JPS5844244B2 - Mobile self-position detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for detecting the position of a moving body traveling on a fixed running path, and particularly relates to a self-detection device for the position of a moving body traveling on a fixed running path, and more particularly to a self-detection system for the position of a moving body using guided radio using crossed parallel two-wire guide wires. This relates to improvements in equipment.

In conventional guided wireless moving body position detection devices, for example, parallel two-wire guide wires are laid along the running route, and these guide wires are crossed at appropriate intervals, and one end of the guide wires is A transmitter for signal transmission is connected to the terminal, and a terminating resistor is connected to the other end.

On the other hand, the moving object is provided with a loop antenna and an amplitude fluctuation detector that are coupled to the above-mentioned guiding wire, so that the signal wave flowing through the above-mentioned guiding wire is received on the moving object side, and when the moving object moves, the loop antenna and the guiding wire are connected to each other at the crossing point. An amplitude fluctuation detector detects that the coupling loss between the lines increases rapidly and the received signal amplitude decreases, and the vehicle's own position on the road is detected from the number of detections.

However, since devices using such means detect fluctuations in the amplitude of the signal, the disadvantage is that if noise is mixed in, erroneous detection will occur frequently and counting errors will occur.

This drawback is important because in modern usage environments there is a lot of noise interference from electrical equipment, cyrisks, etc.

Also, in order to make the unit of position detection smaller and more precise, it is possible to shorten the crossing interval of the guide wire, but if the crossing interval is shorter than the length of the loop antenna in the running direction, the transmission loss between the guide wire and the antenna will increase. However, there are limits to shortening the length of the loop antenna due to the misalignment between the center line of the guide wire and the center of the antenna, as well as variations in the distance between the guide wire surface and the antenna surface. The minimum value was about 1 m.

The present invention has been made to eliminate the above-mentioned conventional drawbacks, and will be described in detail below.

In the present invention, the length of the loop coil in the running direction and the crossing interval of the guide wires at the practical distance of the loop coil antenna from the guide wire laid along the running route are set to optimal values that minimize coupling loss. At one end of the two-wire guide wire, which intersects the dividing points of sections set at equal intervals along the line, a specific frequency (fo) is used as a carrier wave, and a frequency f divided by n of this f is set as a carrier wave.

/n (n is an integer of 2 or more) fo carrier wave is amplitude modulated (A
M) A transmitter is connected, and on the other hand, a plurality of loop coil antennas are arranged at regular intervals in the traveling direction on the moving body side, and are coupled to the guide wire to induce the above modulated wave signal from the ground side, and each antenna These signals are phase-synthesized by giving a specific phase deviation between them, and a modulated wave f is generated from the antenna signal.

The wave obtained by extracting /n and multiplying it by n is used as a reference phase signal, and from this, the phase difference of the above-mentioned phase composite wave is detected, and the position of a moving object is thereby detected. explain in detail.

Figure 1 is an example of the configuration of the ground side fixed equipment of the device of the present invention, Figure 2
The figure is a diagram showing an example of the configuration of equipment mounted on a moving body.

First, in FIG. 1, 1 is a crossed parallel two-wire induction wire, 2 is a terminating resistor, 3 is a coupler, and 4 is a specific frequency f.

oscillator (O8C), 5 is a 1/n frequency divider (n is 2
6 is a sine wave amplifier, 7 is a modulator, and 8 is an output amplifier (PA).

Regarding the guide line, LS is a position detection section, and l is a crossing interval.

In FIG. 1, the F0 wave from an oscillator 4 is sent to a frequency divider 5 and a modulator 7.

f from frequency divider 5.

The frequency divided wave of /n is sent to the modulator 7 via the sine wave amplifier 6, and is amplitude-modulated by fo/n (the modulation degree is about 30%).

The wave or signal passes through PA 8 and coupler 3 to guide wire 1
supplied to

Next, in the equipment on the mobile side shown in Fig. 2, 9 and 10° 11 are loop coil antennas, 12 to 26 are position detectors, 12 and 13 are phase shifters (PS), and 14 is a signal combiner (COM). ), 15a, 15b, 15c are detectors (DET), 16 is an f/n modulated wave combiner, and 17 is f.

/nn bandpass filter (BPE), 1B, 22, 24 are phase discriminators (
PD), 19, 23, 25 are low pass filters (LPF), 2
0 is a (voltage controlled) variable oscillator (VCO), 21 is a frequency divider (DIV), 26 is a phase shifter (PS), and el and e2 are phase difference outputs as described later.

Although the arrangement intervals of the loop coil antennas will be explained later, f received by a plurality of loop coil antennas.

The signal waves may be sequentially shifted by π/N (N is the number of loop coil antennas of 2 or more) or 2π/N if N is an odd number, but the signal waves are shifted by a phase shifter 12.13 to provide this much phase difference. and sent to the signal combiner 14.

Figure 2 shows an example where N = 3, but in the case of N x 4, the loop coil antenna and phase shifter are each N
and N-1.

Next, two or more of the plurality of antennas, 9 in the example of Fig. 2,
Since the signal waves of the outputs of the three antennas 10 and 11 are AM modulated waves, the envelope detectors 15a and 1stz are used, respectively.
Sent to 15c f.

/n modulated waves are taken out and in-phase combined in the combiner 16, and then f.

The fo/n component is extracted by the BPF 17 whose center frequency is /n.

This is because the signal carrier waves from the ground station are received with a phase difference of π phase when the guiding wires cross between each antenna.
This is because the modulated waves are in phase.

In addition to the output of the BPF 17, the output of the variable oscillator 20 (frequency f) is input to the phase discriminator PD1B.

) is input by the f/n wave divided by the 1/n frequency divider 21, so the phase discriminator PD18 receives the f/n wave.

Generates an output proportional to the phase difference between the /n wave and the f2/n wave.
Enter it into PFL 9.

This LPF19 has a cutoff frequency of, for example, 20 Hz or less, and allows direct current to pass therethrough, thereby removing unnecessary high frequency noise components.

The output of LPFl 9 is input as a control voltage to the voltage controlled variable oscillator VCO20, and the CO20-1/n frequency divider 2
A feedback loop circuit is configured by the paths 1-PDl 8-LPFl 9-VCO20.

PD18 in this loop circuit has BP which is the reference frequency.
f from F17.

/: n waves are input and f is generated by the above loop circuit.

For example, when the phase is in phase with /n wave, PDl8
The output of is set to zero, and from the fo/n wave, f.

/n wave generates a positive product output from the phase i, and conversely, a negative product output from the lagging phase, and the phase difference between the two waves is ±
At 90° (i.e. π/2), maximum output is generated for each positive and negative pole, but as the lead or lag of the phase difference increases beyond ±90°, the positive and negative outputs decrease, and the phase difference becomes reversed. When the phase reaches 1800 (π), the output becomes zero P
D It has the usual characteristics.

In addition, in the voltage controlled variable oscillator VCO20, if the control voltage input from the LPF19 is a positive voltage, the oscillation frequency fo is controlled to be lower, and if the control voltage is a negative voltage, the oscillation frequency is controlled to be higher. It has oscillation frequency characteristics.

Since the output of the VCO 20 is frequency-divided by 1/n by the frequency divider 21, one person's power of the PD18 is f.

/n waves. In this way, in the above feedback loop circuit, P
Two inputs of Dl8, namely f/n wave and f.

The VCO 20 is controlled by the output of the PDl8 so that a phase discrimination output is generated according to the phase difference of the /n wave, and the phase difference between these two waves is in phase (0°).

Note that reducing the dead band of this phase difference O0 is achieved by improving the input/output characteristics of PD18 or VCO (increasing the sensitivity and steepening the slope of the characteristics) in order to increase the degree of convergence.

Also, f is the reference frequency. Even if there is phase fluctuation (jitter) due to noise interference in the arrival path of the /n wave, the loop circuit uses LPF19 with a sufficiently low cut-off frequency, so phase fluctuations in the oscillation frequency of the VCO 20 due to noise interference are suppressed. be done.

Furthermore, a reference frequency f is input to PDlB.

/n is the frequency f of the oscillator 08C4, as explained above for the ground-side equipment.

is divided by 1/n, which is f/n and f.

/n is PD 1 B's n Since it is in phase at the input, the frequency is f.

=f. Next f.

and f. However, the phase difference between the output waves of 08C4 and VCO20 is f/n and f to PDl8.

There is a certain phase deviation between the f wave and the fQ wave because the components of the two input paths of /n have their own unique shift amounts.

Next, the oscillation f of the VCO 20.

One of the wave outputs is input to the phase discriminator PD22 as a reference phase signal.

Another input to the PD 22 is the combined signal wave of the multiple loop coil antennas from the combiner 14, and the phase difference of the combined signals is detected at the output of the PD 22.

Since the composite signal wave is amplitude modulated, the next stage LPF2
3 is the modulation component f.

/n waves are removed and the output due to the phase difference is output as eo.

Note that the phase of the reference phase signal G has a unique amount of phase shift during the process of synchronization between 15 and 21 as described above, so a phase correction circuit is inserted on the input side of the PD22 to correct it to the ideal phase. .

Furthermore, since there is a large area where position determination is ambiguous with only the e1 output, the reference phase signal f from the VCO 20 is used.

The wave is inputted to a phase chic P826 that advances its phase to a constant value and +-Funan (the reason for setting it to 100 will be explained later), and its output is inputted to the phase discriminator PD24 as a reference phase, and the output is inputted to the phase discriminator PD24 as a reference phase. The input to the synthesizer 14
Since it is a composite signal wave of two
The phase difference of human power is detected, and the detected output is outputted as e2 through the LPF 25.

Therefore, el and e2 have a phase difference of π/2.

Note that the input of the PD 24 is provided with a phase correction circuit similar to that of the PD 22 for correction.

Next, a description will be given of an operation in which a mobile body detects its own position using the equipment on the ground and on the mobile body as described above.

FIG. 3 is an explanatory diagram of the operation of an example of the device of the present invention, in which two loop coil antennas provided on a moving object are coupled to a crossed parallel two-wire guide wire, and the intersecting interval of the guide wires is a constant value l.
The distance between the loop coil antennas 9 and 10 along the guiding wire is approximately l/2.

In the present invention, if the number of loop coil antennas on the mobile body side is N (N is an integer of 2 or more), the mutual spacing of the loop coil antennas along the guide wire is 1/N or (M+N).
1 (M is an integer of 0, 1, 2, . . . ), and in particular, if N is an odd number, 2137N or (M+i)7 may also be used.

In the example of FIG. 3, M=0. N=2 and the interval between the loop coil antennas is set to 13/2.

First, as mentioned above, the guide line 1 in FIG. 3 has f.

Since an amplitude modulated signal with carrier frequency is flowing, 2
The two loop coil antennas 9 and 10 generate induced outputs that are related to the amplitude and phase of the signals in the opposing guiding wires.

In the case of Fig. 3, antenna 9 is located at the intersection of the guide lines, and the other antenna 10 is located at the center of one section, but since the anti-phase signals on both sides of the intersection are equally guided to antenna 9, the combined output is Almost zero, the phase signal of this crossing section is output only from the antenna 10.

For example, when the moving object moves at a constant speed, the output waveforms of the antennas 9 and 10 are expressed as shown in a and b in FIG. 3, respectively, based on the position of the antenna 9 relative to the guide line 1.

In these waveforms, each carrier f.

The phase of is reversed by π phase every time it passes through the crossing position of the guide wire 1, but the amplitude modulated wave of fo/n becomes a continuous wave.

Next, two loop coil antennas (
Since the current phase of the guiding wire is reversed by 1800 (π phase) on both sides of the intersection of the guiding wires, the output of the antenna (hereinafter abbreviated as "antenna") is inverted when the two are in phase. Therefore, they cancel each other out and the composite output disappears.

If there is a region where the output is almost zero, the determination of the position becomes unclear and the measurement accuracy deteriorates. Therefore, in the present invention, the synthesized amplitude fluctuation by anti-phase synthesis is converted into a phase change,
A constant output level (amplitude) is obtained over the entire measurement range by either in-phase or anti-phase combinational synthesis.
Since a phase shift is generated by a combination of these, uniform measurement accuracy can be obtained over the entire measurement range.

As a specific method, as shown in FIG. 2, the output of the antenna 10 is input to the phase shifter PS12.

In the PS12, there are two antennas, 9 and 10, as shown in Figure 3.
=2, the π/N to be given between the adjacent antenna outputs is π/2, and in the present invention, for example, the phase is advanced, so a +7 phase shift is performed.

Therefore, the output phases of antennas 9 and 10 are respectively ψ.

If and ψ1o, the phase of the output synthesized by the synthesizer C0M14 in FIG. 2 becomes the composite vector phase of ψ and (ψ1o+2).

Therefore, even if the antennas 9 and 10 are coupled to the guide wire 1 and there is a phase difference of π in their outputs, the reverse phase will not disappear in the combined output of C0M14.

That is, when antennas 9 and 10 are first coupled to the guide wire within the same section of guide wire 1, the combined phase of the C0M14 output will be +π/4, and then when the moving object moves to the right, antenna 9 will be coupled to the above guide wire. In the same section, the antennas 10 are located in one section on the right, and in the coupled state across the intersection, ψ remains unchanged, but ψ.

The phase of is reversed to π, and the combined phase becomes -7.

The following table shows these.

Next, if antennas 9 and 10 both move to one section on the right, they will both be shifted by π phase compared to their initial antenna positions, and the phase of the combined output will be -3π/ as shown in the table.
It becomes 4.

Further, when the antenna 10 passes through the second intersection in the right direction and moves to the third section from the beginning, it returns to the initial phase O0.

However, antenna 9 is still in the second section, so ψ.

remains in the π phase as shown in the table, and the phase of the composite output is +3π/4
become.

On the other hand, the outputs of the two antennas 9 and 10 are envelope-detected by the detectors 15at15b, respectively, and as explained in connection with FIG.
PF17, PD18, LPF19, DIv21, VCO
20 to synchronize the reference phase signal f to f.

Synchronized f. The waves are input to the 0 phase discriminators 22 and 24, and the phase composite signal from the synthesizer 14 is input as another input to these phase discriminators, and a phase difference is detected.

In the relationship between the antenna and the guide wire in Figure 3, antennas 9 and 10
The outputs of the waveforms a and b are obtained respectively, but b
The waveforms are unshifted by +7 degrees by phase shifters PSπ-1 and 12, and then synthesized by a synthesizer 14.

To explain in more detail, in the state shown in FIG.
However, the output of the b waveform is softened by +7 in the PS 12 and becomes the input to the synthesizer 14, and the phase of the synthesized output becomes +7.

Using this state as a reference, FIG. 3 shows the case where the distance between antennas 9 and 10 is It/2 as an example.
It represents the output of the ψ1o phase from 0.

The value of the output of the antenna 10 relative to the output a of the antenna 9 in the illustrated state is obtained from the intersection of the line drawn perpendicularly from the zero point of the a waveform and the b waveform.

Now, in FIG. 3, when the moving body moves to the right and its antennas 9 and 10 are within the same section l, outputs are generated for both waveforms a and b, but the wave b is ++ at the phase shifter 12.
Since the output of the combiner 14 receives a phase shift of i, the output of the combiner 14 is O0 phase based on the combined output phase of the antenna in this one section, and if they are in phase, ψ9 and (ψ1o+
As mentioned above, the vector composite wave with Σ) is +7.

Next, the mobile object moves further to the right and the antenna 10 moves to the intersection (
), there is no output from the antenna 10, and the only input to the combiner 14 is the output from the antenna 9, and the combined wave has zero phase.

Then, when antennas 9 and 10 move further to the right and are in a position sandwiching the intersection between the two antennas, antenna 1
The output of 0 has the opposite phase to the output of antenna 9 and is further advanced by 100 at PS 12, so the composite wave becomes π -7.

When moving further to the right and antenna 9 is at the intersection,
The output of only the antenna 10 is advanced by π 10 in PS12, and the composite wave becomes 17 phases, and when it is further moved to the right and both antennas are in the same crossing section, the composite wave becomes 13π/4 phases, Similarly, when moving further to the right and the antenna 10 is at the intersection, the input to the combiner 14 becomes only the output of the antenna 9, and the composite wave is in the π phase.As the antenna moves further to the right, there is an intersection between both antennas. Then the composite wave is +3π/
If the antenna 9 moves to the right above the intersection, the composite wave becomes π+7 phase and returns to its original state.

These can be understood by sequentially drawing vector diagrams, but in this way the output of the synthesizer 14 has a length of 21
The phase rotates by 2π radians (360°) for each run.

If the direction of movement of the moving body is reversed, the direction of rotation of the phase will naturally also be reversed.

In addition, in the examples shown in Figures 1 and 3, the guide line has two intersecting parallel
Since a line is used, the output of the antenna becomes zero at the intersection, and the amplitude of the output changes greatly near this point, and the phase inverts around the zero point of the output.

Therefore, when the speed of the moving object is constant, the above + to, 22
A steep phase change occurs at the phase point of π.

The synthesized wave from the synthesizer 14 in FIG.
22 and PD24, and the other input of PD22 is fQ (f,;=t'
.

) wave is input as the reference phase signal.

The output of the PD 22 is sent to the LPF 23 as a carrier wave fo1 reference phase signal - "F f □ z amplitude modulated wave f.

/n and noise interference components are removed and e□ is output.

el in FIG. 3 shows the level change, and the reason for this is as follows.

In the PD 22 of FIG. 2, the reference phase signal f.

It generates an output according to the phase difference between the wave and the output of the synthesizer 14.

The f-wave output and f of C0M14 are a combination of the outputs of antennas 9 and 10 advanced by 7 in phase.

If the phase difference of the waves is O or π, el becomes the maximum positive (1) product output or negative (→ seed output, and if the above phase difference is π/2 or -π/2, el becomes zero output, +7.-- z, -3
At either π/4°+3π/4, el has a characteristic of changing between a maximum output level and an intermediate output of zero output.

Therefore, if the antennas 9 and 10 move, for example, to the right, the level of the output e1 changes as shown in the waveform 01 in FIG.
and the reference phase signal f wave and antenna output f as the level changes.

The phase difference between the wave and the composite wave is π/2. π/4,0. −π/4°π/2. −3π/4. π, 3π/4, etc. are shown.

(Note that the above π/2...3π/4 also coincides with the output phase of the combiner 14 as the antenna moves.

) el has a characteristic that 24 (2 sections) is one period (2π radian) as shown in the figure, but el is used to determine the position of a moving object.
Since it is ambiguous if you create a 02 waveform whose phase differs from el by π/2 radians (corresponding to 1/2 section), the position can be determined by dividing 21 sections into 1/2 sections as described below. becomes possible.

As a method, the f-co wave from the VCO 20 is phase-advanced by π/2 by the phase shifter PS26 as a reference phase signal input to the PD24, and the output of the C0M14 is input to the other input.

The output of PD24 is led to LPF25 to obtain force e2,
The means for obtaining the output e2 from the PD 24 is the same as the means for obtaining el from the PD 22, and C2 is a characteristic obtained by shifting the e1 characteristic by 10,000 degrees to the left.

el and C2 in Fig. 3 show this output level change, and when these 01 and 02 are input to a square wave converter that uses the zero level as the slice level, the positive level becomes "Hll" or "1, zero and If the negative level is converted to "L" or "011,""11" and "10" will be displayed every 1/4 section of 21, that is, every 1372 sections, as shown in d in Fig. 3.
” , “4 Q Q il, “01゛ code is el,
It is obtained as an absolute address representing the position of the moving body by e2.

The position of the moving object in a long interval that is a multiple of 21 is determined by a well-known method that utilizes this address code and the fact that the output of the detector 15a becomes zero every l. This is done by using the passing count value of the moving body every 21 times.

Furthermore, the present invention is characterized in that highly accurate position determination is possible because the phase change of the antenna output due to the correspondence between the antenna and the guide line crossing position is detected at the division point as described above.

(It should be noted that the reason why the phase shifter PS26 is provided with a phase difference of π/2 is clearly from the above to detect the position where the crossing section l is divided into two. To further increase the number of divisions, increase the number of PS and PD, For example, if N is 3, you can choose 2π/3 or π/3, but the method shown in Fig. 4 is preferable.) Now, the example in Fig. 3 has two intersecting rhombic two-wire guide lines and two Four loop coil antennas are used to detect four positions per two-cross section.Next, an example will be described in which the two-cross sections are further subdivided and each position is detected.

FIG. 4 is an explanatory diagram of the operation in the case where the guide wire is a crossed rhombic two-wire type and three moving object side loop coil antennas connected to the guide wire are used at equal intervals of 21/3.

In this case, the guide wire crossing interval is 11, and the antenna interval is 2.
12/3 (N is an odd number, so I took 21/N).

The signal input phase difference of the antennas 9, 10, and 11 to the signal combiner 14 is set to 2π/N=2π/3, respectively.

It is also known that when the distance between the guide wire and the loop coil antenna surface is constant, the coupling loss is inversely proportional to the distance between the two guide wires.

For this reason, in FIG. 4, for example, if the loop coil antenna 9 faces the crossed rhombic two-wire guide wire and moves in the left-right direction, the coupling loss changes in an approximately sinusoidal manner.

That is, f from the ground station. Amplitude modulation of the wave with fo/n (
The signal wave (AM) is guided and outputted to the antenna 9 as shown in the waveform C in FIG. 4, and the output becomes zero at the position where the guiding lines intersect.

The phase of the guided signal wave (fo) is reversed at this position, and the output increases as the distance between the guided wires increases.

The solid line wave in Figure 4a is f. The dashed line represents the envelope of the change in amplitude and phase of the wave.

Each represents the amplitude of the /n wave.

This a-waveform signal is sequentially output from the other antennas 10 and 11 at a travel interval of 21/3.

Next, in FIG. 2, with the signal output of antenna 9 as a reference, the output of antenna 10 is shifted by +2π/3 by phase shifter 12, and the output of antenna 11 is shifted by +4π/3 by phase shifter 13.
If a shift of 3, that is, -2π/3 is given to each and combined in the signal synthesizer 14, the amplitude will be constant no matter where the moving object is located along the guide line, as shown in the waveform shown in Figure 4. A synthesized wave of A phase shift is performed.

The other reference phase signal f.

Wave generation is the same as in the case of FIG. 3 and will be omitted, but the waveform C in FIG. 4 is the output of the synthesizer 16.

Since the phase difference when the fo wave is input to PD22 and PD24 is set to π/2 in this example by the phase shifter 26, there is a difference of π/2, that is, 12/2, between the outputs of el and e2.
A phase difference corresponding to the distance occurs.

(Although the e2 waveform is omitted in Fig. 4, the e2% property is obtained by shifting the 01 waveform to the left by l/2 (equivalent to π/2), as in Fig. 3).

In this way, the combined wave output of the combiner 14 is set to f.

If the wave is inputted to the phase difference discriminators PD22 and PD24 together with the e1 output, the e1 output whose phase changes continuously in a nearly sinusoidal manner with one cycle of moving distance 21 of the moving object, that is, the loop coil antenna, and the e1 output with a π/2 phase difference between the e1 and Since a certain 02 output is obtained, if the output levels of el and e2 are subdivided by analog-digital (A/D) conversion etc., 21
It is possible to subdivide addresses within a section using a combination of digitized codes of 01 and e2, and furthermore, by using the passing count value of a moving object every 21, it is possible to perform fine addressing of long-distance sections that are multiples of 21. The position of a moving object can be self-detected.

In these detection devices, it is a matter of course that the dimensions of the loop coil antenna and the intersecting intervals of the guide wires are set to optimal values that minimize coupling loss.

In the example shown in Figure 4, a guide wire with a diamond-shaped distance between two wires is used as a means to change the output of the loop coil antenna in an approximate sine wave shape as the moving object moves. If the distance between the lines is changed sinusoidally, the positional accuracy will be further improved.

Furthermore, the antenna on the mobile object side is not limited to a loop coil antenna; for example, it can be a magnetic rod-shaped antenna (bar antenna) or a combination of multiple bar antennas with the same operating characteristics as a loop coil antenna. Can be used.

As explained in detail above, the present invention uses parallel two-wire guide wires or diamond-shaped two-wire guide wires that intersect at fixed distances, and multiple antennas and detection circuits provided on the moving object to improve the distance between the guide wires. The system detects the position of moving objects by subdividing the inside of the vehicle, and the cost of installing and maintaining the guide wires along the running route is significantly lower than that of conventional methods that require multiple guide wires. The method uses phase difference detection using continuous signals, so it is resistant to noise interference and provides high accuracy.The detection circuit and ground-side oscillation circuit are known circuits or a combination of known circuits, so they can be constructed at low cost. Overall, it is significantly more economical than conventional devices, and this device can be used for automatic travel control of moving objects to accurately obtain status outputs such as self-position detection, speed detection, and stop position detection of moving objects. This has great practical effects.

[Brief explanation of drawings]

Fig. 1 is a configuration example diagram of the ground side equipment of the present invention, Fig. 2 is a configuration example diagram of the moving body side equipment, Fig. 3 is an explanatory diagram of operation in a parallel two-wire guidance line with intersecting lines, and Fig. 4 is an intersecting rhombus diagram. It is an explanatory diagram of operation in a two-wire guide line. 1... Guide wire, 4... Oscillator, 5...
...Frequency divider, 6...Amplifier, T...
・Modulator, 8...Output amplifier, 9-11...
... Antenna, 12, 13, 26 ... Phase shifter (PS), 14, 16 ... Combiner, 15a
, 15b, 15c...detector, 17...
...BPFl 1L22, 24... Phase discriminator CPD), 19.23, 25... LPF, 2
0...Variable oscillator (VCO), 21...
・Frequency divider.

Claims (1)

[Claims] 1) As a device for detecting the self-position of a moving body moving on a certain running route, a track extending along the running route is used as a device for detecting the self-position of a moving body moving on a certain running route.
Intersection is performed at each boundary point of each section obtained by dividing each section,
and a crossed parallel two-wire guide wire 1 having one end terminated with a resistor;
A carrier wave of a specific frequency (fo) is divided into 1/n (n is an integer of 2 or more) from the other end of the guide wire 1 (fo/n).
A ground-side transmission facility consisting of transmitters 4 to 8 that feed amplitude-modulated signal waves at For the number N, (M+”)iM is O21,2,...
... integer) or only when N is an odd number (M+i)#
A plurality of N arranged in a line at intervals of and connected to the above guide wire.
It consists of mobile object side detection equipment 12 to 26 consisting of loop coil antennas 9゜10.11 and position detectors that receive the outputs of each antenna as input, and the position detectors have two or more antennas. Circuits 15, 16 for extracting gold or modulated wave (fo7'N) components after demodulating each input.
17, the input signal frequency f is synchronized with the extracted (,f o/N) wave. Frequency f equal to. The reference phase signal generation circuits 18 to 21 that oscillate the signal and one of the plurality of antennas mentioned above are set as the reference, and for the other loop antennas, π/ If N or N is an odd number, a phase shifter 12°1 giving a phase difference of 2π/N
an antenna output combining circuit 14 which connects the antenna outputs 3 and 3 to combine the reference antenna output and (N-1) antenna outputs other than the reference antenna each having a certain phase shift relative to the reference antenna output; and the antenna output combining circuit 14. The output (f
) and the reference phase signal (f
A first phase difference detection circuit 22 that detects and outputs the phase difference with the fan.
, 23 and one or more second phase difference detection circuits 24 to 26 for detecting a phase difference between the antenna composite output and a signal obtained by shifting the phase of the reference phase signal by a certain value. 2 of the above-mentioned lead wire from the second phase difference detection circuit.
A mobile body self-position detection device characterized by obtaining an output at a level corresponding to a position within an intersection section.