JPS6023307B2 - A device that detects the moving direction of a moving object on the ground side - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides for automatic operation or operation control of mobile objects such as cranes, trolleys, trains, etc. that travel on a fixed traveling path, and for the safety of the movement of the mobile objects. This relates to counterfeiting, which is detected by a fixed ground station (hereinafter referred to as a ground station).

Conventionally, when controlling the operation of a mobile object as described above, there has been a method in which the travel control section of the mobile object is controlled by a command signal sent from a ground station, and a method in which the operation results are returned to the ground station as controlled information. However, in the event of a failure in the control system, including communication between the control side and the controlled side, it is insufficiently reliable in terms of safety, especially in the case of backing up when the moving object is stopped, for example, stopping on a slope. In contrast, backward movement can occur even when the control system is operating normally, whereas detection of forward or backward movement of a subordinate moving object is caused by the rotation of the moving object's wheels or axles or by movement. This is done using data obtained from the body position detection device on the road, so when the wheels rotate gradually, the number of revolutions per second is too low and detection is difficult; in the latter case, the distance traveled is large. This method has the disadvantage that it is unsuitable for measuring unexpected regressions in practical use, such as detection after the test has been completed. The present invention aims to improve the reliability and detection function, which are the shortcomings of the conventional devices, and provides a device that can quickly detect short-distance movement of a moving object at a ground station. This has a significant effect on ensuring control safety.

Furthermore, the device of the present invention has the advantage of being economically advantageous because it is possible to share the guide line, transmitting/receiving equipment, and operating frequency used for data transmission and position detection between the ground station and the mobile body. The present invention will be explained in detail below using examples.
First, a method for detecting the position of a moving body using a guide line will be explained.

FIG. 1 is a diagram illustrating an example of the configuration of a position detection device, in which only one intersecting parallel two-wire guide wire (symbol 6) is installed on a moving path. 1 in the figure is two frequencies (frequency ′ and 〆2
4 is a coupler, and 5 is a terminating resistor. This ground-side transmitter 1 transmits data using trowel phase shift keying (MK).
) I did it. The waves and the end. Two signal currents of unmodulated final waves at frequencies different from the above are outputted to the transfer line 6 via the coupler 4. However, it is sufficient to consider only the '2 waves, regardless of position detection. 2 and 3 are the layers that are placed on the moving body.
is an antenna, and 2 is a fixed point detector. The antenna 3 moves while being coupled to the guide line, and the detector 2 detects a fixed point on the running road, that is, a point where the guide line 6 intersects.

This shows that the phase of the second wave in the signal transmitted to antenna 3 is different when the moving object is in section a or c in Figure 1 and when it is in section b or d.
There is a 180 degree difference between intersections A, B, and C.
This is because the signal phase changes by 1800 degrees when the antenna 3 passes through, etc., so the fixed point position can be detected by detecting the phase change. Note that the intervals between the intersections are arbitrary, but if they are set at equal intervals, it is convenient for detecting the speed and relative position of the moving object from counting the phase change points. FIG. 2 is a diagram showing an example of the basic configuration of a communication device embodying the present invention.

In this figure, 7 is a ground station receiving device, 8 is a coupler with a guide line, 9 to 11 are parallel two-wire guide lines laid in necessary sections along the running route, and 9 is a non-crossing type data transmission. for,
Reference numerals 10 and 11 are both equally spaced and intersecting, and are used to detect the position and traveling direction of a moving body. 12 is a terminating resistor for each induction wire, 1
Reference numerals 3 and 14 are equipment for transferring money to a moving body, 13 is an antenna, and 14 is a transmitter for transmitting signal waves for data, position, and direction of travel detection.

Note that the interval between the intersections of the guide lines 10 and 11 is defined as L, and the interval L between the intersections of the guide lines 10 and 11, which are shifted from each other, is approximately equal to 1/2 of L. Also Din
・Dout represents the input and output of the data signal, respectively, p is the position detection output, S is the running direction detection output, and D is the frequency of the carrier wave for data transmission that is phase shift keyed (hereinafter referred to as K) with the data signal. , Me2 represents the frequency of a non-modulated carrier wave for determining the position and traveling direction. The transmitter 14 includes a two-frequency generator, an amplifier thereof, and a modulator for PSKing the PSK wave using data (binary code). A wave having a relationship of 〆,=(m-1)〆2/m [where m is an integer of 2 or more] with respect to the wave is sent to the antenna 13 and inductively coupled to each of the guide wires 9 to 11.

In the following explanation, we will take as an example the case where m=2, so 〆,=〆2/2 is selected, but even if m is selected other than 2, the same operation and the same effect can be obtained. Next, the equipment on the ground side will be explained.

FIG. 3 is a block diagram showing an example of the configuration of the ground station receiving device 7 shown in FIG. 2, and FIG. 4 is a diagram showing an example of operating waveforms of each part thereof. In Fig. 3, 17, 18, 19 are band filter filters (BPF) connected to the couplers of each guide wire, 17, 18 are the final two waves from the guide wires 11 and 10, respectively, and 19 is the second wave from the guide wires 11 and 10, respectively. The waves from the guiding line 9 are extracted one by one. 20, 21, 2
2 is a block axis box/amplitude limiter (A/L), 23 is a PSK signal demodulator, 24 is a frequency doubler when m=2, 2
5 and 26 are phase discriminators (PD), 27 is a position detection signal output device, 28 and 29 are square wave converters including a low range wave generator, 3
0 and 31 are conversion point pulse generators that separately output the rising (L→H) conversion point and the rising (H→L) conversion point of the input pulse; 32 to 35 are AND gates (including two AND circuits); 36 and 37 are OR gates, and 38 is a running direction signal output device including a flip-flop.

The operation in FIG. 3 can be explained using FIG. 4 as follows.
First, the wave component extracted by the BPFI 9 from the signal coupled to the guide wire has a constant amplitude, and then is doubled by the frequency doubler 24, and the output of 2〆, =〆2 is used for phase discrimination. The signal is sent to one input of each of the PDs 25 and 26.

Note that the wave is one that has been subjected to OreK (in this example, since m = 2, two-phase K is used) as described above, but 2
The thorn phase modulated wave (modulated wave of oo, 1800) to be multiplied becomes a continuous phase wave Na2 with a shift amount of zero, so this is inputted to the PDs 25 and 26 as a reference phase wave. Furthermore, in general cases other than m=2, 〆2−〆,=〆2/m
Therefore, for example, if you create a difference frequency component between ', and '2 from the outputs of BPF18 and BPFI9, set it to a constant amplitude, and then multiply it by m, a continuous phase N2 wave with a shift amount of zero is obtained and used as a reference phase signal. Also, since the wave is modulated by the data signal, A・L
The output of 22 is demodulated by a data signal demodulator 23 to obtain a data signal output Dbut. Then BPF1 7 and B
The 2nd wave extracted from PF18 is A and L20 respectively.
, A・L21 becomes a constant amplitude, and the phase discriminator PD
25 and PD26, respectively. These phase discriminators distinguish whether the phases of these inputs and the reference phase signal are in phase or opposite, and output high and low levels. Convert to a ubiquitous backward wave. Note that circuits such as 17 to 22 generally have a unique amount of phase rotation, but these cannot be predicted, so a phase correction circuit is inserted into the input of the phase discriminator to make the ideal phase difference. It is necessary. By the way, the interval between guide lines 10 and 11 at the intersection is 2 na L.
, /2, the waveforms output from W28 and W29 are as shown in FIG. 4a and b. This figure shows the case where the moving object moves left and right in FIG. 2 (also shown in the upper part of FIG. 4), and a. b is a, respectively
This is the reverse polarity (inversion) output of b. The a and b waveform outputs are input to an exclusive OR circuit 27 to generate a b waveform output.

This is an output that is reversed at every interval along the travel path and is used as a position detection signal for the moving object. Next, detection of forward and backward motion of a moving body, which is the main focus of the present invention, will be described.

In FIG. 4, if the moving direction of the moving body is rightward, it is Sr, and if it is leftward, it is Sr. When the antenna 13 moves opposite to the guide lines 9 to 11, waveforms a and b are output from W28 and W29, respectively. The conversion point pulse generators P30 and P31 separate the rising and falling conversion points of the b and a waveforms, respectively, and generate pulses separately. If we distinguish this rising conversion point pulse by u and the falling conversion point pulse by d, then P3
From P31, bu and W based on the b waveform are output, and from P31, au and ad based on the a waveform are output as shown in Figure 4, but the generation point differs depending on the traveling direction of the moving object, and each u and d are reversed. I know what you're doing. These outputs are input to the AND gates 32 to 35 at the next stage, and a pulse is output to the next OR gate 36 or 37 when the combinations shown in the table below are met. Note that each AND gate consists of two 2-input AND gates that all have one input in common; for example, AND
32 is a and b mountain. When a and bd are respectively input, it is established by two AND gates. or gate 36, 37
Then, these pulses are combined and output, but if the running direction is Sr.
When , the waveform (pulse) shown in FIG. 4 is output from the OR36, and when S, the r waveform is output from the OR37.
Drive the flip-flop of the next-stage running direction signal output device 38, and set the output to 1, 0, or high/low (day, L).
A level signal is generated depending on the r or 1 input.

To show this as a numerical example, if L=500 ribs and L2=25 meters, the direction of movement will be detected by the S output if the kite moves 250 times. Note that in order to use this S output to detect, for example, movement of a moving body in an unexpected direction from a stopped state, a matching circuit must be provided to detect that the level of the S output matches the level in the direction to be prevented. This can be easily achieved. In addition, in the above explanation, we have shown a practical example in which waves are used for data transmission, but in order to detect the running direction, it is necessary to obtain a reference phase output regardless of the presence or absence of wave modulation. Only the frequency relationship with is important.
In any case, if you use the device having the configuration shown in Figures 2 and 3, you can share two frequencies, an induction machine, a transmitter, and a receiver for data transmission and position detection from a mobile object as explained above. By simply adding a circuit, it is possible to detect the movement and direction of movement of a moving object by moving it to the minimum movement distance even when the moving object is moving slowly. Next, FIG. 5 is a diagram showing an example of the configuration of the ground station receiving device 7, which is different from that shown in FIG.
Since the waveforms 1 and 2 are separated from each other, a method is used to detect the waveforms a and b in FIG. 4 by making the frequency relationship between the wave and the wave 2 uncorrelated.

In FIG. 5, 17-23 and 25-38 are the same as in FIG. 3. 39 is BPF for 2nd wave extraction, 40' and 20
, 21 are similar signal amplification and amplitude limiters.

Now, from the antenna 13 in FIG. 2, data modulated data transmission waves and waves uncorrelated with the data transmission waves are outputted and inductively coupled to the guide lines 9, 10, and 11. The signal from the guiding wire 9 is extracted in the BPF and BPF 19 of FIG. 5 into two components and two components, respectively.
It becomes a data demodulated signal by L22 and DTC (PSK demodulator) 23 and is output as Dout. After the N2 wave is made into a constant amplitude at A・L40, PD25 and PD26
A reference phase signal is sent to one input of each.
In this case, in the configuration shown in Fig. 3, there would be no problem even if the intersection of the guide line 9 existed within the position detection and running direction detection section, but in the case of Fig. A necessary condition is that there are no intersections. Next, the second wave is extracted from the signal from the guide wire 10 by the BPF 18 and sent to one input of the PD 26 as a constant amplitude by the A/L 21, where the phase difference with the above reference phase signal is detected. .

The guiding wires 10 are crossed at interval peaks, and the phase of the two guiding waves changes by 180o for each crossing section. Therefore, phase discrimination is performed to determine whether the two inputs of the PD 26 are in phase or in opposite phases, and the PD 26 is connected to the next stage W.
The output is sent to 29. However, the third step is to insert a phase correction circuit into the two inputs of the phase discriminator PD to correct the inherent phase rotation of BPF, A, L, etc., and to obtain an ideal phase difference.
This is the same as the case shown in the figure. W29 is a square wave conversion circuit including a low range wave generator, and its output is a waveform shown in FIG. 4b. Further, from the signal from the guide wire 11, a final second wave is extracted by the BPF 17, has a constant amplitude by A/L 20, and is sent to one input of the PD 25.

The PD 25, like the PD 26, performs phase discrimination with respect to the reference phase signal, and its output becomes the waveform a in FIG. 4 by the next stage W28. These a and b waveforms are L/2 since the intersecting interval between the transfer lines 10 and 11 is L,/2, and the intersecting interval of each is L.
The phase difference is 2, which is the same as the configuration shown in FIG. 3, and the subsequent running direction detection operation is completely the same as in FIGS. 3 and 4.

[Brief explanation of the drawing]

Fig. 1 is an example of the configuration of a position detection device, Fig. 2 is an example of the basic configuration of a communication device implementing the present invention, Fig. 3 is an example of the configuration of a ground station receiving device, and Fig. 4 is as shown in Fig. 3. FIG. 5 is a diagram showing another configuration example of the ground station receiving device. 1,14...2-frequency transmitter, 2...Fixed point detector, 3,13...Antenna, 4,8...
...Coupler, 5, 12... Termination resistor, 6, 9
, 10, 11... Guide wire, 7... Ground station receiver, 17, 18, 19, 39... Obijo reactor, 20, 21, 22, 40... Amplifier and amplitude limiter (A/L), 23... Phase shift (target K)
Signal demodulator, 24... Frequency doubler, 25, 26
... Phase discriminator (PD), 27 ... Position detection signal output device, 28, 29 ... Square wave converter W, 30, 31 ... conversion point pulse generator P,
32-35... Asodo gate, 36, 37... OR gate, 38... Running direction signal output device. Talent 1 Power 2 Outreach 5 Intentional external relations 4 Evil

Claims (1)

[Scope of Claims] 1. A parallel two-wire first guide line laid along a fixed travel path of a moving object, which intersects with the first guide line over a required section at constant crossing intervals. The second cross-parallel two-wire system
The guide line is parallel to the second guide line and intersects with the same constant intersection interval (2) over the same required section, and the intersection is 1/2 of the intersection interval ( L_1
/2) A guide wire group consisting of a third guide wire of a shifted crossed parallel two-wire system, an output of a first carrier frequency f_1 which is placed on a moving body and is phase-modulated or non-modulated, and f_2= m
a two-frequency transmitter that generates an output of an unmodulated second carrier frequency f_2 having a frequency relationship of f_1/(m-1), [where m is an integer of 2 or more], and the above f_1 from this;
, f_2, one or more antennas for inductively coupling output currents of both frequencies to each of the above-mentioned guide wires; Extract each of the two carrier wave ■ components separately, and extract the f_
The frequency of one component multiplied by m is used as a reference phase signal, and the f_2 wave component extracted from the second and third guiding wires, f
_2′ and f_2″ are phase-discriminated and each output is converted into a square wave, and the pulses corresponding to the rise and fall of the square wave are used as gate pulses for each square wave, and each square wave output that has passed is A device for detecting the traveling direction of a moving object on the ground side, characterized by comprising a ground station receiver equipped with a circuit that generates an output for identifying the traveling direction of the moving object from a flip-flop driven by the flip-flop. The first guide line of the parallel two-wire system is laid along a certain running path of the body, and the intersecting parallel two-wire system is parallel to the first guide line and intersects at a constant crossing interval over the required section. The second guide line is parallel to the second guide line and intersects at the same constant intersection interval (■) over the same required section, and the intersection part of the second guide line is crossed at the intersection interval 1/ 2(L_
1/2) A guide wire group consisting of a third guide wire of a shifted crossed parallel two-wire system, a phase modulated or non-modulated carrier frequency placed on a moving body, and an uncorrelated frequency relationship with this. a two-frequency transmitter that generates respective outputs of an unmodulated second carrier wave located at Each component of f_2 is extracted and the above first
Using the output from the guide wire as a reference phase signal, phase discrimination is performed from the outputs of the second and third guide wires, each output is converted into a square wave, and the rise and rise of the square wave are and a ground station receiver equipped with a circuit that generates a traveling direction identification output of the moving body from a flip-flop driven by the output of each passed square wave, using a pulse corresponding to the downward direction as a gate pulse for each of the square waves. A device that detects the direction of movement of a moving object on the ground side.