JPS5941542B2 - Self-position detection device for mobile objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device capable of detecting the position of a moving vehicle traveling on a fixed traveling path.

In the conventional moving body position detection method, a crossing parallel two-wire guide wire is laid along the travel route, and the
Supply a high frequency current in the Hz band.

On the other hand, on the moving object side, a coil antenna is connected to the guide wire to detect the degree of change in induced voltage at the intersection of the guide wires, and from this and the traveling direction information obtained from the rotation direction of the axle of the moving object, the above-mentioned Means to know the relative position of the moving object from the reference point by adding and subtracting the degree of change, and converting the above calculated value into an absolute address using an absolute address detection device using an electromagnetic proximity switch or a guide wire installed in the middle of the travel route. is proposed.

However, these methods detect intersections by detecting amplitude changes, so in general cases where the distance between the guide wire and the coil antenna varies, the detection position of the intersection may not be constant and malfunctions may occur due to noise. There were some drawbacks.

In addition, the unit of position (called address) of the moving object is made smaller (approximately 10
Crn), it is necessary to reduce the crossing interval of the guide wires, but interference occurs between the crossing sections and the induced voltage of the antenna decreases, which increases the accuracy error of the detection position of the crossing point. This is a drawback.

The present invention was made to eliminate these drawbacks.In the present invention, first, the intersection of crossed parallel two-wire guide wires is detected by a phase discrimination method, and the traveling direction of the moving object is also related to the detection of the intersection. The position is determined by adding and subtracting the number of detected intersections.

It is characterized by being a high-performance relative address type mobile object position self-detection device that is unaffected by fluctuations in the coupling interval between the guide wire and coil antenna and noise interference, and is used for automatic operation of cranes, trolleys, vehicles, etc. In this case, the effects of improved accuracy and lower equipment costs can be obtained.

The present invention will be described in detail below with reference to Examples.

FIG. 1 is a block diagram of an apparatus according to an embodiment of the present invention.

Symbol 1 in the figure is a parallel two-wire guide wire laid out along the moving path and intersecting at equal intervals.

2 is a terminating resistor, 3 and 4 are coil antennas mounted on a moving body coupled with induction wires, 4' is an antenna when the distance L3 between antenna 3 is increased instead of 4, and 5 is a specific signal frequency generation It is a vessel.

In this example, all 5 to 12 are elements constituting a detection device provided on the movable body, but 6 to 12 in particular can be collectively referred to as a position detector.

6 is a signal amplification and amplitude limiter (AL), 7 is a phase discriminator (PD), 8 is a square wave conversion circuit, 9 is a conversion point pulse generation circuit, and 10 and 11 are pulse signal gates (AN
D) Circuit 12 is an addition/subtraction counter (reversible counter).

Further, ≠0 to +8 indicate fixed addresses Sl and Sr for each section intersecting at equal intervals, and a, br, and bl indicate different waveforms.

Further, L□ is the length of each intersection interval, S is a reset input for regulating the counter 12 at the reference position, and D is a signal input for the traveling direction of the moving object. You can use the positive and negative levels obtained by

FIG. 2 is an example diagram of waveforms of each part of FIG. 1.

Next, the operation of each part shown in FIG. 1 will be explained.

First, the guide wires 1 are crossed at equal intervals L1, and are determined to satisfy the relationship L2 between the antennas (coils) 3 and 4 of the moving body.

Tasoshi n is an integer such as 0.1.2, . . . . Now, if L2--Ll is too close and mutual interference occurs between both antennas 3 and 4, in order to avoid this, L2→L3
= 1.5 L, in which case antenna coils 3 and 4' are used.

However, if there is no antenna interference, the operation is the same in either case, so the case will be explained below.

A continuous wave of a specific single frequency (one wave in the guided radio station wave band of 10 KHz to 250 KHz) is generated by a specific signal frequency generator 5.
When the current is sent from the magnetic field to the antenna coil 3 and PD 7, an induced current flows through the induction wire 1 connected to the antenna coil 3, but the induced magnetic field is reversed every time it passes an intersection.

Assuming that the antenna coil 3 is coupled to ≠1 section, the induced magnetic field in the ≠1 section and the induced magnetic field in the odd-numbered sections are in phase and opposite in phase to the induced magnetic field in the even-numbered sections.

The antenna coil 4 is provided at such intervals that the coupling with the antenna coil 3 can be ignored, but the signal output coupled and induced from the guide wire 1 to the antenna 4 is input to AL6, where amplification and amplitude limitation are performed and PD7. Enter it on one side.

The output of the signal generator 5 is applied to the other input of the PD 7.

This PD7 includes a phase shifter to compensate for the phase rotation of the signal within the transmission path, and compensation is performed in advance. The two inputs are in phase, and PD7 outputs the "L" level.

Assuming that the moving object is moving to the right, that is, in the Sr direction, and considering that antenna 3 is in the 4I-1 section and antenna 4 is in the -11-2 section, then the two inputs of PD7 are in opposite phase with each other. Therefore, PD7 outputs the "H" level.

The next stage, 8W, includes a low-frequency mud wave generator and a square wave conversion circuit such as a Schmitt circuit, and the input to PD7 is output as a square wave.

Therefore, when the moving body moves along the travel path, the output in each section of W8 changes as shown in the waveform a in the lower part of FIG. 1 with antenna 3 as a reference.

In other words, when antennas 3 or 4 face the intersection, the output level changes to HeL, and when the intersection between antennas 3 and 4 does not face each other, the L level is in phase, and when the opposing part is included, the output level changes to HeL. outputs H level respectively.

Note that the a waveform that is the output of W8 is the conversion point pulse generation circuit P.
9, a pulse is generated at each transition point of rising and falling.

This pulse has a pulse width τ less than the time equivalent to -L1 at the maximum speed of the moving object.

Therefore, regardless of the moving direction of the moving body, a one-hour pulse is input to AND gates 10 and 11 at each conversion point of the a waveform, but the above-mentioned traveling direction signal is input to the other inputs of these gates. AND gate 1 depending on the running direction from
Only one of 0 and 11 will allow the pulse to pass.

For example, if the traveling direction is the S direction, the signal br shown in FIG.

In this way, the reversible counter 12 adds or subtracts input pulses according to the moving direction of the moving body, so its output 13 is supplied to a display, for example, and counted every L1/2 from a certain reference point of the moving body. It can be expressed as a relative position or a relative address.

In practice, it is often desirable to represent the position of a moving object as an address given to that point, that is, as a feeder address.

In that case, it is necessary to set a reference point for counting, and the reversible counter 12 can be configured to clear the calibration reservoir and perform addition operations at one or more fixed points on the road (the s terminal is set at this reference point). This is a calibration input terminal.

Fixed point information can be detected, for example, by a combination of a magnetic piece provided at a fixed point along the path of the moving object, a proximity switch provided on the moving object, a code converter, a pulse generator, etc., but these are not known in the art. Since there is, I will omit the explanation.

Further, instead of being provided on the movable object side as shown in FIG. 1, the specific frequency generator 5 may be provided at one end of the guide wire 1 so that the signal current flows directly through the guide wire 1.

In this case, antennas 3 and 4 both serve as receiving antennas, but the output of antenna 3 is amplified and amplitude limited as necessary before being input to phase discriminator PD7.

Next, a device that self-detects the moving direction of a moving object without using the D input shown in FIG. 1 will be described.

FIG. 3 is a side view of the configuration of the device of the present invention in which a moving direction automatic detection circuit is added to the circuit shown in FIG.
Same as the figure.

Numeral 14, unlike 4' in FIG. 1, is a coil antenna mounted on a moving body that coexists with antennas 3 and 4, and is coupled to the guide wire.

antenna 3 and 1 14 interval L3 is (n+-)LH or (n+)Lt4 However, this interval does not need to be strict.

FIG. 4 shows each waveform diagram of FIG. 3, and the movement direction detection operation of FIG. 3 will be explained below using this diagram.

First, a specific single frequency signal from the oscillator 5 is coupled and transmitted from the antenna 3 to the guide wire 1, but the outputs of the antennas 4 and 14 coupled to the guide wire are input to 6 and 15, which perform signal amplification and amplitude limitation, respectively. , these outputs are input to PD7 and PD16, respectively.

Phase discriminator (PD)? The other input of oscillator 5 and 16 are both direct inputs from oscillator 5.

By the way, 3→1→4→6→7 and 3→1→14→15
→ Since both propagation routes in 16 have their own unique amount of phase rotation, when the antennas 3 and 4゜14 are in the same section of the guide wire, for example, the phase correction circuit 2 is set so that the inputs to the PD are in the same phase. Place them at appropriate locations along the route.

By doing this, when antennas 3 and 4 and 3 and 14 are in the same section, the inputs will be in phase and the "L" level will be output from PD7 and PD16. When the opposing surface extends over two sections of the guide wire, the input is in reverse phase and outputs the tt Hn level.

The outputs of PD7 and PDI& are input to 8 and 17, where they pass through a low-frequency P wave generator and are shaped into square waves, outputting waveforms a and b shown in the lower part of FIG. 3, respectively.

In other words, when the moving body travels, L2=L1/2.

Based on the antenna spacing L3-3 L/4, the outputs of the square wave converters W8 and 17 will be the waveforms a and b in Figure 3, based on the position of the antenna 3 relative to the guide line 1. The operation is similar to that shown in the figure.

Next, the output of W8 is separately outputted to the next stage 18 as a rising conversion point (L→H) and a falling conversion point (H-+L).

18 and 19 are both square wave converters, but in 18, the rising edge is driven without delay, but the falling edge is driven with a slight delay from the conversion point.

Therefore, as shown in FIG.
t4 from the H-)L transition point (different for Sr and Sl) of the a waveform like the Cr and cl waveforms, respectively.
Get up late.

The start-up of the waveform is almost at the same time as the a waveform.

Also, like W8, the output of W17 drives the next stage W2B separately for each rising and falling conversion point, but contrary to W2B, there is no delay at the falling edge, and the rising edge is driven with a slight delay from the conversion point. do.

Therefore, depending on whether the moving direction is Sr or Sl, t2
It rises with a time delay, but falls at the same time as the b waveform.

Note that 8 and 18, 17 and 19 can be combined and called a square wave conversion circuit.

Next, as for the output of W2B, the conversion point pulse generation circuit P20 outputs a falling pulse d for each H→L conversion point and a rising pulse U for each L-)H conversion point, and the U pulse is an AN
The d pulse is input to the AND gate 11.

On the other hand, AND gates 10 and 11 have square wave converters 18
Now, Cr or C1 is input, and the gate 10 gates the U pulse with the inverted output C of Cr and Cl.

Therefore, when the moving direction is Sr, the output of the gate 10 is dr
There is only the er pulse at the rising edge of S, and similarly the moving direction is S.
When the voltage is 1, the output of the gate 11 is only the el pulse at the falling edge of dl.

(Although the pulses input to the gates 10 and 11 as u and d are twice as large as e r t el , only those that match the rising edge of dr and the falling edge of d6 are output.) Depending on whether the moving direction of the moving body is Sr or Sl, er and el are selectively output, and pulses for passing through sections (actually, passing through intersections) for each traveling direction are output.

Therefore, the reversible counter 12 performs an addition operation on er and a subtraction operation on el, thereby detecting the position of the moving object in exactly the same manner as in FIG. 1.

As is clear from the above description, according to the device of the present invention, a relative address such as a reference point can be detected by a relatively simple mobile equipment, and this can also be used as a feed address. However, as ground-side equipment, it is sufficient to simply lay evenly spaced intersecting guide lines along the running route, which reduces equipment costs and significantly facilitates maintenance.

In addition, position information is obtained by transmitting a single wave of a specific frequency from the moving object and detecting the phase difference between this and the output picked up by the guiding wire, making it resistant to input level fluctuations and noise interference.
The driving direction is also detected at the same time, which has the advantage of high reliability.

If the moving object is a crane, its position detection usually requires 1
1. Absolute address detection at 0m or 50m intervals is performed. During this time, if the device of the present invention detects relative addresses at intervals of, for example, 10 cm, the position can be detected in units of at least 10 cm over the entire travel route, which extends for example to several hundreds of meters.

In general, relative address detection devices have a disadvantage compared to absolute address detection devices in that depending on the frequency of power outages, power outage countermeasures or correction measures are required when power is restored, but the frequency of power outages is generally extremely small, so No problem.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram of an embodiment of the device of the present invention, Fig. 2 is a waveform diagram of each part of Fig. 1, Fig. 3 is a side view of a configuration in which a movement direction self-detection circuit is added to the circuit shown in Fig. 1, and Fig. 4. are waveform diagrams of various parts in FIG. 3. 1... Guide wire, 2... Terminating resistor, 3, 4, 4'. 14... Antenna of mobile object (antenna coil), 5.
...Specific signal frequency generator, 6.15...Amplification and amplitude limiting circuit, 7,16...Phase discriminator (PD), 8゜1
7.18,19...Conversion circuit to square wave ■, 9°20
...Conversion point pulse generation time door, 10.11-...AND
Gate, 12... Reversible counter.

Claims (1)

[Claims] 1. Spread out along a fixed travel path of a moving body and at equal intervals L1
a cross-type parallel two-wire guide wire crossed at a point, a specific frequency signal generator at one end of the guide wire or supplying an output to the first antenna of the moving object, and a specific frequency signal generator placed on the moving object and connected to the above guide wire, respectively; and the mutual spacing L2 is (n+-)L,
(however, n is an integer such as 0°1.2...). A position detector is provided when the second two antennas or antenna coils and the outputs of the two antennas are input, and the position detector receives the input from the second antenna and the input from the first antenna. A phase discrimination circuit that detects the phase difference between the two and sends out low and high level outputs depending on whether they are in phase or out of phase, a circuit that converts the output into a square wave and generates a pulse at the conversion point of the square wave, A gate circuit that opens and closes according to the logical product of inputs whose level changes depending on the direction of movement of the moving object, and a pulse generated at an interval of 1/2 of L1 by the output of the gate circuit, depending on the direction of movement of the moving object. A self-position detection device for a moving object, comprising a reversible counter that adds or subtracts and outputs a numerical value representing the relative position of the moving object from a reference point. 2 Stretch and lay along the fixed travel path of the moving object and at equal intervals Ll
Intersecting parallel two-wire guide wire with intersection. A specific frequency signal generator that supplies an output to one end of the guide wire or to the first antenna of the moving body, is mounted on the moving body and is coupled to the guide wire, and the mutual spacing L2 (where n is 0.1°2 The first . each second antenna;
A third antenna is provided on the opposite side of the second antenna from the first antenna and is spaced approximately or approximately from the first antenna, and a position detector receiving each output of the three antennas as input; The position detector includes the second antenna and the third antenna.
The second antenna link performs a phase comparison between the input from the antenna and the output from the first antenna or the specific frequency signal generator, and sends out outputs of low and high levels depending on whether the input is in-phase or out-of-phase. 1 phase discriminator, a second phase discriminator of the third antenna connection, and a square wave that converts each output of the first and second phase discriminators into a square wave and delays only the falling conversion point of the square wave for a certain period of time. first and second square wave conversion circuits each outputting a square wave that is delayed by a certain period of time only at the rising conversion point of the wave and the square wave, an inverted wave of the output of the first square wave conversion circuit and the second square wave conversion circuit. Two gates calculate the logical product of the rising point pulse and the falling point pulse obtained from the output, and the output pulse is guided to the addition input or subtraction input to obtain a numerical value representing the relative position of the moving body from the reference point. 1. A self-position detection button device for a moving body, comprising a reversible counter that outputs an output.