JPS6010650B2 - Ground detection device for moving object stop position - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to detecting the stop position of a mobile object such as a crane, a trolley, or a vehicle that moves along a fixed travel path when the movement of the object is controlled by an automated system. Intersecting parallel two-wire guide lines with a specific pattern of intersections are laid along the road at predetermined points.
A feature of this system is that a signal is sent from the moving body to the guide line, and the position and stoppage of the moving body are detected from this guide line signal on the ground side (hereinafter referred to as a ground station).

Conventionally used position detectors for moving objects can be roughly divided into optical, electromagnetic coupling, inductive coupling, and mechanical types, but each has its own characteristics, so there are different types depending on the purpose of use.
Combinations of one or more methods are in practice.

In particular, various methods have been proposed for the inductive coupling method. For example, a pair of crossed parallel two-wire induction wires is used to detect the amplitude change in the reception level of a mobile receiving antenna at the intersection, and There is a relative address detection method that counts the number of level changes in addition to detection as a reference point, and multiple pairs of intersecting parallel two-wire guide lines are used to detect intersections as two or more bits.
An absolute address detection method is provided in accordance with the binary code address, and the moving object detects this binary code address, and a plurality of loop coils are arranged along the travel route, and the moving object detects information from the loop each time it passes. There are methods etc. However, in all of these methods, the distance between the antenna or loop coil on the mobile side and ground equipment such as a traveling platform or guide line is closely related to detection accuracy, and methods that detect and judge the amplitude level of the follower may cause malfunction due to noise interference. may occur. In addition, to detect a stop, for example, a method is used to determine low-speed rotation from the output of a tacho generator engaged with the wheels or axles of a moving object and obtain a stop detection output. The disadvantage is that the accuracy is low. However, in recent years, detecting the stop position of a moving object requires detection performance of a minimum position unit of 10, a measurement error of 1 inch or less, and a low stopping speed of 1 skin/sec, making it difficult to use conventional methods. The present invention has been made to solve this problem.The present invention has been made to solve this problem. A specific signal wave is sent out by transfer coupling, and the ground station uses this signal wave to detect the specific pattern configuration and measure the intersecting interval time to detect the position of the moving object and detect the stoppage, achieving high accuracy and resolution. It is characterized by being able to

The present invention will be explained in detail below using examples. FIG. 1 is a diagram showing an example of the basic configuration of the apparatus of the present invention.

1 in the diagram is the required section (fixed point) along the traveling route of the moving object
2 is the terminal resistor, 3 is the stop position detector, 4 and 5 are the equipment on the moving body side,
4 is a transmitting antenna or an antenna coil; 5 is a two-frequency oscillator generally within a 1-dish HZ to 25-dish HZ; and a 2-frequency oscillator. The first crossing section Ts and the section where the crossing interval is large when the movable object moves in the S direction with respect to the guide line 1 constitute the code "1", and the crossing interval is assumed to be L. Furthermore, a - section with a short crossing interval constitutes "0" of the code. In the crossing pattern of the guide lines shown in Fig. 1, the first part represents the code (10101), and the next part is the position detection section, which is composed of a series of sections with a crossing interval of -.
0101 is coded and given as a starting point for position detection, and is used to set a reference position for relative address type position detection. Further, although FIG. 1 shows the case where L=22, when the acceleration is large within the position detection area of the moving body, it is necessary to set L>22 and make L sufficiently large. Next, FIG. 2 is a diagram showing a specific example of the circuit configuration of the ground station stop/false detector 3.
6 and 7 in the figure are the bandpass filters (BPF), 8 and 9
is the amplification and amplitude limiter (A/L), 10' or frequency 2
A multiplier, 11 a phase discriminator (PD), 12 a square wave converter (W), 13 a control circuit for a crossover interval determination processing circuit,
14 is a clock generation circuit, 15 is a time measurement counter, 1
6 is a storage device for measured values (called memory), 17 is arithmetic judgment 0
18 is a shift register, 19 is a code matching circuit (for example, an AND gate), 20 is an intersection counter, 21 is a stop position information output device, and 22 is a low speed detector.

3 and 4 are waveform diagrams showing the operation of each part of the apparatuses shown in FIGS. 1 and 2, and the operation of these apparatuses will now be explained using these waveform diagrams. However, the traveling speed of the moving object has actually been sufficiently decelerated before reaching the specified stop position, and within this stop position detection area, a large acceleration control is performed to stop the object. , the waveform diagram assumes constant speed. Now, a guide line 1 is laid along the traveling direction in the stopping position section of the moving body, and from the oscillator 5 of the moving body, continuous waves of two frequencies of Na, , Na2, which are in the relationship Na2 = 2Na, are emitted. The output is coupled and sent out to the guide wire 15 via the antenna 4, but the signal current induced in the guide wire 1 is reversed in phase when the antenna 4 passes through the intersection.
This signal current flows through the guide wire as a steady current and is input to the stop position detector 3 (FIG. 2). The operation of each part in FIG. 2 will be explained next. 0 The BPF 7 in FIG. 2 separates and extracts the input Na and wave components, and the BPF 6 separates and extracts the Na and 2 wave components.

Then, after the wave component is amplified by A・L 9 and limited to a constant amplification, it is multiplied by the frequency doubler 10 and 2〆,=〆2
The resultant signal is sent to one input of the phase difference discriminator PDII. The Ikekata 2 wave component is amplified by A/L8, and the output limited to a constant amplitude is sent to the other input of PDII,
PDII performs phase difference discrimination between these two inputs.
For both the N-wave and N-2 wave, the phase of the output of the guide wire 1, that is, the input signal of the stop position detector 3, is shifted by 180 degrees (or radians) each time the mobile antenna passes through an intersection. N, the phase change of the wave before and after the intersection is opposite (1
80 o), so if you use a full-wave rectifier circuit in the doubler 10 to rectify the wave, you can obtain a 2-wave with twice the frequency, and the difference between before and after the shift of the wave is Since the phase change is 18 pm, this 2 pm wave is converted into the same phase, and if further shaped by a 2 pm tuning circuit, a continuous phase 2 pm wave that is unaffected by the presence of the guide line intersection can be obtained. This 2〆 is input as a reference phase signal to the wave phase discriminator (PD) 11. Also, the 2〆, which is the output of the oscillator 5,
, 2 waves are transmitted to the stop position detector 3 using the same guide line as the transmission line, 2 waves, 2 waves are transmitted separately through BPF and A/L, and only the waves 2 are transmitted through a multiplier. The signal is input to the phase discriminator 11, but during this time, unique position changes occur in the BPF and A/L.

On the other hand, the input/output characteristics of PDII are such that when the phases of these two input signals are in the same phase, a positive maximum output is produced, when they are out of phase, a negative maximum output is produced, and when there is a difference of 900, a zero output is produced. The phase difference between two input signals with inherent phase changes often does not satisfy the ideal phase discrimination characteristics described above. Therefore, it is necessary to correct the phase difference between the two input signals so that they are correctly in phase or out of phase in accordance with this ideal characteristic. For this reason, for example, a phase correction circuit (phase shifter) such as an LC circuit or RC circuit is inserted and added to the input side of PDI I, and the phase difference between the two signal input waves of 2-na and 2-na is discriminated in an ideal state. Correct it so that it does. In this way, if the two inputs from PDI I are in phase, for example, “
If the phase is reversed, it will output the “L” level, and if it is out of phase, it will output the “H” level (or vice versa).
W) 12 and is converted into a square wave through the input side low frequency furnace wave circuit. This is shown as waveform a in FIGS. 3 and 4. This is the case where the moving object travels in the S direction. The above is the same regardless of whether the antenna 4 is facing the code section or the position detection section of the guide wire 1, and the phase polarity of the a waveform is between the stop position detector 3 and the antenna 4 (opposed section). is determined by the number of intersections of and the polarity of PDII, but this example assumes as in these figures. 5 Next, a method for detecting the starting point of forgery detection will be explained using FIGS. 2 and 3.

As described above, the a waveform according to the intersection of the guide lines 1 is outputted from W12 in FIG. 2 as shown in FIG. 3, and a portion thereof is input to the control circuit 13 at the next stage. This control circuit 13 generates a plurality of outputs, one of which is a control signal that stops and resets the time measurement counter 15 that counts the clock from the clock pulse generator 14. At each transition point of the rise and fall of b
The waveform is input to the counter 15 according to the waveform. The second output from the control circuit 13 is a command signal that causes the memory M16 to store the count value of the counter 15 at the previous stage, and is output like the c waveform at each conversion point of the a waveform, and is output when the counter 15 stops counting. The count value is stored in the memory 16. Control circuit 0
The third output of 13 is a d waveform that instructs the calculation determination circuit 17 to perform calculations, and this is output at the same time as the c waveform pulse is restored. The fourth output is the shift clock SC of the shift register 18, which is output at the trailing edge (falling edge) of the d waveform. (The SC waveform is omitted in FIG. 3.) Since the control signals b, c, d, etc. are output from the a waveform in this way, the operation will be explained in order next. The counter 15 counts clock pulses while the b waveform is on (day level), and counts the clock pulses while the b waveform is off (day level).
LO level), counting is stopped, and the count value of the counter 15 is stored in the memory 16 when the next c waveform is turned on.

After this writing is completed, the b waveform is restored to the on level and the counter 15 is reset and at the same time starts counting clocks again. Further, the c waveform also returns to the off level after writing is completed. Simultaneously with the restoration of these b and c waveforms to on and off, the on (H) level of the d waveform is input to the arithmetic determination circuit 17 as an arithmetic command, and arithmetic determination is started. As described above, the time required for the mobile antenna 4 to pass between the intersections of the guide lines is measured by the counter 5 as the number of clock pulses, and the values are sequentially stored in the memory 16.

Next, when the on (H) level of the d waveform from the control circuit 13 is input as a control command in the calculation/judgment circuit 17, the measured value stored in the memory 16 is sent out and input. Create a reference standard value as explained below and enter the code code (
1 or 0).

Here, since the crossing interval of the guide line 1 is set to L=phantom 2 in the code section as described above, the crossing interval next to the crossing interval of L is either L or L.

Therefore, the preceding L, . If the time required for antenna 4 to pass through the intersecting section of 1) is almost the same as the time required to pass through the subsequent section, then the code for that section is still "1"; If the time is approximately 1/2, the code is "0" and the crossing interval is determined to be L2.Therefore, if the reference standard value is set to L, the middle of the expected time required for each of the sections and the L section, Well, circle, /4 (L,
75% of L2) = 2/2 circle (150% of L2) (・/L=a
2) The required time is selected. Returning to FIG. 2, during the calculation judgment command (day level) using the d waveform, the calculation judgment circuit 1
7 reads the new measured value in memory 16, while circuit 1
7, the measurement value of the required time for the previous L or L2 section and the result of the calculation and determination as to whether the code is 1 or 0 are stored, and the reference standard value for determining the code for the new measurement value is set as above. Decide as follows.

In other words, if the measurement value of the time required for the preceding section is tn, and the determination of the crossing interval of the preceding section is code "1", tn corresponds to the crossing interval L, so the reference standard value for the succeeding section is tn.
It is sufficient to take 3/4 (75%) of the total amount. Also, if the judgment code for tn is “0”, the reference standard value is 3/2 (15
0%). In the arithmetic and judgment circuit 17, using the reference standard value obtained in this way, the measurement value tM of the subsequent crossing interval during the on-level time of the d waveform is inputted from the memory 16 and compared and judged, and the reference standard value of 8 lids is determined. If it is greater than or equal to, the crossing interval or code is “1”,
Alternatively, if it is smaller than the reference standard value, the code becomes "0" and these codes are output to the shift register 18 at the next stage.

That is, let tn and tno be the values of tn when the preceding intersection interval determination is "1" and "0", respectively,
2-tn, xo. 751 When tn 10, 2tM x 1.5 J, it is judged as “1”…3:
Three moves...Sansanbi 9: Ki 5} is judged as "0".

The operation of the calculation/judgment circuit as described above is further explained in FIGS. 1 and 3.
In the preceding section of the first T section (L,) of the code section of guide line 1 in the figure, it is unclear whether it is "1" or "0", so L2
Alternatively, if a crossing interval of L2 or less is set as the preceding section, even if the preceding section itself is determined to be 1 or 0, the measured value ts of the counter 15 of the Ts section is greater than the reference standard value, so the Ts section is always "1". ” is determined.

Now, if a moving object travels in the S direction at a constant speed, a. Waveforms b, c, and d are generated, the counter 15 counts the clocks from the clock generation circuit 14, and the memory 16 stores them.The arithmetic/judgment circuit 17 reads out the measured (number) values from the memory 16 or After creating and reading a reference standard value based on whether the previous measurement value tn and the previous determination is "1" or "0", a comparison calculation and determination is made between the previous measured value tn and the lower value tn+.

That is, first, the first Ts interval is determined to be "1" as described above, but next, the calculation determination circuit . 17 creates a reference standard value ts×0.75, and the subsequent L2 section is clearly determined to be "0". Subsequently, the same calculation judgment is performed for each intersection section and the result is "1" or "0".
Output. This is the e waveform in Figure 3, and the e waveform “
1” is input to the next stage shift register 18 and the control circuit 13
1, 0... depending on the shift clock.
is stored and i. ~i5 Waveform-like changes are made. Next, the code section of yield line 1 has code 10101.
As the moving body moves through this code section, each digit of the shift register 18 receives 101.
When 01 is written, since the code 10101 of the code section is stored in advance in the code match judgment circuit 19, the code of each digit of the shift register and the stored code are matched in this circuit 19. . If a match is detected, g shown in Figures 3 and 4
The detected day level output of the waveform is sent to the next stage counter 20'. The counting operation of the counter 20 is reset by the rise of the H level input of the g waveform, and the count value (the count of the a waveform from the square wave converter 12) is cleared. However, if the a waveform is input after this reset, the number of pulses thereof is counted. This provides a starting point for the relative address type position detection, and from then on, counting is performed for the a waveform every time an intersection is detected in the position detection portion of the guide line 1.
The above is an explanation of the starting point detection. Next, FIG. 4 is a diagram showing an example of operation waveforms when detecting a stop position, and similarly to the above, it is assumed that the moving body travels at a constant speed in the S direction.

When the control signal g waveform is input to the counter 20 in the intersection (0) to {1} section of the position detection section of the transfer line 1 due to the code matching detection described above, the counter 20 executes a counter at each conversion point of the a waveform. The constituent flip-flops are driven, and the waveform changes as h in the first stage, and 1/2 frequency division operation is performed in the following stages as h2, . . . hn, and counting progresses. On the other hand, to detect that the moving object is at a low speed almost equivalent to stopping ~ Time measurement counter 5
It is only necessary to detect that the count value from the counter 5 exceeds a count value corresponding to a low speed close to a stop (the faster the moving object travels, the smaller the count value of counter 5 in one intersection section). A low speed detector 22 detects coincidence of the appearance of a predetermined count value corresponding to a low speed in each digit of 5, and when a coincidence occurs, a control output is sent to a stop position information output device 21. The measured value of the counter 20 up to this coincidence detection is output as the stop position information Out. Note that the count value of Counter 20 is the number of intersections until the moving object stops, with the first intersection (0) of the position detection section in Figure 4 being ○, and it gives a relative address type stopping position. Become. The apparatus shown in Figures 1 to 4 above uses a configuration in which a two-frequency signal current of 2, 2, and 2 is passed through one crossed parallel two-wire induction wire. A device that uses a parallel two-wire guide wire and a crossed parallel two-wire guide wire will be described.

FIG. 5 is another configuration diagram of the device of the present invention, and 1, 2, and 4 are the first
Same as the figure.

23 and 24 are couplers, 25 is a stop position detector, and 26 is 1
A signal oscillator (moving display layer) with a frequency of 27 is a parallel two-wire guide wire that does not intersect within the stop position detection section.

In the code section of the guide line 1, the code 1 has a crossing section L, and the code river has a crossing section L=L. /2 is assigned to each to perform the intersection, and in the position detection section, the intersection is repeatedly configured at an interval of L2. 1 to n in the figure represent intersections of the relative address system, and Ts represents the first "1" of the code section. In FIG. 5, it is assumed that the edge is equal to the peak 2, but when the acceleration at the time of stopping is large, L is set to be sufficiently large as L>22. The waves from the oscillator 26 of the moving iron are sent from the antenna 4 to the guide wire 1.
and 27, and is transmitted to the stop position detector 25 via couplers 23 and 24. FIG. 6 shows an example of the configuration of this stop position detector 25. In the figure, 28 and 29 are both N, BPF for wave extraction, 30 and 31 are signal amplification and amplitude limiting circuits 0 (A/L), 32 is a phase difference discrimination circuit (PD), 3
3 is a stop position detection circuit constituted by 12 to 22 in FIG. To explain the operation with respect to Figures 5 and 6,
Since the yield line 27 does not cross in the stationary hawk detection section, the signal wave from the mobile antenna 4 generates a current with a lotus quincunx phase, which is input to the BPF 28 via the coupler 23. Here, only the waves are band-limited, and the output with a constant amplitude at the AOL 30 is input to one of the PDs 32. On the other hand, since the guiding wire 1 is crossed as shown in FIG. 5, a signal wave that changes by 180 (straight phase) is induced each time the moving object passes the crossing point as the moving object moves to the 0th line in the S direction. It is input to the BPF 29 via. Here again, the input is Na, the wave is restricted to A! 1,3
The output, which has a constant amplitude from 1, is input to the other side of the PD 32. The PD 32 discriminates the phase difference between these two signal waves, and outputs, for example, an L level if they are in phase, and an H level if they are out of phase, and sends it to the square wave converter 12 in the next stage 33. In this way, detection is performed for each intersection within the stop position section, but the operations below the square wave converter are exactly the same as in the case of FIG. Note that, as in the case of FIG. 2, a phase correction circuit is provided on the input side of the PD 32 to correct the inherent phase rotation amount of BPF, A, L, etc. As yet another embodiment, the structure of the guide wire is the same as that shown in FIG. There is a device that sends out two waves: a wave and an unmodulated wave for detecting the stop position.

The wave may be unmodulated for detecting the stop position, but in practice it is subjected to two-phase phase shift keying (spot K) using the data signal and used for data transmission. From antenna 4. 「．、
The two wave outputs are combined and sent out to transfer lines 1 and 27.
FIG. 7 shows an example of the configuration of the stop position detector in this case, and its operation will be explained next. First, the input derived from the guiding wire 27 is B
The PF 35 extracts the wave components, and the A/L 37 amplifies and limits the amplitude, and then a portion is sent to the data demodulator 38 to output the demodulated data signal Do.

Also, a part of the signal is sent to the frequency 2 multiplier 39 and multiplied by 2, = 2, so that the 2-phase PSK wave becomes a continuous phase signal wave, so this is sent to one input of the phase difference discriminator PD40 as a reference phase signal. Send. On the other hand, the input derived from guiding wire 1 is BPF
34 extracts the two wave components, and A/L 36 amplifies and amplitude-limits the output, which is sent to the other input of ZPD 40. PD 40 discriminates the phase difference between these two inputs, and for example, if they are in phase, L If the level and phase are reversed, the H level is output to the same stop position detection circuit 33 as in Fig. 6.The operation below is the same as in Figs. 2 and 5.
The reason for adding the phase correction circuit to the input side of Z is the same as in FIG. 5. As shown in Figures 5 to 7 above, two waves are generated using two guiding wires, consisting of one non-modulated signal wave or a PSK modulated wave of a data signal and a non-modulated signal wave having a specific frequency relationship with the PSK modulated signal wave. The stop position can be detected by any of these methods.

Also, in each of the above devices, if L = 10, then low
Detection of the position of the rib interval [Detection of the relative position 2 by counting the number of left intersections from (0) in the position detection section in Figure 1] and 100
It is possible to detect speed during assistance driving.

Furthermore, as mentioned above, since the device of the present invention uses a phase difference detection method, the distance between the antenna and the yield line may change when the moving object is running, and the induced signal level may change, causing the amplitude limiting circuit to change. The present invention has the advantage of being able to always detect intersections with a constant accuracy by setting the level to a constant level, and being far more resistant to noise interference than conventional amplitude level detection methods. If the device of the present invention is installed as described above, it is possible to issue operation control commands by monitoring only the ground side when a control function is provided on the ground side during transportation work using a crane or the like. In addition, when transporting personnel by train or vehicle, monitoring can be performed at the ground control center, which improves control efficiency, prevents erroneous operations, ensures safety, and reduces facility costs, resulting in overall economic efficiency. The practical effects are remarkable, such as the fact that

[Brief explanation of drawings]

Fig. 1 is an example of the basic configuration of the device of the present invention, Fig. 2 is an example of the circuit configuration of a stop position detector, and Figs. 3 and 4 are operational waveform diagrams of each part of the device in Figs. 1 and 2. , FIG. 5 is another configuration diagram of the apparatus of the present invention, and FIGS. 6 and 7 are diagrams showing examples of the circuit configuration of the stop position detector of FIG. 5. 1, 27...conducting wire, 2...terminating resistor,
3,25. 、． ．．・．． Stop position detector, 4...
Antenna, 5, 26... Oscillator or transmitter on the mobile body side, 6, 7, 2 8, 29, 34, 35... BPF, 8,
9, 30, 31, 36, 37...Amplification and amplitude limiter (A/L), 10,39...Frequency doubler (x2
), 11, 32, 40... phase (difference) discriminator (PD),
12... Square wave converter, 13... Control circuit, 14... Clock generation circuit, 15, 20...
...Counter, 16...Memory, 17...
...Arithmetic judgment circuit, 18...Shift register, 19
...Code match determination circuit, 21...Stop position information (CUB) output device, 22...Low speed detector, 23724...Coupler, 33... ...1
A stop position detection circuit composed of 2 to 22, 38...data demodulator, Do...data signal. Ice 6 figure Ice 7 figure Tree 1 figure Power 2 figure Ice 4 figure*3 figure Shio 5 figure

Claims (1)

[Scope of Claims] 1. A length (length L_1) in an area including a fixed stop point of a mobile body on a mobile body travel path according to a specific code along the travel path and having a stop starting point cord and a position detection cord in series.
, short (length L_2) sections with a plurality of intersecting sections and a 2f_ mounted on a moving body.
comprising a continuous oscillator of two specific frequencies f_1 and f_2 each having a relationship of 1=f_2, an antenna for inductively coupling the output of this oscillator to the guide wire, and a stop position detector connected to one end of the guide wire, The stop position detector has a circuit that separately extracts and amplifies each frequency component of f_1 and f_2 from the input and limits the amplitude to a certain level, and a circuit that limits the constant amplitude of f_1
A discriminator circuit that uses a 2f_1 wave obtained by frequency-multiplying a wave as a reference phase wave to determine whether the phase difference with the f_2 wave of a constant amplitude is in phase or in opposite phase, and generates an output of high/low or positive/negative level; and the above-mentioned discrimination circuit. A first counter that measures the time at each crossing interval of the guide line from the output, a memory that temporarily stores the count value of this counter, and a memory that stores the count value of the time required for the preceding crossing section and a binary code calculated from it. Then, if the calculation judgment code is "1", 75% of the above required time count value is calculated, and if the calculation judgment code is "0", 150% of the above required time count value is calculated, and the code of the subsequent intersection section is judged. on the other hand, read the required time count value of the new subsequent section from the above memory, compare these reference standard values with the required time count value of the subsequent section, and set the required time count value of the subsequent section against the reference standard value. An arithmetic judgment circuit 17 that performs arithmetic processing to judge the code of the subsequent section as "1" when the numerical values are large or equal, and judge the code as "0" when the numerical values are small, and a shift register that sequentially stores the judgment codes. and a second counter that starts counting the output of the discrimination circuit when it detects a match between the code of each digit of this register and the code for the stop starting point, and the count value of the first counter is the moving speed of the moving object. a low speed detector that generates an output when the speed reaches a certain number close to stopping, and a second counter that inputs the output and counts the position detection code applied to the guide wire with the second counter. A ground detection device for a moving stop position, comprising: a stop position information output device that outputs a count value. 2. A plurality of crossing sections with long and short sections are provided along the moving route in an area that includes a fixed stopping point for moving objects, and according to a specific code in which the stopping point code and the position detection code are connected in series. A crossed parallel two-wire guide wire, an uncrossed parallel two-wire guide wire parallel to the same, a continuous oscillator of a constant frequency (f_1) mounted on a moving body, and an antenna that inductively couples the output of this oscillator to the above guide wire. and a stop position detector connected to one end of the guide wire, and the stop position detector includes a circuit for separately extracting and amplifying the f_1 wave component from each of the guide wires and limiting the amplitude to a constant amplitude. , a discrimination circuit that discriminates whether the phase difference between the outputs of these two circuits is in phase or antiphase, and produces outputs of high/low or positive/negative levels; and a first discrimination circuit that measures the time at each crossing interval of the guide wire from the discrimination output. A counter, a memory that temporarily stores the counted value of this counter, and a required time counted value of the preceding intersection section and a binary code calculated and judged from it, and if the above calculation judgment code is "1", the above required time counted value or 15% of the above required time count if the operation judgment code is “0”.
0% is calculated respectively and used as a reference standard value for the code judgment of the subsequent crossing section, and on the other hand, the new subsequent section's required time count value is read from the above memory and these reference standard values and the required time count value of the subsequent section are combined. An operation that performs an arithmetic process of comparing and determining the code of the subsequent section as "1" if it is greater than or equal to the reference standard value, and determining the code as "0" if it is smaller. Judgment circuit 1
7, a shift register that sequentially stores the determination codes; a second counter that starts counting the output of the discrimination circuit when it detects a match between the code of each digit of this register and the stop starting point code; a low speed detector which generates an output when the counted value of the counter No. 1 reaches a certain number near the stop of the moving object;
and a stop position information output device that outputs a count value of a second counter that counts the position detection code applied to the guide wire with a counter. 3 Intersecting parallelism in which a plurality of crossing sections with long and short sections are provided in the area including the fixed stopping point of the moving object along the moving path according to a specific code in which the stopping point code and the position detection code are arranged in series. A two-wire guide wire, a non-crossing parallel two-wire guide wire parallel to it, and 2f_1= placed on a moving body
It is equipped with a continuous oscillator of two specific frequencies f_1 and f_2 having a relationship of f_2, an antenna for inductively coupling the output of the oscillator to the two guiding wires, and a stop position detector connected to one end of the guiding wire, and a stop position detector connected to one end of the guiding wire. The detector has f than the input.
_1, f_2 A pair of circuits that separately extract and amplify each frequency component to limit the amplitude to a certain level, and a 2f_1 wave obtained by multiplying the above constant amplitude f_1 wave with a frequency multiplier as a reference phase wave to limit the above constant amplitude. A discriminator circuit that discriminates whether the phase difference with the amplitude f_2 is in phase or out of phase and produces an output of high/low or positive/negative level, and the time at each crossing interval of the guide wire is measured from the output obtained by rectangulating the output of the above discriminator. A first counter, a memory for temporarily storing the counted value of this counter, and a memory that stores the counted value of the preceding crossing section and a binary code calculated and judged from it, and if the calculation judged code is "1", the above-mentioned required time counter is stored. 75% of the numerical value is calculated, and if the calculation judgment code is "0", 150% of the above required time count value is calculated and used as the reference standard value for code judgment of the subsequent crossing section, and on the other hand, the required time count of the new subsequent section is calculated. Read the numerical values from the above memory and compare these reference standard values with the required time count value of the subsequent section,
An arithmetic determination circuit 17 that performs arithmetic processing to determine the code of the subsequent section as "1" when the subsequent section required time count value is greater than or equal to the reference standard value, and determines the code as "0" when it is smaller. a shift register that sequentially stores the determination codes; a second counter that starts counting the output of the discrimination circuit when it detects a match between the code of each digit of this register and the stop starting point code; a low speed detector which generates an output when the count value of the first counter reaches a certain number close to a stop of the moving object; 1. A ground detection device for a movable body stop position, comprising: a stop position information output device that outputs a count value of a second counter that counts position detection codes. 4. In the ground detection device for the stop position of a movable body according to claim 3, the oscillator outputs of two specific frequencies f_1 and f_2, which are mounted on the movable body and have a relationship of 2f_1=f_2, are converted into f_2 waves as continuous waves and f_1 as continuous waves. A ground detection device for detecting the stop position of a moving object, characterized in that the wave is a 180° phase shift modulated wave.