JPS6016644B2 - Stop position self-detection device for moving objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for detecting the stop position of a mobile body such as a crane, a trolley, or a vehicle that moves on a fixed travel path when the movement of the body is controlled by an automated system. Parallel two-line guide lines with a specific pattern of intersections are laid in a predetermined area along the running route, and the moving object detects counterfeiting and stoppage of itself, and is used for example in process control equipment or vehicles for transporting personnel. The present invention relates to a device that outputs position information when stopped to a travel control device and an opening/closing control device for a vehicle side door or a platform side door.

Conventionally used position detectors for moving objects can be roughly divided into optical types, fin magnetic coupling types, concessional coupling types, mechanical types, etc., but each type 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. A relative address detection method that counts the number of level changes in addition to detecting a point as a reference point, and multiple pairs of intersecting parallel two-wire guide wires are used to align intersections with multiple-bit binary code addresses. There are an absolute address detection method in which the moving object detects this binary code address, and a method in which a plurality of loop coils are arranged along the travel route and the moving object detects information by the loop every time it passes. However, in all of these methods, detection accuracy is closely related to the distance between the mobile antenna or loop coil and ground equipment such as running paths and guide lines, and conventional methods that detect and judge amplitude levels are prone to noise interference and malfunctions. There is a risk that this 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, but the accuracy is low at low speeds and may cause erroneous stops. The disadvantage is that the accuracy of outputting the position is low. However, in recent years, the stopping position detection of moving objects has been
means that the minimum unit of position is less than 1 unit, the measurement error is less than 1 unit, and the speed is 1 skin/s when the moving object is close to a stopped state.
Detection performance up to ec is required, making conventional methods difficult. The present invention was made in order to solve this problem, and a specific signal is sent to the crossing parallel two-wire guide wires, which are laid along the traveling path of the moving vehicle and whose crossing intervals are changed to long or short according to a specific pattern. Waves are sent from a fixed ground station (hereinafter referred to as a ground station) or from a moving object, and the moving object measures the intersecting time to detect the position and stop of the moving object to determine the stopping position. Its features include precision and high resolution.

By using the present invention, it is possible to improve the accuracy of automatic operation and travel control of transportation equipment such as cranes and trolleys, and improve the efficiency of sequence control speed, and also to adjust the stopping position and opening/closing of doors in fully automatic operation of vehicles, trains, etc. It has great practical effects, such as high performance, safe, reliable, and economical control. 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.

In the figure, 1 is a crossed parallel two-wire guide wire installed in a required section along the travel path of the moving object, 2 is its terminating resistor, 3, 4
, 5 are parts mounted on the moving body, 3 and 4 are antennas or antenna coils coupled to the guide wire 1, and 5 is a stop position detector. The moving object is assumed to run from left to right (S direction) along the guide line, and the first Ts (''1'')
The crossing interval of "1" is set to L, and the crossing interval of "0" is set to L, respectively. The code represented by the length of the intersection interval shown in this figure is 10101 on the left, which is coded and given as the starting point of position detection, but this code may also be used as a point number. 1010
The 000 code, which is followed by 1 and followed by equally spaced intersections, is used for position detection as described later.

In the example of Fig. 1, L: is set to 2, but when the acceleration of the moving object within the detection area is large, for example, in Fig. 1, if the moving object moves in the S direction in the deceleration process (low acceleration). , the first Ts 1") crossing interval L, and the next "0" crossing interval L2 are close to each other, or the difference in each passing time may be reversed when there is a sudden decrease or acceleration. Considering the magnitude of the acceleration within the required section within the guide line 1, L is set to >22, but it may be necessary to set L sufficiently large.Also, the spacing between antennas 3 and 4 is It shall be set at L/2.Figure 2 shows the stop position detector 5.
FIG. 2 is a block diagram of a circuit example of FIG.

In this figure, 6 is an oscillator with a specific frequency (generally 10 KHZ to 25 HZ), and 7 is an amplification and amplitude controller (A/L).
, 8 is a phase discriminator (PD), 9 is a square wave converter including a low castle wave generator, 10 is a control circuit for a crossover interval determination processing circuit,
11 is also a clock pulse generator of the processing circuit, 12 is a time measurement counter, 13 is a measurement value storage (memory), 1
4 is an arithmetic judgment circuit, 15 is a shift register, 16 is a code coincidence judgment circuit, 17 is an intersection counter, 18 is a low speed detector, and 19 is a stop position information output device. Also the third
1 and 4 are operational waveform diagrams of the apparatus of the present invention, and the operation of the apparatus of FIGS. 1 and 2 will be explained below using these waveform diagrams. Generally, when a moving object comes to a stop, its traveling speed has been sufficiently decelerated before reaching the specified stop point, and in addition, in the short section for detecting the stop position, large acceleration control is required to stop the moving object. However, in the above waveform diagram, for convenience of illustration, the speed is assumed to be constant.

Now, in the defined stopping position section, as shown in Fig. 1, a crossed parallel two-wire guiding wire 1 is laid along the running route, and antennas 3 and 4 connected to this guiding wire 1 are installed on the moving body side. They are installed at an interval L3 so that there is no mutual coupling, and signal waves are coupled and transmitted. That is, the signal output from the oscillator 6 in FIG. Further, since the guide wire 1 is crossed, the induced signal currents before and after the intersection have opposite phases. Now, the signal wave guided to antenna 4 is shown in Figure 2, A.L7.
After being input to and amplified, the amplitude is limited to a constant level, and phase discrimination is performed on the constant level input from the oscillator 6 at the PD8.

The output of this phase discriminator PD8 is an in-phase output if there is no intersection in the section of the guide wire 1 where both antennas 3 and 4 are facing each other, and an anti-phase output if the intersection is included (for example, an in-phase output). A phase correction circuit is attached to the input side of the PD 8 to perform phase correction so that the signal is at a low level when the signal is in reverse phase and the level is high when the signal is in reverse phase, but the reverse is also possible. That is, a signal of a specific frequency is output from the oscillator 6 to the antenna 3, and then from the antenna 3 to the guide wire 1, and from the guide wire 1 to the antenna 4.
are transmitted in order. This signal induced in antenna 4 is input to PD8 via amplification and amplitude limiter AL7. Another input to the PD 8 is a signal (referred to as a reference phase signal) having the same frequency as the signal output from the oscillator 3 to the antenna 6, and the PD 8 performs phase discrimination between these two inputs. However, from antenna 3 to yield line 1-
Phase rotation in inductive coupling of antenna 4 path, AL7
The phase rotation in each is unique, and the phase difference between the input signal to the PD 8 via the path from the antenna 3 and the signal input directly from the oscillator 6 is added to the above-mentioned unique phase rotation and is not ideal for the PD 8. Since the phase difference is not such that the characteristics described above can be obtained, the above-mentioned phase correction circuit is provided to perform the correction. Note that the ideal characteristics of PD8 can be obtained if the phase difference between the two input signals is in-phase (oo) or out-of-phase (180
The maximum power is reached at the time of o). For example, if the output is positive when the phase is the same, the output is negative when the phase is opposite. Next, the phase difference is 90
At 0, the output is zero, and when there is a phase difference between the in-phase and anti-phase, the output is proportional to the phase difference. The output of PD8 is converted into a square wave through the LPF on the input side of the square wave converter W9, and the output is converted into a square wave.
This results in the output of the a waveform shown in FIG. Note that the waveforms in both Figures 3 and 4 indicate that the moving object is moving in the S direction and the antenna 4 and the guide line 1
Figure 3 shows the operating waveform for detecting the starting point of the position code, that is, starting point detection for relative address detection, and Fig. 4 shows the operating waveform for detecting the stop position. There is. First, the case shown in FIG. 3 will be explained.

The output a of W9 in FIG. 2 is sent to the control circuit 10 and the counter 17, and in the control circuit 10, it becomes a control signal for the clock pulse counter 12 based on, for example, a falling conversion point among the conversion points of the waveform. The b pulse serves as a write command to the memory 13. It outputs a pulse, a d waveform serving as an operation determination command to the operation determination circuit 14, and a trailing edge pulse of the d waveform as a shift clock to the shift register 15. b
, c, and d waveforms, a memory write command for the c waveform is output during counting stop control (L level) for the b waveform, and after writing is completed, the b waveform shifts to counting recovery control (day level). At the same time, a calculation command for the d waveform is output. Further, the count value of the counter 12 is reset at the same time as the transition to the H level due to this recovery. In this way, the counter 12 is controlled by the b waveforms from the a waveforms, and counts the clock pulses from the clock generator 11 during counting control (daily level). Then, while the counter 12 is not counting, the final clock count value is written as a subsequent new value by clearing the previous memory by the command of the c waveform. In response to the computation and determination command for the swept d waveform, the computation and determination circuit 14 successively outputs the new numerical values from the memory 13 and performs the computation and determination as follows from the preceding numerical values and determination results that have already been continuously output. In the present invention, the code code "1" is set to correspond to the crossing interval L, and the code code "0" is set to correspond to the crossing interval L, and there is a relationship of L,=22.

Therefore, when the preceding crossing interval judgment is "1", the subsequent code symbol is either "1" or "0", and when it is "1", almost the same crossing interval as the preceding "1" is expected. , and for "0", a crossing interval of approximately 1/2 of that for the preceding "1" is expected. From the above, the reference standard value used for determining the crossing interval time of the subsequent code symbol in the arithmetic determination circuit 14, as will be explained later, is from the above L=2 to L,
and the center of L2, that is, the peak, /4 = mother 2/2. Therefore, if the preceding crossing interval time is tn (the crossing interval time is the time from the falling edge of one pulse of the waveform a in Fig. 3 to the falling edge of the next waveform), it is not possible to determine that this tn is "1". (3/4) Since the value at L is used as the reference standard value,
This is 75% (...3/4=0.75) of this tn.
That is, the reference standard value=tn·×0.75. In this), tn is the value of tn when the preceding crossing interval determination is "1". In addition, when determining that tn is "0", the value at (3/2)L2 is used as the reference standard value, so 150% (
・．．・3/2:1.5). In other words, the reference standard value =
It becomes tno×1.5. In this), tno is the value of tn when the code sign determination is "0". In this way, by determining the preceding crossing interval time tn and whether it is 1 or 0, the reference standard value is set to tn x 75% or tn x 150%, and this is compared with the following crossing interval time tn+, tn Ten,
If it is greater than or equal to the reference standard value, the code sign is determined as ``1'', and when it is smaller, the code sign is determined as ``0''.
”.In other words, it is determined to be “1”.

When , it is judged as “0”.

From the operation of the arithmetic judgment circuit as described above, Figures 1 and 3
The preceding section of the first Ts section L for the code (10101) part of the guide line 1 in the figure is not determined, so it is ambiguous whether the preceding section is 1 or 0, but the preceding section is L2 or L.
Even if the preceding section is determined to be 1 or 0 by providing 2 or less intersections, the Ts section will be tn, x 0.75 three t.
It is always determined to be "1" because it is either 0 or tno x 1.5 mi tn+.

The reason is as follows. According to Fig. 3, S of the moving body
As the vehicle travels at a constant speed in the direction, first the a waveform is output from W9 in FIG. 2, and as a result, the b, c, and d waveform outputs and shift clock output are output from the control circuit 10 to each section.
The counter 12 counts clock pulses under the control of the b waveform, and the counted value is stored in the memory 13 under the command of the c waveform. Subsequently, in response to the command of the d waveform, the calculation/judgment circuit 14 inputs a new count value from the memory 13 and compares it with a reference standard value obtained by calculating the previous count value and the previous judgment result. Now, when the count value of Ts is tn+, as mentioned above, the intersection interval of L2 or less than L2 precedes tn
Regardless of whether is 1 or 0, t is larger, so 1 is output. Next, 75% of the count value ts of Ts (''1
”) is used as a reference value and clearly outputs “0” based on the count value of the subsequent L2 section.In this way, the calculation judgment circuit 14 continues to make a calculation judgment for each crossing section and determines whether it is 1 or 0.
Output. This is the waveform e in FIG. The e waveform is input to the next stage shift register 15, and the control circuit 10 supplies the subsequent (falling) pulse of the d waveform generated at each intersection to the shift register 15 as a shift pulse clock. Output e waveform of judgment circuit 14
A positive pulse is applied only when a determination is made, and a negative pulse remains when a "0" determination is made.

In FIG. 3, when the moving body moves in the S direction, Ts'
Since the determination in the 11 crossing section is "1" (on the left side of the e pulse), "1" is continued in the shift register il at the center of the next "0" section. Next, if the moving object passes through the second "0" section and advances to the third "1" section, the e waveform of the second section will be output as "0", so it will be shifted by the shift clock. il of register 15 is “0”, i2
continues the "0" of the previous il.

The mobile object then passes through the third “1” section and then passes through the fourth “1” section.
0" period, the e waveform outputs "1", so il of the shift register is "1", i2 is "0", "i3
continues the previous "1" of i2. If the moving object passes through the fourth "0" section and advances to the fifth "1" section in exactly the same way, the e waveform is "0", i is "0", and i
2 is “1” of previous i l, i3 is “0” of previous i2, i
4 continues the previous "1" of i3. When the moving object passes through the fifth "1" section and advances to the next position detection section, the e waveform becomes "1", il' becomes "1", and i2 becomes ''
0'', i 3 is ``1'', j 4 is ``0'', j 5
compete for “1”. (As mentioned above, il to i5 in the shift register 15 are shifted by the shift clock.) When the code 10101 is stored in the shift register 15 in this way, the next-stage match determination circuit 16
Waiting for the input of the 10101 code, it detects a match with the specific code 10101 that is always stored.
If it is determined that they match, a matching f waveform is generated and output to the intersection counter 17. The above is the operation for detecting the start point of the position code according to FIG. 3, and this input starts the counter operation for detecting the stop position. FIG. 4 is an operational waveform diagram for detecting a stop position, and it is assumed that the moving object travels in the S direction at a constant speed.

As a result of the code matching detection described above, a waveform is output to the counter 17 between (0) and '11 of the guide line 1 shown in the upper part of FIG. 4, and the gate of this counter is opened, based on the passage of the intersection of the guide line 1. The a-waveform pulse signals from W9 in FIG. 2 are sequentially counted. This is the il...jn waveform,
In this way, the start of counting for position detection is always regulated by code coincidence detection. To detect a stop of a moving body during a stop operation, it is sufficient to detect that the count value of the clock measurement counter 12 exceeds a count value corresponding to a low speed close to stop. is a low speed close to stopping, for example, the crossing interval L2 = 2 of the guide line 1 for position detection
If the speed close to stopping is 1 ga/sec, the time required to pass one crossing interval is 2, so it is 1 ga/s.
If the speed of ec is defined as the stopping speed, this speed can be determined by detecting that the counter 12 indicates 2 sand.

(If the speed of the moving object is faster than this, it will never reach 20.) That is, the low speed detector 18 stores a code of 20 corresponding to this stopping speed, and the counter '12
The counted value (code) of each digit is inputted to this low speed detector, and a match is detected by checking with the stored value 20. In this example, when counter 12 reaches a code of 20, low speed detector 1
8 generates an output and sends it to the stop position information output device 19, so this stop position output information device 19 uses this input to detect the count value of the counter 17 after the arrival of the f wave, that is, the position detection after the specific code area. The counter of the cross section of the region is output as out. This world power ○ heart becomes the stopping position of the relative block terrain with a count number corresponding to the number of intersections with the (0) intersection of guide line 1 as zero. As described above, in the present invention, the relative number area method is used to regulate the counting start point and count the number of intersections until the stop, and the stop position output control is determined and output by measuring the time of the intersection interval, so that the position at the time of stopping is determined at the intersection. Output as position information called copy count value.

In the above example, a specific code is set, a guide wire 1 using different intersection intervals of L and L is laid along the moving path, and two antennas are installed on the moving object side at an interval of L. The oscillator and stop position detector are installed in order to make the ground station powerless, but in addition to this, the oscillator 6 is moved to the ground station side and installed at one end of the guide line 1, for example on the left side of Figure 1. Connected in place of the resistor 2, a signal current of a specific frequency is sent to the induction wire 1, and on the moving body side, in place of the oscillator 6 in Fig. 2, an amplification and amplitude limiter (A/L) 7 with the same function is connected. Even when an amplifying/amplitude limiter 7' (not shown) is provided, the induced output voltage of 3 of the two antennas coupled to the above-mentioned guiding wire 1 is amplified and amplitude limited by A/L 7'. After that, the output is led to one input of the next stage phase discriminator 8,
Further, the yield output voltage of another antenna 4 coupled to the above-mentioned guide wire 1 is inputted to A.L7 as explained in FIG.
The output of L7 is led to the other input of phase discriminator 8 to
If it is determined whether the reception signal phases of the two antennas are in-phase or out-of-phase, the operation of the stop position detector shown in FIG. 2 enables stop position/false detection in exactly the same manner as with the configuration shown in FIG. 2. Further, to show the performance of the present invention device using a numerical example, for example, in the case of L = 22, L2 = 20 ships, and L = 100 ships, position detection every 20 ships and speed detection every 20 ships is realized. can. Furthermore, if an oscillator is provided on the guide line side, position detection at L/2 intervals is possible, and position detection at L/n intervals is also possible using a plurality of n antennas, but detailed explanation will be omitted. . Furthermore, one of the reasons why the present invention has high performance is that it uses a phase difference detection method.

In other words, since phase difference detection is used to detect intersections,
Even if the degree of coupling between the guide wire and the antenna changes as the moving object moves, and the received signal level changes, the amplification/amplitude limiting circuit can be used as shown in A/L7 in Figure 2, so the intersection This is because detection can be achieved with a certain degree of accuracy.

[Brief explanation of the drawing]

FIG. 1 is a basic configuration example diagram of the present invention, FIG. 2 is a block diagram of a circuit example of the stop position detector shown in FIG. 1, and FIGS.
The figure is an example diagram of the operation waveforms of FIG. 2. 1... Mysterious conductor, 2... Terminating resistor, 3, 4
...Antenna or antenna coil, 5...
...stop position detector, 6...oscillator, 7...
...Amplification and amplitude limiter (A/L), 8...
Phase discriminator (PD), 9...Square wave converter, 1
0... Control circuit for the intersection interval determination processing circuit, 1
1...Clock pulse oscillator, 12...Time measurement counter, 13...Measurement value memory, 14
...... Arithmetic judgment circuit, 15...... Shift register,
16... Code match judgment circuit, 17...
Intersection counter, 18...Low speed detector, 19
...Stop position information output device. Ice 1 Figure Ice 2 Outside Figure S Outside Figure 4

Claims (1)

[Scope of Claims] 1. A plurality of crossing sections having lengths L_1 and short L_2, which are laid along the above-mentioned running road and are laid down in accordance with a specific code, are provided in an area including a stabilization point of the moving path of the moving body. a crossed parallel two-wire guide wire; a first antenna 3 for transmitting a signal output of a specific frequency to the guide wire placed on a moving body;
An oscillator 6 connected to this antenna, a second antenna 4 which is coupled to the guide wire and has a mutual spacing with the first antenna along the travel path that is 1/2 of the short crossing spacing L_2, and a stop position. The stop position detector 5 includes an amplification/amplitude limiter 7 that amplifies the input signal from the second antenna 4 and limits the amplitude, and an input signal output from the amplification/amplitude limiter 7 and the oscillator 6. a phase discriminator 8 for discriminating the phase difference between a constant amplitude input signal and a square wave converter 9 for converting the output into a square wave; a counter 12 that measures the crossing interval time by inputting the pulse code (a waveform) that has been generated; a memory 13 that stores the measured value;
an arithmetic and judgment circuit 14 that generates a code sign judgment output based on the crossing interval; a shift register 15 that stores this judgment code sign; a clock pulse generator 11 that supplies clock pulses to the counter 12 and the control circuit 10; With the converter output and clock pulse as input,
The control output of the counter 12 (b waveform), the control output of the memory 13 (c waveform), and the control output of the calculation/judgment circuit 14 (d
a control circuit 1 of a crossover interval determination processing circuit that supplies the waveform) and the shift clock of the shift register 15, respectively;
0, a code stored in the shift register 15 by driving in the specific code area, and a preset specific code match, a coincidence determination circuit 16 that generates a detection output (f waveform); An intersection counter 17 which is subjected to counting control by the output of this circuit and counts the pulse output of the square wave converter 9 after passing through the specific area, and a numerical code corresponding to the stopping speed of the moving object are set and memorized. A low speed system that detects a match between the input code of each digit of the counter 12 that measures the time within one intersection interval and the stored code, and generates an output when the input code matches the stored code. A stop position of a moving body characterized in that the main parts are a detector 18 and a stop position information output device 19 which inputs the output as a control signal and outputs the counted value of the intersection counter 17 as position information. Self-sensing device. 2. In the stop position self-detection device for a movable body as set forth in claim 1, the oscillator 6 is connected to one end of the guide wire and its output is sent to the guide wire, and the first antenna 3 is connected to the movable body side. A second amplification and amplitude limiter 7' for amplifying and limiting the amplitude of the induced output is provided, and the output and the second antenna 4 are
and the output of the amplitude limiter 7 to the phase discriminator 8.
A stop position self-detecting device for a moving body, characterized in that the phase discrimination input is: