JPS62234780A - Position sensor for moving body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a position detection device for a moving body moving along a trajectory.

(Conventional technology) Currently, tracks such as mole rails are installed in plants with the aim of reducing the burden on one worker and ensuring reliable inspection and monitoring of various plants including nuclear power plants. ? ! [Inspection and maintenance methods have been proposed in which inspection robots, work robots, etc. are run to perform on-site inspection and maintenance work on behalf of workers.

Therefore, the present applicants previously proposed a track-type inspection robot as shown in FIG. This inspection robot moves a magnet 2 in a pipe 1 using air pressure supplied from a compressor 7, and moves a traveling vehicle 3 to follow this magnet 2, as shown in FIG. 1(a). Then, the air pressure within the pipe 1 is adjusted by an electric valve 6. The above running vehicle 3
In addition to the ITV camera 4, the device is equipped with equipment necessary for inspection and data transmission (not shown). Also, piping 1
A magnet 5-4.5-2 is mounted to follow the magnet 2 inside. Detection of the position of this traveling vehicle 3 is performed by the fourth
This is done by an encoder provided on the wheel 8, as shown in FIG. 8(b).

In this way, the conventional position detection device for a moving body such as a robot connects an encoder or the like to the rotating shaft of the wheel of the aforementioned inspection robot, counts the output signals generated as the moving body moves, and determines the position in advance. The position of the moving object after passing the specified reference point I! ! (distance) detection. However, this position detection device has the disadvantage that it causes errors when the wheels of the moving object slip.

In addition, as other position detection devices, a proximity switch is installed on the moving object, and iron pieces are installed at various points along the moving path, and as the moving object moves, the proximity switch detects the presence of the iron piece and measures the number of times it is detected. A device for detecting the position of a moving object is also known.

However, the position detection device using this proximity switch has the disadvantage that, like the position detection device shown in Figure 4, if an unexpected situation such as a power outage occurs, the normal position cannot be obtained until the position has passed the reference point. There is.

Furthermore, it is also possible to detect the passage of a moving object by installing limit switches or proximity switches at multiple predetermined positions along the moving path, or by installing magnetic sensors in robots equipped with magnets, such as the inspection robot mentioned above. It is. However, this type of device requires limit switches, proximity switches,
Electric circuits are required for the number of magnetic sensors. For this reason, on a moving route where the moving distance is several tens of meters, the number of switches ranges from tens to hundreds, making cable installation work complicated.Also, as with the position detection device using the proximity switch described above, the position of the moving object is determined by a piece of iron. , a proximity switch, a limit switch, a magnetic sensor, etc., can only be detected in locations where they are installed, and there is a drawback that continuous position detection is not possible.

(Problems to be Solved by the Invention) The present invention was made in view of the above circumstances, and its purpose is to be able to continuously detect the position of a moving object on an orbit, and to do so with high accuracy without deviation. An object of the present invention is to provide a position detection device for a moving body.

[Structure of the invention]

(Means for Solving the Problem of Good Luck) In order to achieve the above object, the present invention provides a magnetic material in a moving path and a pressurized conductive rubber sandwiched between two conductive wires, and a magnet mounted on a moving body. By applying pressure to the pressurized conductive rubber to short-circuit it and detecting and measuring the polarity and time of the reflected pulse relative to the pulse applied by the pulse oscillator, the position of the moving object can be continuously detected. The present invention relates to a position detection device for a moving body.

(Function) Therefore, according to the moving body position detection device of the present invention,
A pair of conducting wires sandwiching pressurized conductive rubber is installed along the moving path, and when the moving object passes, pressure is applied to the pressurized conductive rubber and the conductive wires are short-circuited, so that the position of the short-circuit point can be electrically detected. Because of this, the position of the moving object can be detected accurately and continuously.

(Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1(a) is a cross-sectional view of one embodiment of the present invention.

In addition, the same reference numerals as those of the inspection robot shown in FIG. 4 described earlier will be used for explanation.

In the figure, 14 is a flat bar-shaped support plate, and this support plate 14
On top of the conductor 13. Ribbon-shaped pressure 4 electric rubber 12° conductor 1
They are laid out in the order of 1. Then, as shown in FIG. 1(b), a magnetic material 9 having a protrusion 10 made of a bar-shaped magnetic material with a trapezoidal cross section and a U-shaped cross section is laid to cover these. ing.

Furthermore, this magnetic body 9 and the support plate 14 are made of an elastic material 15.
connected via. Further, one end of the conductive wire 11.13 is connected to the connector 16. A pulse oscillator 17 and a detection circuit 18 are connected to the connector 16, and the detection circuit 18 is connected to a display MI 119.

The position detection device for a moving body according to the present invention provides a moving path (
In this case, it is laid along the pipe 1), and the moving body is equipped with a magnet 2 for position detection.

By the way, FIG. 2 shows the situation when a moving object passes through. In the figure, when the moving body passes, the magnet 2 pulls the protrusion 10 of the magnetic body and the magnetic body 9 toward the magnet 2, and the protrusion 10 pushes the conductive wire 11.13 and the pressurized conductive rubber 12, so the pressurized conductive rubber 12 is under pressure.

Next, a position detection method according to this embodiment will be explained with reference to FIG.

When detecting the position of a moving object, the pulse oscillator 17 generates a pulse, and the oscillated pulse is applied to the conductive wire 11.13 via the connector 16. At the same time, the detection circuit 18
is also entered. The pulse applied to the conductor 11.13 propagates through the conductor 11.13, but if the conductors 11 and 13 are not short-circuited at any point, the pulse applied to the conductor 11.13 propagates through the conductor 11.13.
．． At the final end of 13, a reflected pulse having the same polarity as the applied pulse is obtained. If the conductors 11, 13 are short-circuited somewhere, a reflected pulse with the opposite polarity to the applied pulse will be obtained. Therefore, when the moving body is not present anywhere on the moving path, the conductive wires 11 and 13 are not short-circuited anywhere, and a reflected pulse having the same polarity as the applied pulse returns to the connector 16. When the moving object is on the moving path, the magnetic protrusion 10 exerts pressure on the pressurized conductive rubber 12 by the magnet 2 mounted on the moving object, making the area electrically conductive and short-circuiting the conducting wires 11 and 13. Therefore, the applied pulse is reflected there, and a reflected pulse of opposite polarity to the applied pulse returns.

The reflected pulse returned to the connector 16 is input to the detection circuit 18. The detection circuit 18 measures the time interval between the applied pulse and the reflected pulse and displays the result on the display 19. In this case, the distance Ω to the short circuit point is given by the relative permittivity of the conductor material, i, from the time interval t between the applied pulse and the reflected pulse.
p, C = 3 x 10'' m/see, it can be calculated as Q = (ct) / 2 J i P (m).

Therefore, in the position detection device according to the present invention, a magnet is mounted on the movable body, and the conductive wire is short-circuited by pressing the pressurized conductive rubber at the location where the magnet is located. Body position can be detected.

In addition, in the above embodiment, the protrusion that applies pressure to the pressurized conductive rubber and the rod-shaped object with a U-shaped cross section are explained as magnetic materials, but for example, the surface of the magnet mounted on the moving body on the moving path side is opposite to the magnetic material. The same effect as in the above embodiment can be obtained by using a magnet that has a pole and generates an attractive force between it and the magnet of the moving body.

In addition, in the above embodiment, the time interval between the applied pulse and the reflected pulse was measured and the position was detected based on the time interval, but the connector 1
The position of the moving body can also be detected by measuring the resistance value between the contact point between the connector 6 and the conductive wire 11 and the contact point between the connector 16 and the conductive wire 13. That is, in this case, if the cross-sectional area of the conducting wire is S, the specific resistance is ρ, and the resistance between the contacts is R, then the position of the moving body can be detected as Q=R8/ρ.

〔Effect of the invention〕

As explained above, according to the present invention, by detecting the time interval and polarity or resistance value of the pulse applied to the conductor by the pulse oscillator and the reflected pulse, the ground station side accurately and continuously detects the absolute The location can be detected. Furthermore, since a pair of conducting wires is usually required, it is excellent in economy and maintainability.

[Brief explanation of drawings]

FIG. 1(a) is a cross-sectional view of one embodiment of the present invention;
b) is a sectional view taken along the line I-I in FIG. 2(a), and FIG.
FIG. 3 is a diagram for explaining the position detection method according to the embodiment of FIG. 1, and FIGS. 4(a) and 4(b) are groove diagrams of a prior art inspection robot. 1... Piping 2... Permanent magnet 3... Traveling vehicle 4... ITV camera 5.5-1.5-
2...Permanent magnet 6...Electric valve 9...Magnetic material
1o...Magnetic material projections 11, 13...Conducting wire
12... Pressurized conductive rubber 14... Support plate
15...Elastic material 16...Connector 17
...Pulse oscillator 18...Detection circuit 19.
... Display device agent Patent attorney Yoshiaki Inomata (1 person) (a
Figure 2 (a) Figure 4

Claims (3)

[Claims] (1) In a position detection device for a moving object in which a traveling vehicle is caused to travel by moving a moving object equipped with a magnet along a track, a pressurized conductive rubber is attached along the trajectory of the moving object. A pair of conductive wires and a magnetic body having a protrusion are provided, and when the movable body passes, pressure is applied to the pressurized conductive rubber by the protrusion of the magnetic body to short-circuit the conductive wires and short-circuit the conductive wires. A position detecting device for a moving body, characterized in that the device is configured to detect the position of the moving body on a trajectory based on the time of a reflected pulse reflected at a point. (2) To prevent a short circuit in the conductor, place a pressurized conductive rubber on the track.
A magnet is provided that has a polarity opposite to the surface of the magnet mounted on the pair of conducting wires and the moving object and generates an attractive force, and when the moving object passes, the attractive force applies pressure to the pressurized conductive rubber to short-circuit the conducting wires. A position detecting device for a moving body according to claim 1. (3) A position detecting device for a moving body according to claim 1, wherein the position of the moving body is detected by measuring the resistance value of a conductive wire and detecting a short circuit position.