JPH0194287A - Magnetic body detector - Google Patents
Magnetic body detectorInfo
- Publication number
- JPH0194287A JPH0194287A JP62252244A JP25224487A JPH0194287A JP H0194287 A JPH0194287 A JP H0194287A JP 62252244 A JP62252244 A JP 62252244A JP 25224487 A JP25224487 A JP 25224487A JP H0194287 A JPH0194287 A JP H0194287A
- Authority
- JP
- Japan
- Prior art keywords
- magnified
- guide
- sensors
- sensor
- center line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 239000000696 magnetic material Substances 0.000 claims description 7
- 239000000126 substance Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 3
- 239000003550 marker Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 229910000808 amorphous metal alloy Inorganic materials 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 1
- 239000005300 metallic glass Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
Landscapes
- Geophysics And Detection Of Objects (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は無人搬送車の操舵制御に用いる誘導用検知器に
関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a guidance detector used for steering control of an automatic guided vehicle.
従来から無人搬送車(以下AGVという)の誘導には1
種々の方式が開発され、AGV制御の多様化により誘導
路が複雑化し、それに伴いAGVの誘導用検知器のガイ
ドセンサの高精度化が迫られている。Conventionally, 1 is used to guide automated guided vehicles (hereinafter referred to as AGV).
Various methods have been developed, and the diversification of AGV control has made the guideway more complex, and as a result, there is a need for higher accuracy of the guide sensor of the AGV's guidance detector.
現在用いられているガイドセンサの主な機能は、誘導路
の磁気標識体から進行方向に対する左右のずれと、その
大きさを出力するものである。しかしながら磁気標識体
からの左右のずれ量に対する操舵制御範囲は標識体の幅
と、センサの大きさ、間隔に制約されてさほど広く確保
することができない。このため、AGV操舵制御の高精
度化を図ることはむずかしい。The main function of currently used guide sensors is to output the left and right deviations from the magnetic markings on the guideway with respect to the direction of travel, as well as the magnitude thereof. However, the steering control range for the amount of left and right deviation from the magnetic marker is limited by the width of the marker and the size and spacing of the sensors, and cannot be secured very widely. For this reason, it is difficult to achieve high precision in AGV steering control.
ところで、円形インダクタンス型コイルをセンサ11.
12の検知部に用いたときには誘導路である磁気標識体
から進行方向に対する左右のずれと、その信号出力の大
きさは第2図のように変化する。By the way, the circular inductance type coil is used as the sensor 11.
When used in the No. 12 detection section, the left and right deviation from the magnetic marker serving as the guideway in the direction of travel and the magnitude of the signal output change as shown in FIG.
第2図によると、 AGV操舵制御に利用できる範囲は
一2〜+2間であり、かなり狭い。よって誘導路の曲線
部分についてはその曲率半径を大きく確保しなければな
らず、AGVの小回りが不可能になる等、種々の欠点を
有していた。According to FIG. 2, the range that can be used for AGV steering control is between -2 and +2, which is quite narrow. Therefore, it is necessary to ensure a large radius of curvature for the curved portion of the taxiway, which has various drawbacks, such as making it impossible for the AGV to make small turns.
本発明の目的はAGV操舵制御に利用しうる範囲を拡大
した磁性体検知器を提供することにある。An object of the present invention is to provide a magnetic substance detector whose range of use for AGV steering control is expanded.
本発明は路上の磁性体ガイドを検知して車体の操舵制御
信号を出力するガイドセンサを無人搬送車に備えた磁性
体検知器において、前記無人搬送車の中心線から外側方
に向けて末拡がりに拡大した形状の検知部を有する一対
のガイドセンサを無人搬送車の中心線をはさんで左右対
称位置に配置したことを特徴とする磁性体検知器である
。The present invention relates to a magnetic material detector in which an automatic guided vehicle is equipped with a guide sensor that detects a magnetic material guide on the road and outputs a steering control signal for the vehicle body. This is a magnetic substance detector characterized in that a pair of guide sensors each having a detection part in an enlarged shape are arranged at symmetrical positions across the center line of an automatic guided vehicle.
本発明は基本的に、センサコイルの漏洩磁場に磁性材料
が接近したときにコイルのインダクタンスLが変化する
ことを利用したものである。The present invention basically utilizes the fact that the inductance L of the coil changes when a magnetic material approaches the leakage magnetic field of the sensor coil.
コイルインダクタンスLは次式で与えられる。Coil inductance L is given by the following equation.
μ:透磁率
N:コイル巻数
A:コイル断面積
Q:磁路長
磁性体がセンサコイルに接近することにより、コイルの
μが変化する。また、センサコイルのインダクタンスは
その断面積にも比例する。この点を利用し、コイルの断
面積を調整することにより、センサ出力を制御すること
が可能となる。μ: Magnetic permeability N: Number of coil turns A: Coil cross-sectional area Q: Magnetic path length As the magnetic body approaches the sensor coil, μ of the coil changes. Furthermore, the inductance of the sensor coil is also proportional to its cross-sectional area. By utilizing this point and adjusting the cross-sectional area of the coil, it is possible to control the sensor output.
そこで本発明は第2図に示すように無人搬送車の車体の
中心線0をはさんで無人搬送車の車体の中心線Ωから左
右の外側方に向けて末拡がりに拡大した検知部、具体的
には台形又は三角形の検知部を有する一対のガイドセン
サ1,2を用い、これを車体の中心線Qをはさんで対称
位置に設置したものである。これによって車輌の制御幅
が拡がり、安定走行が可能となる。Therefore, as shown in FIG. 2, the present invention provides a detection section that expands from the center line Ω of the vehicle body of the automatic guided vehicle toward the left and right outwards across the center line 0 of the vehicle body of the automatic guided vehicle. Specifically, a pair of guide sensors 1 and 2 having trapezoidal or triangular detection portions are used, and these are installed at symmetrical positions across the center line Q of the vehicle body. This expands the control range of the vehicle and enables stable driving.
以下に本発明の実施例を示す。 Examples of the present invention are shown below.
磁性材料として、アモルファス合金テープを使用し、検
知器に備えた2つのガイドセンサの検知部の出力信号の
差における出力特性の比較試験を行った。An amorphous alloy tape was used as the magnetic material, and a comparison test was conducted on the output characteristics based on the difference in output signals of the detection sections of two guide sensors included in the detector.
1)被検出物(磁性材料):アモルファス合金テープ(
日本非晶質金属■製)
型名: METAGLAS 2705M寸法:幅25圃
、厚さ0.025m+
2)測定条件
使用センサ・インダクタンス変化型センサ■ 円形状イ
ンダクタンス型センサ
センサコイル寸法:φ20wn
■ 台形状インダクタンス型センサ
センサコイル寸法:φ5〜φ20+nm3)測定方法
センサと被検出物との距離を20mnに設定して、セン
サに対し、横方向に被検出物を移動させたときのセンサ
出力を測定した。1) Object to be detected (magnetic material): Amorphous alloy tape (
(Made by Japan Amorphous Metal ■) Model name: METAGLAS 2705M Dimensions: Width 25 fields, thickness 0.025 m + 2) Measurement conditions Sensor used: Inductance variable sensor ■ Circular inductance type sensor Sensor coil dimensions: φ20wn ■ Trapezoidal inductance Type sensorSensor coil dimensions: φ5 to φ20+nm3) Measurement method The distance between the sensor and the object to be detected was set to 20 mm, and the sensor output was measured when the object to be detected was moved laterally with respect to the sensor.
4)測定結果
測定結果を第1図、第2図に示す。台形状インダクタン
ス型センサを用いた本発明によれば、横長で、しかもそ
の検出部の形状が中心Qから側方に向けて拡大している
ため、差動出力信号のピーク間隔c±の最大出力の間隔
)は−4〜+4であり、円形状インダクタンス型センサ
を用いた第1図の検出器のピーり間隔が−2〜+2であ
るのに比べて2倍に拡大されていることが分かる。しか
も、両ピーク間はほぼ直線に近いなだらかな勾配の曲線
でつながれるため、その出力信号波形に基づいて精密な
姿勢制御信号が得られる。4) Measurement results The measurement results are shown in Figures 1 and 2. According to the present invention using a trapezoidal inductance type sensor, it is horizontally elongated and the shape of the detection part expands from the center Q toward the side, so that the maximum output of the peak interval c± of the differential output signal is It can be seen that the peak interval) is -4 to +4, which is twice as large as the peak interval of -2 to +2 in the detector shown in Figure 1, which uses a circular inductance type sensor. . Furthermore, since the two peaks are connected by a curve with a gentle slope that is almost a straight line, a precise attitude control signal can be obtained based on the output signal waveform.
以上のように本発明の検知器によ九ばAGV操舵制御に
利用できる検出出力範囲を従来の検知器の2倍以上に拡
大し、AGVの高精度の姿勢制御が可能となり、さらに
曲線誘導路の曲率半径を小さく抑えることができる効果
を有する。As described above, the detector of the present invention expands the detection output range that can be used for AGV steering control to more than twice that of conventional detectors, enables highly accurate attitude control of the AGV, and furthermore This has the effect of keeping the radius of curvature small.
【図面の簡単な説明】
第1図は本発明による台形状インダクタンス型センサの
出力信号と出力信号を生ずるセンサ検知部の関係位置を
示す図、第2図は従来の円形状インダクタンス型センサ
の出力信号と出力信号を生ずるセンサ検知部の関係位置
を示す図である。
1.2・・・ガイドセンサ Q・・・無人搬送車の
中心線A・・・台形状インダクタンス型センサによる出
力信号波形[Brief Description of the Drawings] Fig. 1 is a diagram showing the output signal of the trapezoidal inductance type sensor according to the present invention and the relative position of the sensor detection section that generates the output signal, and Fig. 2 is the output of the conventional circular inductance type sensor. FIG. 3 is a diagram illustrating the relative position of a sensor sensing portion that produces a signal and an output signal; 1.2... Guide sensor Q... Center line of automatic guided vehicle A... Output signal waveform by trapezoidal inductance type sensor
Claims (1)
号を出力するガイドセンサを無人搬送車に備えた磁性体
検知器において、前記無人搬送車の中心線から外側方に
向けて末拡がりに拡大した形状の検知部を有する一対の
ガイドセンサを無人搬送車の中心線をはさんで左右対称
位置に配置したことを特徴とする磁性体検知器。(1) In a magnetic material detector equipped with an automatic guided vehicle equipped with a guide sensor that detects a magnetic material guide on the road and outputs a steering control signal for the vehicle body, the sensor extends outward from the center line of the automatic guided vehicle. 1. A magnetic substance detector characterized in that a pair of guide sensors each having a detection part in an enlarged shape are arranged at symmetrical positions across the center line of an automatic guided vehicle.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62252244A JP2582591B2 (en) | 1987-10-06 | 1987-10-06 | Magnetic detector |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62252244A JP2582591B2 (en) | 1987-10-06 | 1987-10-06 | Magnetic detector |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0194287A true JPH0194287A (en) | 1989-04-12 |
JP2582591B2 JP2582591B2 (en) | 1997-02-19 |
Family
ID=17234521
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62252244A Expired - Lifetime JP2582591B2 (en) | 1987-10-06 | 1987-10-06 | Magnetic detector |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2582591B2 (en) |
-
1987
- 1987-10-06 JP JP62252244A patent/JP2582591B2/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JP2582591B2 (en) | 1997-02-19 |
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