signal groups to obtain relative position information of the transport vehicle to the guide magnetic track; and provide the drive signal group to the power unit based on the relative position information, so that the central position of the transport vehicle is substantially aligned to the central position of the guide magnetic track.
Description
Technical field
The invention relates to a kind of automated navigation system and automatic navigation method thereof, and particularly relevant for a kind of transport carrier and control method thereof of magnetic induction type.
Background technology
Automatic navigation vehicle (Automatic Guidance Vehicle, AGV) be to utilize automated navigation system and the transport carrier that can travel along default path, wherein the automated navigation system of automatic navigation vehicle can be divided into Direct Coordinate navigation (Cartesian Guidance) according to its navigate mode, electromagnetic navigation (Wire Guidance), tape navigation (Magnetic Tape Guidance), optical guidance (Optical Guidance), laser navigation (Laser Guidance), the navigate modes such as inertial navigation (Inertial Guidance) and vision guided navigation (Visual Guidance).
In utilizing the automated navigation system of tape navigation, it normally utilizes and on path, attaches or bury tape underground, and the Magnetic Sensor that installs the magnetic force that can respond to tape on transport carrier additional is realized the object of navigation.Because tape is laid easily, therefore utilize the automatic navigation vehicle of tape navigate mode to there is higher dirigibility compared to other navigation modes.
Yet, utilize the mode of tape navigation to be easily subject to the sensing of the such environmental effects Magnetic Sensors such as metallics on driving path, and distance between tape and Magnetic Sensor also can impact Magnetic Sensor.In other words, when automatic navigation vehicle driving path have the gradient or arround while putting metal goods, the accuracy of automated navigation system may serious being affected.In addition,, because the edge of tape can detect the N utmost point and the S utmost point simultaneously, therefore also may make corresponding Magnetic Sensor cause erroneous judgement and make automated navigation system misalignment.
Summary of the invention
The invention provides a kind of transport carrier and control method thereof.
The invention provides a kind of transport carrier, it can automatically adjust travel direction, stably to travel on default path.
The invention provides a kind of control method of transport carrier, its situation that can depart from according to transport carrier is adjusted the travel direction of transport carrier, to make transport carrier stably maintain, travels on default path.
The invention provides a kind of transport carrier, comprise power unit, sensing cell and driving control unit.Power unit is configured to react on driving signal group and transport carrier is travelled on guiding magnetic track.Sensing cell is configured to the magnetic force on sensing guiding magnetic track, and in sense period, produces a plurality of sensing signal groups.Driving control unit is coupled between power unit and sensing cell.Driving control unit is configured to receive sensing signal group; Sensing signal group is averaged and processes and obtain and be associated with transport carrier with respect to the relative position information of guiding magnetic track; And provide and drive signal group to power unit according to relative position information, use and make align the in fact center of guiding magnetic track, the center of transport carrier.
In an embodiment of the present invention, drive signal group to comprise the first driving signal and two driving signal, power unit comprises the first transmission component, the second transmission component, the first motor and the second motor.The first transmission component is disposed at the left side of transport carrier.The second transmission component is disposed at the right side of transport carrier.The first motor is in order to activate the first transmission component, and wherein the first motor drives signal according to first and adjusts its rotating speed, and controls according to this transmission speed of the first transmission component.The second motor is in order to activate the second transmission component, and wherein the second motor is adjusted its rotating speed according to two driving signal, and controls according to this transmission speed of the second transmission component.Wherein, the relative velocity between the first transmission component and the second transmission component determines the travel direction of transport carrier.
In an embodiment of the present invention, each sensing signal group comprises a plurality of sensing signals, and sensing cell comprises a plurality of Magnetic Sensors.Each Magnetic Sensor is configured on transport carrier with constant spacing, in order to the magnetic force on sensing guiding magnetic track, produces corresponding sensing signal.Wherein, the part Magnetic Sensor induction that is positioned at the magnetic force scope of guiding magnetic track is guided the magnetic force of magnetic track and is produced the sensing signal of activation.Wherein, the extraneous another part Magnetic Sensor of magnetic force that is positioned at guiding magnetic track is not responded to the magnetic force of guiding magnetic track and the sensing signal that produces forbidden energy.
In an embodiment of the present invention, driving control unit comprises filter unit, control module and driver element.Filter unit couples sensing cell.Filter unit is processed with more described a plurality of sensing signal groups in order to average, and one of them is actual sensed signal group by result relatively, to choose described a plurality of sensing signal group, thereby obtains relative position information.Control module couples filter unit.Control module calculates the center person who approaches guiding magnetic track in described a plurality of Magnetic Sensor most in order to the sensing signal according to actual sensed signal group.Driver element couples control module.Driver element drives signal to control respectively the rotating speed of the first motor and the second motor in order to produce first and second according to the result of calculation of control module, to make the center of transport carrier align in fact, guides the center of magnetic track.
In an embodiment of the present invention, filter unit comprises a plurality of signal working storages and bit comparer.Signal working storage obtains respectively and keeps in described a plurality of sensing signal group in order to a plurality of sampling time points in sense period, and wherein the difference of two adjacent samples time points is essentially the reaction time of each Magnetic Sensor.Bit comparer couples described a plurality of signal working storage.Bit comparer receives and compares the difference between each sensing signal group, and the sensing signal group of choosing the difference minimum in described a plurality of sensing signal group of take is actual sensed signal group, thereby obtains relative position information.
In an embodiment of the present invention, control module is sequentially set the arrangement numbering of described a plurality of Magnetic Sensors, with the quantity according to the corresponding described a plurality of Magnetic Sensors of sensing signal of activation in actual sensed signal group and arrangement numbering, calculates the center person who approaches guiding magnetic track in described a plurality of Magnetic Sensor most.
The present invention proposes a kind of control method of transport carrier, comprising: react on and drive signal group and transport carrier is travelled on guiding magnetic track; Sensing is guided the magnetic force on magnetic track and in sense period, is produced a plurality of sensing signal groups; Described a plurality of sensing signal groups are averaged and process and obtain and be associated with transport carrier with respect to the relative position information of guiding magnetic track; And provide and drive signal group according to relative position information, use and make align the in fact center of guiding magnetic track, the center of transport carrier.
In an embodiment of the present invention, drive signal group to comprise the first driving signal and two driving signal, reacting on the step that drives signal group and transport carrier is travelled on guiding magnetic track comprises: according to the first driving signal, adjust the rotating speed of the first motor, and control according to this transmission speed of first transmission component in the left side that is disposed at transport carrier; And the rotating speed of adjusting the second motor according to two driving signal, and control according to this transmission speed of second transmission component on the right side be disposed at transport carrier, the wherein travel direction of the decision of the relative velocity between the first transmission component and the second transmission component transport carrier.
In an embodiment of the present invention, each sensing signal group comprises a plurality of sensing signals, magnetic force on sensing guiding magnetic track and the step that produces a plurality of sensing signal groups in sense period comprises: configure a plurality of Magnetic Sensors with constant spacing on transport carrier, each Magnetic Sensor is in order to the magnetic force on sensing guiding magnetic track and produce corresponding sensing signal.Wherein, be positioned at guiding magnetic track magnetic force scope part Magnetic Sensor induction guiding magnetic track magnetic force and produce the sensing signal of activation, and the extraneous another part Magnetic Sensor of magnetic force that is positioned at guiding magnetic track is not responded to the magnetic force of guiding magnetic track and is produced the sensing signal of forbidden energy.
In an embodiment of the present invention, described a plurality of sensing signal groups are averaged and process and obtain and be associated with transport carrier and comprise with respect to the step of the relative position information of guiding magnetic track: more described a plurality of sensing signal groups, and one of them is actual sensed signal group by result relatively, to choose described a plurality of sensing signal group, thereby obtain relative position information.
In an embodiment of the present invention, the action that averages processing comprises: a plurality of sampling time points in sense period obtain respectively and keep in described a plurality of sensing signal group, and wherein the difference of two adjacent samples time points is essentially the reaction time of each Magnetic Sensor; And receive and compare the difference between each sensing signal group, the sensing signal group of choosing the difference minimum in described a plurality of sensing signal group of take is actual sensed signal group.
In an embodiment of the present invention, after the step of more described a plurality of sensing signal groups, the control method of transport carrier also comprises: the sensing signal according to actual sensed signal group calculates the center person who approaches guiding magnetic track in described a plurality of Magnetic Sensor most.
In an embodiment of the present invention, wherein according to the sensing signal of actual sensed signal group, calculating the step that approaches the center person of guiding magnetic track in described a plurality of Magnetic Sensor most comprises: the arrangement numbering of sequentially setting described a plurality of Magnetic Sensors; And calculate according to quantity and the arrangement numbering of the corresponding Magnetic Sensor of sensing signal of activation in actual sensed signal group the center person who approaches guiding magnetic track in described a plurality of Magnetic Sensor most.
In an embodiment of the present invention, according to relative position information, provide and drive signal group, use align the in fact step of center of guiding magnetic track of the center of transport carrier is comprised: according to calculating the center person's who approaches guiding magnetic track in described a plurality of Magnetic Sensors most result, produce first and second and drive signal to control respectively the rotating speed of first and second motor, to make align the in fact center of guiding magnetic track, the center of transport carrier.
Based on above-mentioned, the transport carrier of the embodiment of the present invention and control method thereof, can obtain according to this and be associated with transport carrier with respect to the relative position information of guiding magnetic track by averaging the mode of processing, and use the travel direction of controlling transport carrier, therefore make transport carrier can continue in motion to maintain preferably on driving path and can not produce and depart from, and then improved the stability that transport carrier travels.
For above-mentioned feature and advantage of the present invention can be become apparent, special embodiment below, and shown in coordinating, accompanying drawing is described in detail below.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of the transport carrier of one embodiment of the invention;
Fig. 2 is the schematic diagram of the transport carrier of one embodiment of the invention;
Fig. 3 is the flow chart of steps of control method of the transport carrier of one embodiment of the invention;
Fig. 4 is the schematic diagram of the transport carrier of another embodiment of the present invention;
Fig. 5 is the flow chart of steps of control method of the transport carrier of another embodiment of the present invention;
Fig. 6 A～6C is the schematic diagram of travel direction of the control transport carrier of Fig. 4 embodiment.
Description of reference numerals:
14: guiding magnetic track;
100,200,400: transport carrier;
110,210,410: power unit;
120,220,420: sensing cell;
130,230,430: control driver element;
432: filter unit;
434: control module;
436: driver element;
D: spacing;
M1: the first motor;
M2: the second motor;
T1: the first transmission component;
T2: the second transmission component;
R1～Rn: signal working storage;
S1～S9: Magnetic Sensor;
UC: bit comparer;
Ctr: the center of transport carrier;
L_m: the center of guiding magnetic track;
S_G1～S_Gn: sensing signal group;
S_D: drive signal group;
S_d1: first drives signal;
S_d2: two driving signal;
S_fM: actual sensed signal group;
S300～S306, S500～S514: step.
Embodiment
The embodiment of the present invention provides a kind of transport carrier and control method thereof, it can obtain transport carrier and the relative position information of guiding inter-track by averaging the mode of processing, and use the travel direction of controlling transport carrier, therefore make transport carrier can continue in motion to maintain preferably on driving path and can not produce and depart from, and then improved the stability that transport carrier travels.For content of the present invention is more easily understood, below the example that really can implement according to this as the present invention especially exemplified by embodiment.In addition, all possibility parts are used the element/member/step of same numeral to represent identical or similar portions in drawings and the embodiments.
Fig. 1 is the functional block diagram of the transport carrier of one embodiment of the invention.Please refer to Fig. 1, transport carrier 100 comprises power unit 110, sensing cell 120 and driving control unit 130.Power unit 110 is configured to react on driving signal group S_D and transport carrier 100 is travelled on guiding magnetic track 14.Sensing cell 120 is configured to the magnetic force of sensing guiding magnetic track, and in sense period, produces a plurality of sensing signal group S_G1～S_Gn, and wherein n is positive integer.Driving control unit 130 is coupled between power unit 110 and sensing cell 120.Driving control unit 130 is configured to receive sensing signal group S_G1～S_Gn, and sensing signal group S_G1～S_Gn is averaged and processes and obtain and be associated with transport carrier 100 with respect to the relative position information of guiding magnetic track 14.Therefore, driving control unit 130 is able to provide and drive signal group S_D to power unit 110 according to relative position information, uses and makes align the in fact center L_m of guiding magnetic track 14 of the center of transport carrier 100.At this, described guiding magnetic track 14 can be for example for attaching or be embedded in the tape (magnetic tape) on driving path.
For the present embodiment being further described, the schematic diagram of the transport carrier that Fig. 2 is one embodiment of the invention.Please refer to Fig. 2, transport carrier 200 comprises power unit 210, sensing cell 220 and driving control unit 230.At this, described sensing cell 220 and driving control unit 230 are roughly identical with sensing cell 120 and the driving control unit 130 of Fig. 1 embodiment, therefore do not repeat them here.
In the present embodiment, drive signal group to comprise the first driving signal S_d1 and two driving signal S_d2, and power unit 210 is to utilize the first motor M1, the second motor M2, the first transmission component T1 and the second transmission component T2 to realize.Wherein, the first transmission component T1 and the second transmission component T 2 are configured in respectively left side and the right side of transport carrier 200.The first motor M1 activates the first transmission component T1, and wherein the first motor M1 drives signal S_d1 according to first and adjusts its rotating speed, and controls according to this transmission speed of the first transmission component T1.The second motor M2 activates the second transmission component T2, and wherein the second motor M2 adjusts its rotating speed according to two driving signal S_d2, and controls according to this transmission speed of the second transmission component T2.
Particularly, because the transmission on the left side in power unit 210 and right side can be controlled respectively, so driving control unit 230 can be by adjusting respectively the transmission speed of the first transmission component T1 and the transmission speed of the second transmission component T2 to control the travel direction of transport carrier 200.In other words, the relative velocity between the first transmission component T1 and the second transmission component T2 will determine the travel direction of transport carrier 200.
For instance, when the transmission speed of the first transmission component T1 and the second transmission component T2 is identical, transport carrier 200 will be with straight-line travelling.When the transmission speed of the first transmission component T1 is less than the transmission speed of the second transmission component T2, transport carrier 200 will be offset towards left side.On the contrary, when the transmission speed of the first transmission component T1 is greater than the transmission speed of the second transmission component T2, transport carrier 200 will be offset towards right side.
Fig. 3 is the flow chart of steps of control method of the transport carrier of one embodiment of the invention.Referring to Fig. 2 and Fig. 3, first, power unit 210 reacts on the control of driving signal group S_D and transport carrier 200 is travelled on guiding magnetic track 14 (step S300).During travelling at transport carrier 200, sensing cell 220 sensings are guided the magnetic force of magnetic tracks 14 and in sense period, are produced a plurality of sensing signal group S_G1～S_Gn (step S302), and n is positive integer.
Then, 230 couples of sensing signal group S_G1～S_Gn of driving control unit average and process and obtain and be associated with transport carrier 200 with respect to the relative position information (step S304) of guiding magnetic track 14.Therefore, driving control unit 230 must provide and drive signal group S_D to power unit 210 according to relative position information, uses and makes align the in fact center L_m (step S306) of guiding magnetic track of the center Ctr of transport carrier 200.
Thus, the gradient on the path of guiding magnetic track 14 with turn to fractional error and position judgment mistake in caused sensing signal group S_G1～S_Gn all can eliminate and use the relative position information that acquisition is comparatively correct by the step of average treatment, make transport carrier 200 be able to stably to travel along the center L_m of guiding magnetic track.
Fig. 4 is the schematic diagram of the transport carrier of another embodiment of the present invention.Please refer to Fig. 4, transport carrier 400 comprises power unit 410, sensing cell 420 and driving control unit 430, and wherein power unit 410 is similar with the power unit 210 of earlier figures 2 embodiment, therefore do not repeat them here.
In the present embodiment, for realizing averaging, process the function that obtains relative position information, sensing cell 420 comprises a plurality of Magnetic Sensors, and driving control unit 430 comprises filter unit 432, control module 434 and driver element 436.
First with regard to sensing cell 420, it is example that the included a plurality of Magnetic Sensors of sensing cell 420 be take 9 Magnetic Sensor S1～S9 at this, but the present invention is not as limit.Wherein, each Magnetic Sensor S1～S9 sequentially arranges with spacing d respectively, and produces corresponding sensing signal in order to the magnetic force on sensing guiding magnetic track 14.In other words, in the present embodiment, each sensing signal group S_G1～S_Gn is all comprised of 9 sensing signals.
Specifically the Magnetic Sensor that, is positioned at the magnetic force scope of guiding magnetic track 14 is guided induction the magnetic force of magnetic track 14 and is produced the sensing signal of activation.On the contrary, the extraneous Magnetic Sensor of magnetic force that is positioned at guiding magnetic track 14 is not because sensing that the magnetic force of guiding magnetic track 14 produces the sensing signal of forbidden energy.Therefore the sensing signal group S_G1～S_Gn, being comprised of described a plurality of sensing signals is the signal of the magnetic force induction state that comprises each Magnetic Sensor S1～S9.Wherein, it is example that the magnetic force scope of described guiding magnetic track 14 all be take the region that comprised of guiding magnetic track 14 in embodiments of the present invention, for example, in Fig. 4, Magnetic Sensor S4～S6 is positioned at the magnetic force scope of guiding magnetic track 14, and Magnetic Sensor S1～S3 and S7～S9 are positioned at outside the magnetic force scope of guiding magnetic track 14.
In addition, exemplified Magnetic Sensor is odd number in the present embodiment, therefore the position of the Magnetic Sensor of middle (being for example Magnetic Sensor S5 at this) represents the center Ctr of transport carrier 400, therefore when Magnetic Sensor S5 aligns in fact the center L_m of guiding magnetic track 14, align the in fact center L_m of guiding magnetic track 14 of the center Ctr that represents transport carrier 400.Yet in other embodiments, because the spacing between Magnetic Sensor is very little, so the Magnetic Sensor of sensing cell 420 also can be set to even number, the present invention is not also as limit.
With regard to driving control unit 430, driving control unit 430 comprises filter unit 432, control module 434 and driver element 436.Filter unit 432 couples sensing cell 420.Filter unit 432 is in order to average the sensing signal group S_G1～S_Gn processing so that relatively sensing cell 420 is produced, and by result relatively, choose sensing signal group S_G1～S_Gn one of them as actual sensed signal group S_fM.In other words, filter unit 432 will may be the part of Magnetic Sensor false judgment in filtering sensing signal group S_G1～S_Gn, and chooses the sensing signal group that meets the most with actual shipment carrier 400 travel situations as actual sensed signal group S_fM.
In the present embodiment, filter unit 432 can be realized by a plurality of signal working storage R1～Rn and bit comparer UC further.Signal working storage R1～Rn obtains respectively in order to a plurality of sampling time points in sense period and temporary sensing signal group S_G1～S_Gn, wherein the difference of two adjacent samples time points is about the reaction time of each Magnetic Sensor S1～S9, in the reaction time of this Magnetic Sensor S1～Sn, is for example 0.5 second.For instance, first sampling time point of signal working storage R1 in sense period obtains and keeps in after sensing signal group S_G1, signal working storage R2 obtains and keeps in sensing signal group S_G2 by the interval reaction time of 0.5 second at the second sampling time point, by that analogy, until the n sampling time point of signal working storage Rn in sense period obtains and keeps in sensing signal group S_Gn.
Bit comparer UC couples signal working storage R1～Rn.Bit comparer UC receives and compares the difference between each sensing signal group S_G1～S_Gn, and one of them is actual sensed signal group S_fM to choose according to this sensing signal group S_G1～S_Gn, thereby obtains relative position information.Wherein, described relative position information is the corresponding Magnetic Sensor S1～S9 of actual sensed signal group S_fM and the relative position of guiding inter-track.
The control method of transport carrier of the present invention is described with Fig. 4 and Fig. 5 at the same time, wherein, the flow chart of steps of the control method of the transport carrier that Fig. 5 is another embodiment of the present invention.Referring to Fig. 4 and Fig. 5, in during travelling at transport carrier, the first motor M1 in power unit 410 drives signal S_d1 according to first and adjusts its rotating speed, and controls according to this transmission speed (step S500) of the first transmission component T1 in the left side that is disposed at transport carrier 400.Similarly, the second motor M2 in power unit 410 adjusts its rotating speed according to two driving signal S_d2, and controls according to this transmission speed (step S502) of the second transmission component T2 on the right side that is disposed at transport carrier 400.
Then, on transport carrier 400, with spacing d, configure a plurality of Magnetic Sensors and produce a plurality of sensing signals (step S504) with the magnetic force of sensing guiding magnetic track 14, at this, take Magnetic Sensor S1～S9 as example.Wherein, each sensing signal group S_G1～S_Gn all comprises the sensing signal that each Magnetic Sensor S1～S9 produces.
After step S504, filter unit 432 will average processes to compare sensing signal group S_G1～S_Gn, and one of them is actual sensed signal group S_fM by result relatively, to choose sensing signal group S_G1～S_Gn, thereby obtain relative position information (step S506 and S508).Then, 434 of control modules successively calculate according to the sensing signal of actual sensed signal group S_fM the center person (step S510～S512) who approaches guiding magnetic track 14 in Magnetic Sensor S1～S9 most.
Particularly, in average treatment, first a plurality of sampling time points of signal working storage R1～Rn in sense period obtain respectively and temporary sensing signal group S_G1～S_Gn (step S506).Then, bit comparer UC is actual sensed signal group S_fM (step S508) by receiving and compare the difference between each sensing signal group S_G1～S_Gn, take the sensing signal group of choosing the difference minimum in sensing signal group S_G1～S_Gn.
On the other hand, in the action of the calculating after average treatment, first control module 434 can sequentially set the arrangement numbering (step S510) of Magnetic Sensor, and for example the arrangement of Magnetic Sensor S1 is numbered " 1 ", the arrangement of Magnetic Sensor S2 is numbered " 2 " ... by that analogy.Then, control module 434 calculates by the quantity according to the corresponding Magnetic Sensor of sensing signal of activation in actual sensed signal group S_fM and arrangement numbering the center L_m (step S512) that approaches guiding magnetic track 14 in Magnetic Sensor S1～S9 most.
Approach most the step of center L_m of guiding magnetic track 14 in calculating Magnetic Sensor S1～S9 after, driver element 436 produces the result according to calculating the rotating speed that the first driving signal S_d1 and two driving signal S_d2 control respectively the first motor M1 and the second motor M2, to make the center Ctr of transport carrier 400 align in fact, guides the center L_m (step S514) of magnetic track 14.
At this, the order between step S500 and S502 is only an example, and in fact step S500 and S502 also can be simultaneously and carry out, and the present invention is not as limit.In addition, though described average treatment is to realize by step S506 and S508 at the present embodiment, the action that described calculating approaches the center L_m of guiding magnetic track 14 is most to realize by step S510～S512 at the present embodiment, but described average treatment and the action of calculating are not limited only to realize in this way, the means of any rub-out signal part in can filtering sensing signal group all can be the action of the average treatment of being undertaken by filter unit in the embodiment of the present invention.Similarly, any means that can calculate the center L_m that approaches guiding magnetic track 14 most according to the sensing signal group after filtering noise all can be the action of the calculating of being undertaken by control module in the embodiment of the present invention, and the present invention is not as limit.
Specifically, in the present embodiment, each sensing signal group S_G1～S_Gn can represent by the form of digital signal the disabled state of the sensing signal that each Magnetic Sensor S1～S9 produces.Wherein, the sensing signal that each bit of each sensing signal group S_G1～S_Gn produces corresponding to Magnetic Sensor S1～S9.For example, the sensing signal that the Magnetic Sensor within the scope of magnetic force is exported is 1 by the bit value that makes bit corresponding to sensing signal group.On the contrary, it is 0 that the sensing signal of exporting at the extraneous Magnetic Sensor of magnetic force makes the bit value of bit corresponding to sensing signal group.Therefore, with Magnetic Sensor S4～S6 in the situation that the first sampling time point is within the scope of magnetic force, sensing signal group S_G1 can utilize the signal of digital form " 000111000 " represent, the sensing signal that wherein Magnetic Sensor S1～S9 produces is the first bit to the nine bits of corresponding sensing signal group S_G1 respectively.
During the travelling of transport carrier, each Magnetic Sensor S1～S9 may because environmental factor, guiding track size, with the relative position of guiding inter-track and the height of distance guiding magnetic track and make exported sensing signal group S_G1～S_Gn there is error, and therefore affected the accuracy of controlling transport carrier 400 travel directions.Therefore, filter unit 432 utilizes and in sense period, samples the sensing signal group S_G1～S_Gn under a plurality of different sampling time points, with the noise section that comes filtering wherein may exist by the difference comparing between the sensing signal group S_G1～S_Gn under each sampling time point.
For instance, take sensing signal group S_G1, S_G2 and the S_G3 that signal working storage R1, R2 and R3 obtained respectively and kept in first, second and the 3rd sampling time point in sense period is example.
Suppose that the sensing signal group S_G1 that signal working storage R1 gets at the first sampling time point is 000111000, the sensing signal group S_G2 that signal working storage R2 gets at the second sampling time point be 001111000 and the sensing signal S_G3 that gets at the 3rd sampling time point of signal working storage R3 be 000111000.
At bit comparer UC, receive after sensing signal group S_G1～S_G3, it is by the difference comparing between sensing signal group S_G1～S_G3.Now, because the bit value of the 3rd bit in sensing signal group S_G1 and S_G3 is all 0, and the bit value of the 3rd bit in sensing signal group S_G2 is 1, therefore bit comparer UC will assert that the magnetic force that Magnetic Sensor S3 responds in sense period belongs to erroneous judgement according to this, therefore bit comparer UC is actual sensed signal S_fM by the sensing signal group S_G1 or the S_G3 that choose the difference minimum in S_G1～S_G3 in sensing signal group, and also actual sensed signal S_fM is now 000111000.In other words, after the average treatment of unit 432, control driver element 430 and can confirm further that Magnetic Sensor S4～S6 is within the scope of the magnetic force of guiding magnetic track 14 after filtering.
Then, control module 434 calculates relative position information by the position according to the corresponding Magnetic Sensor of actual sensed signal group S_fM.For instance, because each Magnetic Sensor S1～Sn is with fixed position and fixed intervals configuration, therefore by calculating the position of the Magnetic Sensor of the center L_m that approaches guiding magnetic track 14 most, can calculate and obtain relative position information.
At this, control module 324 can see through following formula:
The position that calculates which Magnetic Sensor in sensing cell 420 approaches the center L_m of guiding magnetic track 14, wherein X most
jaarrangement numbering for the corresponding Magnetic Sensor of sensing signal of activation.N is the quantity of the corresponding Magnetic Sensor of sensing signal of activation, and X
mabe the arrangement numbering of Magnetic Sensor that approaches most the center L_m of guiding magnetic track 14, for example X
mabe to represent that Magnetic Sensor S3 approaches the center of guiding magnetic track L_m most at 3 o'clock.Therefore, the Magnetic Sensor of center L_m and the value of spacing d based on approaching most guiding magnetic track 14, can extrapolate the relative position information of transport carrier 400.
In addition, when result non-integer that control module 434 calculates according to above-mentioned formula, between the two adjacent Magnetic Sensors of the center L_m of representative guiding magnetic track 14 now on sensing cell 420, control module 434 nearly utilize to a step approximate mode choose described two adjacent Magnetic Sensors one of them for to approach most the Magnetic Sensor of tape guidance track center position, and calculate that according to this relative position information of transport carrier 400 adjusts the power unit 410 of transport carrier.
In order to be described more specifically above-mentioned automated navigation system and automatic navigation method, at this, utilize Fig. 6 A to illustrate further described automatic navigation method to Fig. 6 C, wherein, Fig. 6 A～6C is the schematic diagram of travel direction of the control transport carrier of Fig. 4 embodiment.
At Fig. 6 A in Fig. 6 C, sensing cell 420 in Fig. 4 is shown partly and illustrates at transport carrier 400 under different skew situations from the relative position relation between guiding magnetic track 14, how driving control unit 430 is controlled the transport carrier 400 of skew and is made it be maintained in fact the center of travelling at guiding magnetic track 14.
Owing to being that to take 9 Magnetic Sensor S1～S9 be example in sensing cell 420, therefore the position of Magnetic Sensor S5 can represent the center Ctr of transport carrier 400.First, referring to Fig. 4 and Fig. 6 A, in the situation that transport carrier 10 is along the direction running of guiding magnetic track 14, now controlling driver element 430 utilizes aforesaid control method to average after processing sensing signal group S_G1～S_Gn, controlling the Magnetic Sensor that driver element 430 judgements approach the center L_m of guiding magnetic track 14 is most Magnetic Sensor S5, and also the center Ctr of transport carrier 400 now aligns in fact with the center of guiding magnetic track 14 already.Therefore, driver element 436 is controlled the first motor M1 and the second motor M2 by producing identical first and second driving signal S_d1 and S_d2, to make transport carrier 400 maintain current direction running.In other words, now the relative velocity between the first transmission component T1 and the second transmission component T2 is 0, and make transport carrier 400 maintain, travels on former direction.
On the other hand, referring to Fig. 4 and Fig. 6 B, under this situation, controlling driver element 430 utilizes aforesaid control method to average after processing sensing signal group S_G1～S_Gn, control driver element 430 and judge that the Magnetic Sensor of the center L_m that approaches guiding magnetic track 14 is most Magnetic Sensor S7, therefore it is the left side that the center Ctr of transport carrier 400 is positioned at the center L_m of guiding magnetic track L_m that driving control unit 430 obtains relative position information according to the position between Magnetic Sensor S5 and S7, and at a distance of the spacing d of twice.
Therefore, driver element 436 will according to relative position information, produce respectively the first driving signal S_d1 and two driving signal is controlled the first motor M1 and the second motor M2, to make the transmission speed of the second transmission component T2 lower than the transmission speed of the first transmission component T1, transport carrier 400 is offset to the right, until control driver element 430, again judge that the center Ctr of transport carrier 400 aligns in fact while guiding the center L_m of magnetic track 14, also get back to the position of Fig. 6 a, driver element 436 just can make the first motor M1 identical with the rotating speed of the second motor M2, so that transport carrier 400 stably maintains on the center L_m that travels on guiding magnetic track 14.
On the contrary, when transport carrier 400 deviates to the right side of guiding magnetic track 14, referring to Fig. 4 and Fig. 6 C, be similar to the operation of earlier figures 6B, controlling 430 couples of sensing signal group S_G1～S_Gn of driver element averages after processing, control driver element 430 and judge that the Magnetic Sensor of the center L_m that approaches guiding magnetic track 14 is most Magnetic Sensor S3, therefore it is the right side that the center Ctr of transport carrier is positioned at the center L_m of guiding magnetic track L_m that driving control unit 430 obtains relative position information according to the position between Magnetic Sensor S3 and S5, and the spacing d at a distance of twice.
Therefore, driver element 436 will according to relative position information, produce respectively the first driving signal S_d1 and two driving signal is controlled the first motor M1 and the second motor M2, to make the transmission speed of the first transmission component T1 lower than the transmission speed of the second transmission component T2, transport carrier 400 is offset left, until control driver element 420, again judge that the center Ctr of transport carrier 400 aligns in fact while guiding the center L_m of magnetic track 14, also get back to the position of Fig. 6 A, driver element 436 just can make the first motor M1 identical with the rotating speed of the second motor M2, so that transport carrier 400 stably maintains on the center L_m that travels on guiding magnetic track 14.
In sum, the transport carrier of the embodiment of the present invention and control method thereof, can obtain according to this and be associated with transport carrier with respect to the relative position information of guiding magnetic track by averaging the mode of processing, and use the travel direction of controlling transport carrier, therefore make transport carrier can continue in motion to maintain preferably on driving path and can not produce and depart from, and then improved the stability that transport carrier travels.Wherein, average treatment compares each sensing signal group with filtering and may produce the part signal of erroneous judgement and obtain according to this comparatively actual sensed signal group of closing to reality travel conditions, thereby and acquisition relative position information, calculating action after average treatment calculates the Magnetic Sensor of the center that approaches guiding magnetic track most according to actual sensed signal group, and adjust according to this rotating speed of first and second motor, to make align the in fact center of this guiding magnetic track, the center of this transport carrier.
Finally it should be noted that: each embodiment, only in order to technical scheme of the present invention to be described, is not intended to limit above; Although the present invention is had been described in detail with reference to aforementioned each embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or some or all of technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (14)
1. a transport carrier, is characterized in that, comprising:
One power unit, it is configured to react on a driving signal group and this transport carrier is travelled on a guiding magnetic track;
One sensing cell, it is configured to the magnetic force on this guiding magnetic track of sensing, and in a sense period, produces a plurality of sensing signal groups; And
One driving control unit, is coupled between this power unit and this sensing cell, and it is configured to receive those sensing signal groups; Those sensing signal groups are carried out an average treatment and obtain being associated with this transport carrier with respect to a relative position information of this guiding magnetic track; And provide this driving signal group to this power unit according to this relative position information, use and make align the in fact center of this guiding magnetic track, the center of this transport carrier.
2. transport carrier according to claim 1, is characterized in that, this driving signal group comprises that one first drives signal and a two driving signal, and this power unit comprises:
One first transmission component, is disposed at the left side of this transport carrier;
One second transmission component, is disposed at the right side of this transport carrier;
One first motor, in order to activate this first transmission component, wherein this first motor is adjusted its rotating speed according to this first driving signal, and controls according to this transmission speed of this first transmission component; And
One second motor, in order to activate this second transmission component, wherein this second motor is adjusted its rotating speed according to this two driving signal, and controls according to this transmission speed of this second transmission component;
Wherein the relative velocity between this first transmission component and this second transmission component determines the travel direction of this transport carrier.
3. transport carrier according to claim 2, is characterized in that, those sensing signal groups comprise a plurality of sensing signals, and this sensing cell comprises:
A plurality of Magnetic Sensors, those Magnetic Sensors are configured on this transport carrier with a spacing, produce those corresponding sensing signals in order to the magnetic force on this guiding magnetic track of sensing,
Those Magnetic Sensors of part that are wherein positioned at the magnetic force scope of this guiding magnetic track are responded to the magnetic force of this guiding magnetic track and produce the sensing signal of activation,
Those Magnetic Sensors of the extraneous another part of magnetic force that are wherein positioned at this guiding magnetic track are not responded to the magnetic force of this guiding magnetic track and are produced the sensing signal of forbidden energy.
4. transport carrier according to claim 3, is characterized in that, this driving control unit comprises:
One filter unit, couples this sensing cell, and in order to carry out this average treatment, to compare those sensing signal groups, and one of them is an actual sensed signal group by result relatively, to choose those sensing signal groups, thereby obtains this relative position information;
One control module, couples this filter unit, in order to those sensing signals according to this actual sensed signal group, calculates the center person who approaches this guiding magnetic track in those Magnetic Sensors most; And
One driver element, couple this control module, in order to according to the result of calculation of this control module, produce this first with this two driving signal control respectively this first with the rotating speed of this second motor, to make align the in fact center of this guiding magnetic track, the center of this transport carrier.
5. transport carrier according to claim 4, is characterized in that, this filter unit comprises:
A plurality of signal working storages, obtain respectively and keep in those sensing signal groups in order to a plurality of sampling time points in this sense period, and wherein the difference of two adjacent samples time points is essentially the reaction time of each those Magnetic Sensors; And
One bit comparer, couples those signal working storages, receives and the difference between each those sensing signal groups relatively, and the sensing signal group of choosing the difference minimum in those sensing signal groups of take is this actual sensed signal group, thereby obtains this relative position information.
6. transport carrier according to claim 4, it is characterized in that, this control module is sequentially set the arrangement numbering of those Magnetic Sensors, with the quantity according to corresponding those Magnetic Sensors of sensing signal of activation in this actual sensed signal group and arrangement numbering, calculates the center person who approaches this guiding magnetic track in those Magnetic Sensors most.
7. a control method for transport carrier, is characterized in that, comprising:
React on a driving signal group and this transport carrier is travelled on a guiding magnetic track;
Magnetic force on this guiding magnetic track of sensing and produce a plurality of sensing signal groups in a sense period;
Those sensing signal groups are carried out an average treatment and obtain being associated with this transport carrier with respect to a relative position information of this guiding magnetic track; And
According to this relative position information, provide this driving signal group, use and make align the in fact center of this guiding magnetic track, the center of this transport carrier.
8. the control method of transport carrier according to claim 7, it is characterized in that, this driving signal group comprises that one first drives signal and a two driving signal, reacts on this driving signal group and step that this transport carrier is travelled on this guiding magnetic track comprises:
According to this first driving signal, adjust the rotating speed of one first motor, and control according to this transmission speed of one first transmission component in the left side that is disposed at this transport carrier; And
According to this two driving signal, adjust the rotating speed of one second motor, and control according to this transmission speed of one second transmission component on the right side be disposed at this transport carrier, wherein the relative velocity between this first transmission component and this second transmission component determines the travel direction of this transport carrier.
9. the control method of transport carrier according to claim 8, is characterized in that, those sensing signal groups comprise a plurality of sensing signals, and the magnetic force on this guiding magnetic track of sensing and the step that produces a plurality of sensing signal groups in this sense period comprise:
On this transport carrier, with a spacing, configure a plurality of Magnetic Sensors, those Magnetic Sensors produce those corresponding sensing signals in order to the magnetic force on this guiding magnetic track of sensing, those Magnetic Sensors of part that are wherein positioned at the magnetic force scope of this guiding magnetic track are responded to the magnetic force of this guiding magnetic track and produce the sensing signal of activation, and those Magnetic Sensors of the extraneous another part of magnetic force that are positioned at this guiding magnetic track are not responded to the magnetic force of this guiding magnetic track and produce the sensing signal of forbidden energy.
10. the control method of transport carrier according to claim 9, is characterized in that, those sensing signal groups are carried out this average treatment and obtain being associated with this transport carrier and comprising with respect to the step of this relative position information of this guiding magnetic track:
Compare those sensing signal groups, and one of them is an actual sensed signal group by result relatively, to choose those sensing signal groups, thereby obtains this relative position information.
The control method of 11. transport carriers according to claim 10, is characterized in that, the step of carrying out this average treatment comprises:
A plurality of sampling time points in this sense period obtain respectively and keep in those sensing signal groups, and wherein the difference of two adjacent samples time points is essentially the reaction time of each those Magnetic Sensors; And
Receive and the difference between each those sensing signal groups relatively, the sensing signal group of choosing the difference minimum in those sensing signal groups of take is this actual sensed signal group.
The control method of 12. transport carriers according to claim 10, is characterized in that, after comparing the step of those sensing signal groups, the control method of this transport carrier also comprises:
Those sensing signals according to this actual sensed signal group calculate the center person who approaches this guiding magnetic track in those Magnetic Sensors most.
The control method of 13. transport carriers according to claim 12, is characterized in that, calculates the step that approaches the center person of this guiding magnetic track in those Magnetic Sensors most comprise according to those sensing signals of this actual sensed signal group:
Sequentially set the arrangement numbering of those Magnetic Sensors; And
Quantity and arrangement numbering according to corresponding those Magnetic Sensors of sensing signal of activation in this actual sensed signal group are calculated the center person who approaches this guiding magnetic track in those Magnetic Sensors most.
The control method of 14. transport carriers according to claim 12, is characterized in that, according to this relative position information, provides this driving signal group, uses align the in fact step of center of this guiding magnetic track of the center of this transport carrier is comprised:
According to calculating the center person's who approaches this guiding magnetic track in those Magnetic Sensors most result, produce this first with this two driving signal control respectively this first and the rotating speed of this second motor, to make align the in fact center of this guiding magnetic track, the center of this transport carrier.
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Application publication date: 20140312 |