JPS5943800B2 - Data transmission device that can detect the position of moving objects - Google Patents

Description

[Detailed Description of the Invention] When an automated system controls the running of a moving object such as a vehicle or crane that moves along a certain travel route, the limited position of the moving object is monitored continuously or in a certain section. control and monitoring data must be able to be exchanged between the mobile unit and ground control equipment.

In this case, the present invention transmits and receives data as needed, and at the same time transmits the current position of the moving body to the ground control device side (hereinafter referred to as the ground side).
Alternatively, the present invention relates to a position detection/data communication device capable of detecting the position on the moving object side. In conventional position detection devices, a pulse generator that generates pulses as the wheel rotates is connected to a running wheel of a moving object or a rotating shaft engaged with the wheel, and the number of pulses generated by the movement of the moving object is measured. There are devices that constantly calculate the distance from a certain reference position by counting, but such devices require input of information from the reference position to the current position when starting up, and it is necessary to memorize the calculation results while moving. There are certain things that are bothersome.

Furthermore, once the power to the device is cut off, the memory is erased, so it is necessary to input the current location information after the power is restored, or to take measures against power outages. A further drawback is that errors are likely to occur if the running wheels slip. Another type of device is a so-called inductive radio position detection device that conducts a signal current through a guide wire stretched along a running route, or receives a signal current sent from a moving object to the guide wire on the moving object side or on the ground side. Various methods have been proposed, but these are only for detecting the position of a moving object, and are economically disadvantageous because they require separate data transmission equipment to transmit data between the moving object and the ground side. Ta. Therefore, the present invention provides an efficient device that eliminates the above-mentioned drawbacks and enables data communication at the same time as detecting the position of a moving object. One frequency F, and an unmodulated one at a different frequency F2. Sends two signal waves to the other party via a group of guiding wires,
The other party receives this signal wave, receives data, and simultaneously detects the position of the mobile object, either on the move or on the ground.

The present invention will be explained in more detail below. First, detection of the position of a moving body using a guide line will be explained.

This position detection method was already proposed by the inventor,
FIG. 1 is a diagram illustrating the configuration principle of a position detection device. The location of the moving object is determined by dividing the moving path of the moving object into an arbitrary number of sections, assigning an address using a gray code to each divided section, and laying a number of parallel two-wire guide wires on the driving path equal to the number of bits of the code. , each guide line is crossed at the dividing point of the divided section as shown in an example in Figure 2, and the positions of the two waves sent from the moving object or the ground side to each of these guide lines are as shown below. The feature is that the phase difference is detected by a position detector installed on the ground side or in a moving body, and the coded output is obtained as an address code for each divided section. In Figure 1, parallel 2
There is only one wire type guide wire 6, and the two-frequency signal transmitter 2 and the antenna or antenna coil 3 are provided on the moving body,
When the position of a moving object is detected on the ground side by the coupler 4 and the position detector 1 installed on the ground side at one end of the guide wire, 5 is the terminating resistor 0. The two waves from the transmitter 2 are from the antenna 3. It is radiated and generates an induced voltage in the guiding wire 6, but this phase is reversed at each crossing point, and when the moving object is in the A or C section (5B or D section, the voltage transmitted to the coupler 4 is Or the phase of the current is different by 180 degrees.

Position detector 1 uses two waves to detect whether this phase is caused by a moving object in A or C or a moving object in B or D, and outputs this as a binary code of 1 or O. By doing this for each guide line, it is possible to obtain the code for each bit of the address code of the moving object. Figure 4 shows the configuration and operation of the position detector, which plays an important role here.
This will be explained later. FIG. 3 is a diagram showing an example of the basic configuration of the device of the present invention.

In this figure, r is a guide line extended along the running route in the data transmission section Dd, 8 is a data transmitter or position detection (and) data receiver on the ground side, and Rd is a guide line 7. A terminal resistor, 9 is a coupler, 10, 11, and 12 are those placed on the moving body, 10 is a data transmitter or a position detection data receiver, 11 is an antenna coil for transmitting or receiving data signals, and 12 is a position The detection antenna 〇 and 13 are one of the guide wires extended in the section Da where the position of a part of the traveling route is to be detected, Ra is the terminal resistor thereof, and 14 is the coupler. Note that in this example, only one guide wire for position detection (13) is shown for simplicity, but if the address code is n bits, n parallel two-wire systems with different intersection points are used as shown in Figure 2. A group of guide wires is laid in parallel between two wires of the data transmission guide wire 7, for example. Also, although the antenna 11 only needs to be coupled to the guide wire 7, the antenna 12 can be connected to each guide wire for position detection even while driving.
One or more antenna coils are provided so as to couple with the same coupling loss. Now, the data transmitter installed inside 8 or 10 includes two frequency F and F2 oscillators, their amplifiers, and a modulator that performs phase modulation (PSK) on the f1 wave using data (binary code). When installed on a mobile object, the unmodulated F2 wave, which has a constant frequency relationship with f1, is transmitted from the antenna 11 to the antenna 12.
If installed on the ground side, the F2 wave is sent to the guide wire 7, and since the number of guide wires for position detection is generally multiple, the F2 wave is sent out to each guide wire in turn in a time-division circulation manner. do.

The relationship between the above two waves f1 and F2 is f1=(m-1)F2/m
(m is an integer of 2 or more). Below is f1
The case where =F2/2 will be explained, but the operation is exactly the same when m is selected as a number other than 2. Next, Figure 4 shows 8 and 1.
This is an example block diagram of a configuration example of a position detection and data reception device inside 0.The top row is the data reception section, and the second and lower rows are the position detection sections.In this example, there are two guide wires for position detection (the address code is 2).
Although the case of n-bit address code is shown as an example, the position detection section has n stages, for example.

In the data receiving section, 15 is a bandpass filter (hereinafter referred to as BPF) for extracting the f1 wave, 16 is an amplification amplitude limiter, and 17
is a frequency doubler, and 18 is a phase modulation signal detector (DTC).
), and 19 of the position detection section is a BPF that extracts the F2 wave.
, 20 is an amplification and amplitude limiter, 21 is a phase discriminator (PD)
It is. If this position detection part is inside the device 8 on the ground side, the number of position detectors (1
9 to 21), the input BPFl9 is connected to each guide wire, and the phase of each guide wire is output from the PD2l as described later, and a scanning distributor is provided at the front stage of the BPFl9. There is a serial processing method in which the inputs of each guide wire are connected in a fixed order in a time-division cyclic manner and the outputs are added to a single stage position detector and serial position information is output from the PD 2l. FIG. 4 shows a case where the system is installed on the ground side and uses a parallel processing method. Next, the operation of each part in FIG. 4 will be explained using FIG. 5.

FIG. 5 is a diagram showing an example of operation waveforms of each part when a data transmitter is provided in the mobile body shown in FIG. 3 and a position detection/data receiving device is installed on the ground side. Now assume that data such as Z in Figure 5 is input to the modulation input of the data transmitter. This input data causes the wave F to be generated using differential phase keying (DPSK). As is well known, this method There are 2 phase, 4 phase, 8 phase,...
...Generally, there are methods such as 2m phase. ), but if the input data is “1”, it is shifted by π phase and becomes “0”.
”, the F2 waveform is outputted to the antenna 11 with an O phase shift (that is, no shift) and coupled to the guide wire 7. [Note that in PSK, in the case of two-phase modulation, when the input signal is “0”, the phase is shifted. (shift), and if the signal is “゜r, π(1
On the receiving side, the phase difference between the preceding bit signal delayed by 1 bit time and the subsequent bit is detected bit by bit using a phase discriminator. Detected in phase, O if in phase, π if out of phase
Convert and output the code corresponding to . 1 to 8 at the top of the Z waveform
is the bit number, SP is the stop, ST is the start, π at the bottom of the Z waveform, and 0 is the phase. ] On the other hand, the F2 wave is output from the antenna 12 while maintaining the frequency relationship of F2=2f1, and is coupled to the guide wire group (7, 13 in FIG. 3). In this way, the induced voltages of these guide wires are guided to the position detection/data receiving device 8 on the ground side. Ll3 in FIG. 5 shows the intersection of the guide lines 13 for convenience, and the changes in the output of the device 8 on the left and right sides of this intersection point are as follows. However, it is assumed that the moving object moves at a constant speed. First, among the F, wave, and F2 wave outputs from the cross-guide wire 13 through the coupler 14, the phase of the F2 wave is reversed at the intersection of L and 3 as shown in the d waveform, but the phase of the F2 wave is reversed at the intersection of L and 3. The F2 wave is extracted, amplified at 20, and a signal whose amplitude is limited to a constant level is input to one side of the phase discriminator PD2l. By the way, at this time, the f1 wave (} and F2 wave) output from the other guiding wire 7 and coupler 9 is f1 at BPFi (15) of the data receiving section.
The component is extracted, amplified at 16, limited in amplitude, and doubled to 2f1 at the next stage 17. When the f1 wave is multiplied by 2, it is clear that the π-phase modulated wave is a continuous phase wave e with zero shift amount, so this is used as a reference phase signal and is used as another input to the phase valve PD 21 of the position detection section. Send to. In the case of f1 = F2/2, it is sufficient to double F, as described above, but in the general case of F, = (m-1)F2/m, the difference frequency between the f1 wave and F2 wave By multiplying by m, an F2 continuous phase wave with a shift amount of zero is obtained and used as a reference phase signal. Now, the phase discriminator discriminates whether these two inputs (waveform d<15e) are in phase or out of phase and sends out an output, but the phase discriminator 21 includes a low-pass filter and a square wave converter. As shown in the waveform, for example, an H level output h is generated when the phase is the same, and an L level output h is generated when the phase is reversed. In addition, B of 19, 20 etc.
PFs and amplifiers usually have their own phase shift amount, but since these cannot be predicted, it is necessary to insert a phase shift correction circuit into the PD input to create an ideal phase difference. be. In this way, the position detecting section performs phase discrimination for each output of the position sensing guide wire equal to the number of bits n of the address code as described above, and detects the H and L levels, that is, 6
Since it is possible to output parallel or serial address codes for each bit by encoding them into '1' and '60', the position of the moving body can be detected on the ground side. On the other hand, regarding data transmission, after the DPSKed F wave has a constant amplitude at 16 in FIG. 4, the phase modulation signal detector (DTC) 18 converts the J waveform in FIG.
Since it is output from the internal phase discriminator, it is further converted into a square wave by a low-pass filter and a Schmidt circuit (not shown) following 18 in FIG. 4, or converted into a square wave by an integral-discharge filter. The Z waveform is restored to the same Z waveform as that on the data sending side.

As described above, in the device of the present invention, a data transmission signal (FL wave) is sent from the ground side to the guide line 7, and a position detection signal (F2 wave) is sent to the guide line 7.
is transmitted to the position detection guide wire group in a time-division cyclic switching manner, allowing the moving body to receive data and detect its own position at the same time.

However, in the case of a moving body, it is generally necessary to switch the input from the position detection guide line in synchronization with the ground side and input it to each position detection section. Conversely, from the mobile side, a data transmission signal (FL wave) and a position detection signal of the F2 wave group, which has a different frequency for each position detection guide wire but have a relationship of F2 = Mfl/m-1, are sent to the guide wire. , it is possible to simultaneously receive data and detect the position of the moving object on the ground side, but in this case, instead of using n F2 waves, the above switching operation is not necessary. Furthermore, it is clear that both data transmission and position detection need not be performed on one side; it is also possible to send a data transmission signal from the land side to the mobile body and send a position detection signal from the mobile body, or vice versa. be. In addition, the above position detection is to obtain the absolute position of a moving object by detecting the address code, and the number of guiding wires is required to be the number of bits of the address code + 1, but the number of guiding wires is reduced and the relative address is used instead to calculate the number of crossing points. It is clear that the present invention can also be used for the desired position detection and data transmission, and although the present invention can achieve effects such as efficient use of guide lines and simplification of equipment for fixed running routes, its performance is limited. Since position detection uses a phase discrimination method using crossed guiding wires, an amplitude limiter can be used, so the distance between the mobile antenna and the guiding wire changes as the vehicle travels, resulting in large coupling losses between them. Even if there is a change, it is possible to accurately detect the intersection position, and the position detection accuracy is high, resulting in significant operational effects.

[Brief explanation of drawings]

Figure 1 is a diagram showing the basic configuration of a position detection device, Figure 2 is a diagram showing an example of the intersection of section-specific address codes and guide lines, Figure 3 is a diagram showing a basic configuration example of the device of the present invention, and Figure 4 is a diagram of a position detection/data receiving device. FIG. 5 is a block diagram of a configuration example. FIG. 5 is an example diagram of waveforms of each part of FIG. 1...Position detection unit, 2...Transmitter,
3, 11, 12... Mobile antenna, 4, 9,
14...Coupler, 5, Rd, Ra...
Terminal resistor, 6? , 13...Guiding wire, 8, 10
... Data transmitter and position detection/data receiving device, each alone or in combination, 15, 19...
・ BPF, 16, 20...Amplifier and amplitude limiter, 1T...Frequency multiplier circuit, 18...
Phase modulation signal detector, 21... Phase discriminator.

Claims (1)

[Claims] 1. A first guide line is extended along the travel path of the moving object, and a frequency f_1 wave is transmitted between the moving object and the ground fixed station in 2^k phase (k is 1
, 2, 3, etc.) and a device that performs phase modulation to transmit and receive data, and a device that divides the section in which the position of the moving object on the traveling route is required into an arbitrary number and assigns a position address using a Gray code for each divided section. A second parallel two-wire guide wire group whose number is equal to the given bit number (n) is extended along the running route by intersecting the division points of the divided section according to each bit code of the above address. , the above f_1 wave and f_2=m from the moving body
An unmodulated f_2 wave signal with a frequency relationship of f_1/(m-1) [m is an integer of 2 or more] is connected to the first guiding wire and the second guiding wire.
A device that connects and supplies the guided wire of
A device for detecting an address code by using the multiplied output as a reference phase signal for phase discrimination and performing phase discrimination with the f_2 wave output from each of the second guide wire group. Detectable data transmission device. 2 Extend the first guide line along the traveling path of the mobile object and transmit the frequency f_1 wave of 2^k phase (k is 1) between the mobile object and the ground fixed station.
, 2, 3, etc.) and a device that performs phase modulation to transmit and receive data, and a device that divides the section in which the position of the moving object on the traveling route is required into an arbitrary number and assigns a position address using a Gray code for each divided section. give a number of second parallels equal to that number of bits 2
The wire type guide wire group is crossed at the dividing point of the divided section in accordance with each bit code of the above address, and is extended along the running route, and the above f_1 is sent from the ground fixed station to each of the second guide wire group. The unmodulated f_2 wave signal, which has a frequency relationship of f_2=mf_1/(m-1) [m is an integer of 2 or more], is picked up from each guide line by a time-division circulation supply device and a mobile station. A device for detecting an address code by using an output obtained by multiplying the difference frequency wave between the f_1 wave and the f_2 wave by m as a reference phase signal for phase discrimination and performing phase discrimination with the f_2 wave output. Data transmission device that can detect location.