Free access floor systems for automated guided vehicles

Abstract

To provide a free access floor system for an unmanned carrier that can be constructed by laying and arranging floor panels, on which the unmanned carrier travels, in a prefabricated manner for an easy-to-carry size and that completes the construction of the floor panels as well as the construction of a grid system that provides marks for travel of the unmanned carrier, with magnetic tapes and RFIDs for controlling travel of the unmanned carrier disposed in the respective panels.SOLUTION: Tile-like mats are laid spread all over a free access floor provided on a floor surface, and grid portions for controlling travel of an unmanned carrier is provided on an upper surface of the mat. Used as the grid portion are any of a magnetic tape, a light reflection tape, a bar code, a two-dimensional code (QR code), an AR marker, or an IC tag.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a free access floor system that uses floor panels equipped with a control mechanism for running automatic guided vehicles used in logistics centers and the like. [Background technology]

[0002] Traditionally, in logistics and distribution centers, long-distance conveyor lines are often used to transport goods from the entrance to the exit of the goods. Many of these logistics centers, especially those with small to medium floor space, have conveyor lines arranged in a hierarchical structure to make effective use of the small floor space, which means that there are walls and pillars everywhere, and when trying to handle a large amount of goods per hour at once, it is necessary to set up buffer conveyor lines to hold the goods, making the layout difficult and the transport route long. Moreover, it is difficult to obtain permission under the Fire Service Act, and such fixed facilities are expensive. In recent years, an automated guided vehicle transport system has been proposed that uses automated guided vehicles such as AGVs (Automatic Guided Vehicles) and AMRs (Automatic Mobile Robots) instead of conveyor lines, stores products in small, multi-tiered drawer shelves, lines them up in large numbers in a waiting area on shelves on the floor, and has the automated guided vehicles pick up the shelves and transport them to a station where workers pick items (hereinafter referred to as a GTP station), and then returns to the original waiting area once picking is complete.In this case, grids with QR codes (registered trademark) or the like are often provided on the floor at regular intervals as markers for the automated guided vehicles to navigate.

[0003] Furthermore, there has been an increase in cases where logistics centers with existing conveyor lines are trying to remove the conveyor lines and change to a system in which automated guided vehicles run as described above. However, in such cases, the construction of the floor surface is uneven with numerous traces of pillars and walls used to secure the conveyor, so in order to create a flat floor surface on which the automated guided vehicles can lift up the shelves and run smoothly, it is necessary to go through a complex construction process that is essentially the same as that required for new construction, posing a difficult problem. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] None Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, the applicant came up with a free access floor system that can simplify the construction process of the floor and significantly shorten the construction period when converting a logistics center with an existing conveyor line to an automated guided vehicle system, etc. Furthermore, the applicant came up with a system in which grids and other markers for the automated guided vehicle to use are provided on the floor in advance, and prefabricated floor panels of an overall size that are easy to carry are prepared, and a large number of these are lined up on the floor during the conversion work, allowing the construction to be completed in a short period of time.

[0006] The applicant then devised a method of arranging magnetic tape or light-reflective tape as a grid in the floor panel, and providing an IC tag (hereinafter referred to as RFID) instead of the QR code that is commonly used as a conventional grid method.

[0007] Conventionally, automated guided vehicles are operated by attaching magnetic tape or light-reflecting tape directly to the floor. to make In order to do this, the magnetic information from the tape and the reflected light must be captured accurately, so the floor must be accurately leveled to make the entire surface flat.

[0008] Conventionally, this leveling work has been carried out on-site at the logistics center, but if a free-access floor system is used, in which floor panels are manufactured in advance in a factory to an easily transportable size and then laid out in large numbers on the floor under construction, the problem of uneven surfaces can be avoided in advance.

[0009] Furthermore, by not directly attaching magnetic tape or light-reflective tape to the surface of the floor panel, but instead covering the entire individual floor panels with, for example, a hard resin on the surface of the tape, it is possible to avoid the risk that the tape related to the grid function, which serves as a marker for the automatic guided vehicle's movement, will become dirty or worn down, making it impossible for the sensor to read it.

[0010] In addition, the applicant has created a structure in which RFID tags are embedded in the floor panels, making it possible to accurately grasp the relative positions of automatic guided vehicles within the logistics center.

[0011] The present invention has been devised in consideration of the various conventional circumstances described above, and has as its object to provide a free access floor system for automatic guided vehicles that uses a free access floor system in which the floor panels on which automatic guided vehicles run can be laid out in a prefabricated manner in an easily portable size and constructed, and by providing the panels with magnetic tape, light reflective tape, and RFID as a grid function for controlling the travel of the automatic guided vehicles, construction of the grid system that serves as a marker for the travel of the automatic guided vehicles can be completed simultaneously with construction of the floor panels. [Means for solving the problem]

[0012] In order to solve the above-mentioned problems, in a first aspect of the present invention, a free access floor system for automated guided vehicles is provided, which comprises a free access floor installed on the floor surface, a tile-like mat laid out on top of which is provided with a grid section for controlling the travel of the automated guided vehicles.

[0013] As a second aspect of the present invention, in the above-mentioned first aspect, the grid portion may be provided with any one of a magnetic tape, a light reflective tape, a barcode, a two-dimensional code (QR code), an AR marker, and an IC tag.

[0014] As a third aspect of the present invention, in the above first and second aspects, when either magnetic tape or light-reflective tape is arranged in the grid portion, it may be characterized in that it is arranged in a cross shape in a planar view on the upper surface and / or inside and / or underside of the tile-shaped mat.

[0015] As a fourth aspect of the present invention, in the above first to third aspects, the control when a magnetic tape is used in the grid section may be characterized by comprising a control means that reads information on the magnetic tape with a magnetic sensor provided in the automatic guided vehicle and enables movement control of the automatic guided vehicle.

[0016] As a fifth aspect of the present invention, in the above first to third aspects, the control when a light reflective tape is used in the grid portion may be characterized by comprising a control means that reads information on the reflected light of the light reflective tape with a light receiving sensor provided in the automatic guided vehicle and enables movement control of the automatic guided vehicle.

[0017] As a sixth aspect of the present invention, in the first to fifth aspects, the IC tag of the grid portion may be provided near the center of the lower surface of the tiled mat.

[0018] As a seventh aspect of the present invention, in the above first to sixth aspects, the tile-shaped mat may be one of the components of a free access floor having a portable size as a single unit.

[0019] As an eighth aspect of the present invention, in the above first to seventh aspects, the tile-shaped mat may be characterized in that its surface is made of transparent resin or glass to protect magnetic tape, light reflective tape, QR code, AR marker, and IC tag provided on the grid portion from the passage of an unmanned guided vehicle.

[0020] As a ninth aspect of the present invention, in the first to eighth aspects, a power cable may be provided in a space between the floor surface and a free access floor.

[0021] As a tenth aspect of the present invention, in the above first to third aspects, when a reflective tape is used by the control means, the automatic guided vehicle may be characterized in that, when the area of ​​the light reflective tape of the tape placement means detected by the built-in light receiving sensor shifts relatively to the left or right, the automatic guided vehicle controls to change the speed difference between the left and right motors of the automatic guided vehicle so as to return it to a specified position in the center of the light receiving sensor.

[0022] As an eleventh aspect of the present invention, in the above first to fourth or sixth to tenth aspects, when a magnetic tape is used as the control means, the unmanned guided vehicle may be characterized in that it is possible to read information on the magnetic tape sensed by an internal magnetic sensor and control the movement of the unmanned guided vehicle.

[0023] As a twelfth aspect of the present invention, in the above first to fourth or sixth to eleventh aspects, the control means using the magnetic tape may be characterized in that when the area of ​​the magnetic tape of the tape positioning means detected by the magnetic sensor shifts relatively to the left or right, the area is controlled to change the speed difference between the left and right motors of the automatic guided vehicle so as to return it to a specified position in the center of the magnetic sensor. Effect of the Invention

[0024] According to each aspect of the present invention, a free access floor system for automated guided vehicles is provided in which the floor panels on which the automated guided vehicles travel can be laid out in a prefabricated manner that is easily portable, and by providing the panels with magnetic tape and RFID for controlling the travel of the automated guided vehicles, the construction of a grid system that serves as a marker for the travel of the automated guided vehicles can be completed at the same time as the construction of the floor panels.

[0025] In other words, in this invention, floor panels are manufactured in advance in a factory to a size that is easy to carry, and then a large number of these are laid out on the floor surface under construction using a free-access floor system, which makes it possible to avoid the problem of uneven surfaces in advance.

[0026] Furthermore, by embedding an RFID tag in the floor panel, it is possible to accurately determine the location where the automated guided vehicle is traveling.

[0027] In addition, the entire individual floor panels are covered with hard resin tile mats, and a grid is provided on the upper surface of these tile mats. Even if the grid function, which serves as a marker for the movement of the automated guided vehicle, becomes dirty or worn down and cannot be read by the sensor, this can be avoided by simply replacing the tile mats.

[0028] In addition, the free access floor is equipped with a tape placement means in which a tiled mat is laid out with reflective tape affixed to the upper surface, and the unmanned guided vehicle is equipped with a control means that reads the reflective tape on the tape placement means with a light receiving sensor and enables the movement of the unmanned guided vehicle to be controlled. Therefore, if the reflective tape on the upper surface of the tiled mat becomes dirty or scraped off, the tile can be replaced, allowing the unmanned guided vehicle to be accurately read by its own light sensor, and the unmanned guided vehicle can travel at high speed along the specified route.

[0029] In addition, the light-reflective tape of the tape placement means is arranged in a cross shape when viewed in a plane on the upper surface of the tiled mat, thereby accurately reading the position of an unmanned guided vehicle turning left or right, making it easier to control the movement of the unmanned guided vehicle as it changes direction.

[0030] In addition, an RF sensor is provided at the central point of the underside of the tile mat, so that the ID (address) can be read accurately by the RFID reader of an automated guided vehicle even when the vehicle is traveling at high speed.

[0031] In addition, a grid is provided at the central point of the tile mat to serve as a guide for unmanned guided vehicles, so that even if multiple unmanned guided vehicles approach each other, this can be quickly avoided, and collisions between unmanned guided vehicles traveling at high speeds can be avoided in advance.

[0032] In addition, instead of attaching the magnetic tape directly to the surface of the floor panel, the surface of the magnetic tape is covered with a hard resin tile-like mat on the entirety of each floor panel. This prevents the tape related to the grid function, which serves as a marker for the movement of the automated guided vehicle, QR codes, etc., from becoming dirty or worn off, which could cause them to become unreadable by the sensor.

[0033] The control means controls to change the speed difference between the left and right motors of the unmanned guided vehicle so that when the area of ​​the light reflective tape of the tape placement means sensed by the light receiving sensor shifts relatively to the left or right, it returns the area to a specified position in the center of the light receiving sensor, so that the light reflective tape does not get dirty or scraped off, and the unmanned guided vehicle can be read finely and accurately by its own light sensor.

[0034] A tile-like mat is laid on the free access floor of a grid system, and a tape placement means is provided with a magnetic tape on the inside or underside of the mat, and the unmanned guided vehicle is equipped with a control means that reads the magnetic tape with a magnetic sensor and enables control of the movement of the unmanned guided vehicle, so that the magnetic tape does not get dirty or scraped, and the unmanned guided vehicle can be finely and accurately read by its own magnetic sensor.

[0035] The control means controls the automatic guided vehicle to change the speed difference between the left and right motors so that when the area of ​​the magnetic tape of the tape placement means sensed by the magnetic sensor shifts relatively to the left or right, it returns the area to a specified position in the center of the magnetic sensor. Therefore, even if the course of the automatic guided vehicle traveling at high speed deviates to the left or right from the specified route, it can be instantly returned to its original return position.

[0036] In addition, since the magnetic tape is arranged in a cross shape when viewed from above inside or on the underside of the tile mat, it can accurately read the position of an unmanned guided vehicle rotating left and right, making it easy to control the movement of the unmanned guided vehicle when changing direction.

[0037] In addition, an RF sensor is provided on the underside of the point where the cross-shaped magnetic tapes of the tile-shaped mat intersect when viewed in a plane, so that the ID can be accurately read by the RFID reader of the unmanned guided vehicle even when traveling at high speed.This means that even if multiple self-propelled bodies come close to each other, this can be avoided immediately, and collisions between self-propelled bodies traveling at high speed can be avoided in advance. [Brief description of the drawings]

[0038] [Figure 1] FIG. 1 is a perspective view of a free access floor on which a tiled mat is laid in a system according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a cross-sectional view of a free access floor on which a tile mat is laid in a system according to one embodiment of the present invention. [Diagram 3] 1 is an oblique view of a free access floor on which a tile mat according to another example of the present embodiment is laid. [Figure 4] 13 is a cross-sectional view of a free access floor on which a tile mat is laid in a system according to another example of this embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0039] Hereinafter, a system according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0040] In this embodiment, as shown in FIG. 1, a tile-like mat 1 of, for example, 750 mm×750 mm is placed on a free access floor F of a grid system arranged on a floor surface R. Paving On the upper surface of each of these tiled mats 1, there is provided a tape placement means P in which a magnetic tape or light-reflecting tape is attached as a grid portion 2, for example in a cross shape when viewed from above.

[0041] In the case of a magnetic tape, the control means Q detects the magnetic tape of the tape placement means P by a magnetic sensor 4 under the automatic guided vehicle, thereby enabling control of the movement of the automatic guided vehicle.

[0042] In addition, in the case of a light-reflective tape, a control means Q is provided that enables the movement of the automatic guided vehicle to be controlled by emitting laser light from the bottom of the automatic guided vehicle and reading the reflected light from the light-reflective tape of the tape placement means P with a light receiving sensor 3.

[0043] The tape placement means P has a grid portion 2 on the upper surface of each tile-shaped mat 1. in A thin magnetic tape or light-reflecting tape is attached in a cross shape in a plan view, and when these tile-like mats 1 are laid out vertically and horizontally, these grid sections 2 are connected vertically and horizontally to form a vertical and horizontal lattice. Note that magnetic tape or light-reflecting tape may be placed at the corners of the upper surface of the tile-like mat 1 at locations where the automated guided vehicle turns horizontally.

[0044] As shown in Fig. 2, an RF sensor 5 that can be read by an RFID reader 7 installed on an automated guided vehicle is provided near the center point of the underside of the tiled mat 1, making it possible to track addresses when the automated guided vehicle is traveling at high speed. Note that the code that can be read by the RF sensor 5 may be a barcode, a two-dimensional code, or a QR code.

[0045] At this time, when the area of ​​the magnetic tape or light reflective tape of the tape positioning means P sensed by the magnetic sensor 4 or the light receiving sensor 3 shifts relatively to the left or right, the control means Q controls to change the speed difference between the left and right motors (not shown) of the unmanned guided vehicle so as to return it to the specified position in the center of the magnetic sensor 4 or the light receiving sensor 3.

[0046] The tape placement means P has a grid portion 2 arranged in a cross shape when viewed in a plane, i.e., one of the X-axis and Y-axis directions is made of magnetic tape and the other is made of light-reflective tape, so that the automatic guided vehicle can move smoothly when changing direction.

[0047] Next, another example of this embodiment will be described with reference to FIG. 3. A tile-like mat 1 of, for example, 750 mm×750 mm is placed on a free access floor F of a grid system arranged on a floor surface R. Paving The inside or underside of these tile-like mats 1 is provided with a grid section 2, for example a tape placement means P in which a magnetic tape is attached in a cross shape when viewed in a plane, and the unmanned guided vehicle is provided with a control means Q that reads the magnetic tape with a magnetic sensor 4 and enables control of the movement of the unmanned guided vehicle.

[0048] The tape placement means P has a grid portion 2, which is a thin magnetic tape, attached to the inside or underside of each tile-like mat 1 in a cross shape when viewed in a plane and is not exposed on the upper surface, so that the magnetic tape does not get dirty or scraped off, and the unmanned guided vehicle can be read in detail and accurately by its own magnetic sensor 4.

[0049] Furthermore, when these tile mats 1 are laid out vertically and horizontally, the magnetic tapes are connected vertically and horizontally to form a vertical and horizontal lattice pattern.

[0050] The control means Q controls the automatic guided vehicle to change the speed difference between the left and right motors (not shown) so that when the area of ​​the magnetic tape of the tape placement means P sensed by the magnetic sensor 4 shifts relatively to the left or right, it returns it to a specified position in the center of the magnetic sensor 4.

[0051] Furthermore, in another example of this embodiment, which will be explained with reference to Figure 4, in a floor structure for running an automated guided vehicle, a free access floor F is provided on floor surface portion R as a single unit of a portable size for running the automated guided vehicle, and a grid portion 2 and / or an IC tag 6 of a control means Q, which serves as a marker for the running of the automated guided vehicle, is provided on the free access floor F.

[0052] In addition, as long as the grid portion 2 functions as a grid for an unmanned guided vehicle, any of magnetic tape, light reflective tape, QR code, AR marker, RFID, etc. may be used, and the free access floor F may be structured so that it is covered with a tile-like mat 1 (cover portion) made of transparent hard resin or transparent hard glass so that the grid portion 2 is not exposed on the surface of the free access floor F.

[0053] The magnetic tape and light-reflecting tape of the grid section 2 are provided with a tape placement means P that is arranged in a cross shape in a plan view on the central upper surface of the free access floor F. The tape placement means P may be arranged such that the light-reflecting tape is arranged along the direction in which the automated guided vehicle travels straight, and the magnetic tape is arranged in the direction in which the automated guided vehicle turns.

[0054] That is, the tape placement means P has grid parts 2 arranged in a cross shape in plan view, with either the X-axis direction or the Y-axis direction being magnetic tape and the other being light-reflective tape, so that the automatic guided vehicle can move smoothly when changing direction. Also, the tape placement means P may have grid parts 2 on one side of the cross not intersecting in the center but shifting to one side.

[0055] In addition, a power cable (not shown) is provided in the space formed between the floor surface portion R and the free access floor F. By making the size of the free access floor F into a single unit in this manner, it is possible to prevent the problem of uneven surfaces occurring on the floor surface portion R in advance.

[0056] These tile mats 1 (cover parts) are laid out vertically and horizontally, and the grid parts 2 are connected vertically and horizontally through the tile mats 1 to form a vertical and horizontal grid. In addition, at the places where the automatic guided vehicle turns horizontally, the grid parts 2 may be disposed at the corners of the upper surface of the tile mats 1.

[0057] The control means Q is capable of controlling the movement of the automatic guided vehicle by emitting laser light from the bottom of the automatic guided vehicle and reading the reflected light from the light-reflecting tape that is the grid portion 2 of the tape placement means P with a light receiving sensor 3.

[0058] Also, an RFID (RF sensor) 5 is provided at the point where the magnetic tapes, which are shaped like a cross when viewed from above, intersect, making it possible to track addresses when the automatic guided vehicle is traveling at high speed.

[0059] Next, an example of the use and operation of the embodiment configured as above will be described.

[0060] In the case where the magnetic tape of the control means Q is used, the automatic guided vehicle can control the movement of the automatic guided vehicle by reading information on the magnetic tape sensed by the built-in magnetic sensor 4. That is, when the area of ​​the magnetic tape of the tape placement means P sensed by the magnetic sensor 4 shifts relatively to the left or right, the speed difference between the left and right motors (not shown) of the automatic guided vehicle is controlled to change so as to return it to the specified position in the center of the magnetic sensor 4.

[0061] In the case where the reflective tape of the control means Q is used, when the area of ​​the light reflective tape of the tape placement means P detected by the built-in light receiving sensor 3 of the automatic guided vehicle shifts relatively to the left or right, the automatic guided vehicle controls to change the speed difference between the left and right motors (not shown) of the automatic guided vehicle so as to return it to the specified position in the center of the light receiving sensor 3.

[0062] Next, an example in which the grid portion 2 of this embodiment is a magnetic tape will be described.

[0063] On the free access floor F of the grid system, for example, a tile-like mat 1 of 750 mm x 750 mm is placed. Paving The tile-like mats 1 are equipped with a tape placement means P in which a magnetic tape of a grid portion 2 is attached to the inside or underside thereof in a cross shape when viewed in a plane, and the unmanned guided vehicle is equipped with a control means Q that reads the magnetic tape with a magnetic sensor 4 to enable control of the movement of the unmanned guided vehicle.

[0064] The tape placement means P adheres a long, thin magnetic tape in a cross shape in plan view to the inside or underside of each tile-like mat 1 and is not exposed on the upper surface, so that the magnetic tape does not get dirty or scraped off and can be read in detail and accurately by the magnetic sensor 4 of the automatic guided vehicle itself.

[0065] Furthermore, when these tile mats 1 are laid out vertically and horizontally, the magnetic tapes of the grid portions 2 are connected vertically and horizontally to form a vertical and horizontal lattice pattern.

[0066] The control means Q controls the automatic guided vehicle to change the speed difference between the left and right motors (not shown) so as to return the area of ​​the grid portion 2 of the tape placement means P sensed by the magnetic sensor 4 to a specified position in the center of the magnetic sensor 4 when the area shifts relatively to the left or right.

[0067] As described above, this embodiment uses a free access floor system in which the floor panels on which the automated guided vehicles travel can be laid out in a prefabricated manner that is easily portable, and by providing the panels with magnetic tape and RFID tags for controlling the travel of the automated guided vehicles, it is possible to provide a free access floor system for automated guided vehicles in which the construction of a grid system that serves as a marker for the travel of the automated guided vehicles is completed at the same time as the construction of the floor panels. [Explanation of symbols]

[0068] P Tape placement means Q Control Means R Floor section F Free access floor 1. Tile Mat 2 Grid section 3 Light receiving sensor 4 Magnetic Sensor 5 RF Sensors 6. IC Tags 7 RFID Reader

Claims

1. A tiled mat is laid on a free access floor provided on a floor surface, and a grid section for controlling the travel of an automated guided vehicle is provided on the upper surface and / or inside and / or underside of the tiled mat; a first material selected from a magnetic tape, a light reflecting tape, a bar code, a two-dimensional code, an AR marker, and an IC tag is provided on one of an X-axis direction and a Y-axis direction of the grid portion, and a second material selected from a magnetic tape, a light reflecting tape, a bar code, a two-dimensional code, an AR marker, and an IC tag, which is not the first material, is provided on the other of the X-axis direction and a Y-axis direction of the grid portion; A free access floor system, characterized in that an IC tag is provided near the center of the underside of the tile mat in the grid portion.

2. 2. The free access floor system according to claim 1, wherein either the magnetic tape or the light reflective tape is arranged in a cross shape in a plan view in the grid portion.

3. The free access floor system further includes an automated guided vehicle that runs on the tile mat, 3. The free access floor system according to claim 1 or 2, characterized in that a magnetic tape is used in the grid section, and the system further comprises control means for reading information on the magnetic tape with a magnetic sensor provided in the automatic guided vehicle to enable control of the movement of the automatic guided vehicle.

4. The free access floor system further includes an automated guided vehicle that runs on the tile mat, 3. The free access floor system according to claim 1 or 2, further comprising control means that uses light reflective tape in the grid section, and that reads information about the reflected light of the light reflective tape with a light receiving sensor provided in the automatic guided vehicle to enable control of the movement of the automatic guided vehicle.

5. 5. The free access floor system according to claim 1, wherein the tile mat is one of the components of a free access floor having a portable size as a single unit.

6. 6. The free access floor system according to any one of claims 1 to 5, characterized in that the tile-shaped mat is provided in a grid section, and has a surface made of transparent resin or glass to protect the first material and the second material selected from the group consisting of magnetic tape, light reflective tape, two-dimensional code, AR marker, and IC tag from the passage of an automatic guided vehicle.

7. 7. The free access floor system according to claim 1, wherein a space capable of accommodating a power cable is provided between the floor surface and the free access floor.

8. 5. The free access floor system according to claim 4, wherein the control means controls the automatic guided vehicle to change a speed difference between the left and right motors so that, when the area of ​​the light reflective tape detected by the built-in light receiving sensor of the automatic guided vehicle shifts relatively to the left or right, the area is returned to a specified position in the center of the light receiving sensor.

9. 4. The free access floor system according to claim 3, wherein the control means is capable of controlling the movement of the automatic guided vehicle by reading information on the magnetic tape sensed by the magnetic sensor built into the automatic guided vehicle.

10. 4. The free access floor system according to claim 3, wherein the control means controls the automatic guided vehicle to change a speed difference between the left and right motors so that, when the area of ​​the magnetic tape sensed by the magnetic sensor shifts relatively to the left or right, the area of ​​the magnetic tape is returned to a specified position in the center of the magnetic sensor.

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