JPS6049386B2 - Mobile point information transmission device - Google Patents

Description

[Detailed Description of the Invention] When an automation system controls the running of a mobile object such as a vehicle or crane that moves on a certain travel route, a control device for the mobile object and a fixed ground station (hereinafter referred to as a ground station) is used. It is necessary to send and receive data for control and monitoring between the terminals and to detect the current location of the moving object.

In such cases, the present invention provides data signal transmission between a mobile body and a ground station, detection of information on the position and fixed point on the mobile body side while the mobile body is moving, and detection of information on the mobile body passing the fixed point. This invention relates to a mobile point i-point information transmission device that allows a ground station to detect i-point information. Conventionally, as a method for detecting a predetermined point along a running route on the moving body side, for example, a crossing parallel two-wire guide wire is laid along the running route, a signal current is passed through this guide wire, and the moving body side Methods have been proposed in which this signal current is inductively received and the current phase change point at the intersection of the guide lines is detected, but these methods are only for detecting fixed points and are not used for data transmission between a mobile object and a ground station. In order to do this, it is necessary to separately provide data transmission equipment, which poses an economical problem in that the equipment becomes expensive.

The present invention provides an apparatus which eliminates the above-mentioned drawbacks and also has the above-mentioned functions, and will be explained in detail below using examples. First, a method for detecting point information, such as the position and speed of a moving object, using guide lines will be explained. FIG. 1 is a diagram showing an example of the configuration of a point information detection device. This figure shows the case where there is one crossing parallel two-wire guide wire 6 laid along the running route.
is a two-frequency transmitter (denoted as f1 and F2), 4 is a coupler, and 5 is a terminating resistor. A data signal (binary code) is transmitted from the ground-side two-frequency transmitter 1 using phase shift keying (PSK).
) f1 wave and F2 unmodulated at a frequency different from f1.
Two wave signal currents are outputted and passed through the coupler 4 to the induction wire. However, it is better to consider only the F2 wave as the S f1 wave, regardless of the detection device. 2 and 3 are equipment equipped with moving objects, 3 is an antenna that moves while coupled to the guide wire 6, and 2 is a fixed point detector, which detects fixed points on the running road, that is, points where the guide wires 6 intersect. Detect. F2 induced in antenna 3
The phase of the wave signal voltage or current differs when the moving object is in section a or c in the figure and when it is in section b or d.
1800 different. Therefore, when the antenna 3 passes through intersections A, B, C, etc., the phase of the signal changes by 1800 degrees, so the fixed point (intersection) position can be determined by detecting the phase change. Note that the intervals between intersections can be set arbitrarily, but if they are set at equal intervals, the speed and speed of the moving object will increase! This is convenient for detecting the location. Further, the number of guiding wires 6 is not limited to one, but it is also possible to extend and lay a plurality of them in parallel and change the crossing points of each to give the position information of the moving body as a digital code, but this is not related to the present invention and will be explained. is omitted. Next, FIG. 2 is a basic configuration diagram of an information transmission device embodying the present invention.

In this figure, reference numeral 7 denotes a first guide line, which extends along the travel path of the section Dd where data transmission is performed. Rd is its terminal resistance, and 8 is a second guide line, which extends parallel to the travel path of the section Da in which point information is to be detected, and in between is a section that provides binary coded point information, such as slowing down. Dc
There are intersections corresponding to the long/short codes of the binary values. Ra is its terminating resistance. In addition, 11 is a ground station device for transmitting data (F1 wave) and fixed point information (F2 wave), 9 and 10 are equipment on the mobile side, 9 is an antenna, and 10 is a data receiver and a point information detector. It is received by a receiving device that includes. In addition, in Fig. 2, the cross section length S is a short code of point information (based on equally spaced pulse generation) and binary encoded point information (information content differs depending on the point), and L is the binary encoded point information. Each corresponds to a long code. Note that the first and last sections of the information section DO in Figure 2 are L.
indicates that it is an information section, and the middle section L<5S
combinations are used to provide point information. Now, the ground station device 11 includes a two-frequency oscillator of f1 and F2, its amplifier, and a modulator that performs phase shift keying (PSK) on the f1 wave using binary code data. is the first guiding wire 7, and this f1 wave and f1=(m
-1) The F2 waves selected in the relationship of F2/m (m is an integer of 2 or more) are sent out to the second guide wires 8 of the crossed parallel two-wire system without modulation.

In the following explanation, for convenience, the case where m=2 is selected will be explained, but the same operation will be performed for any combination other than 2. If m=2 then f
1=F2/2. FIG. 3 is a block diagram of a configuration example of a data demodulator and a phase detector between intersections of guide wires 8 in the receiving device 10 of a mobile body, and 14 in the figure is a PSK signal demodulator (
or a data receiving section), and the other sections can be called a crossing time phase detecting section.

Note that 12 and 16 are bandpass filters (BPF) that extract the f1 wave component and the F2 wave component from the input from the antenna 9, respectively.
, 13 and 17 are amplifiers and amplitude limiters, and 15 is a frequency multiplier, which is a double multiplier when m=2. 18 is a phase discriminator;
19 is an output device.

An example of the operation waveforms of each part in FIG. 3 is shown in FIG. 4. Next, the operation of the circuit in FIG. 3 will be explained using FIG. 4.
At the top of FIG. 4 is a data signal z. If this Z signal is input as the modulation input of the data transmitter of the ground station device 11 in FIG.
K) method.

As is well known, DPSK has 2-phase, 4-phase, 8-phase...
・There are methods such as 2-phase DPSK, but if the signal for each bit of the input data code is 1°, the phase is shifted by π phase, and if it is 0°, it is not shifted, and the F2 waveform in Figure 4 is used. The current is passed through the guide wire 7 as an f1 wave.The numbers 1 to 8 shown above the Z waveform in Fig. 4 represent bit numbers, SP represents stop, ST represents start, and the lower π and 0 represent the phase. It represents the shift amount.On the other hand, the unmodulated F2 wave is the F2 wave.
Since the wave flows to the guide wire 8 while maintaining the relationship of 2=2f1, the antenna 9 of the mobile body picks up both Fl and f2 waves from the guide wires 7 and 8 and inputs them to the receiving device 10. Although the third row L in FIG. 4 shows one of the crossing sections of the guide line 8 for convenience, rather than a waveform, the receiving device 10 operates as follows on the left and right of the intersection. It is assumed that the St moving body moves at a constant speed. The phase of the voltage or current induced in the antenna 9 from the F2 wave of the guiding wire 8 is reversed at the intersection of the guiding wire L8, as shown in the waveform d in FIG. From this F2 wave reception, only the F2 wave input is extracted by BPF16 in Fig. 3, and the signal, which has been amplified and amplitude limited at the next step A17 and has reached a constant level, is input to one input of the phase discriminator PD18. Become. On the other hand, the receiving power due to the f1 wave from the guiding wire 7 is the third
The f1 wave component is extracted at BPF12 in the figure, amplified and amplitude limited at A13 to reach a constant level, and then frequency doubled at X15 to obtain the waveform e in Figure 4 of 2f1=F2. Note that when f1, for example, the F2 wave, is doubled, the π-phase modulated wave becomes a continuous phase wave e with a shift amount of zero, so this is used as a reference phase signal and another input of the phase discriminator PDl8. Note that in the case of f1 = F2/2, it is good to double the f1 wave with the frequency multiplier Xl5 as described above, but in the general case where f1 = (m - 1) F2/m, the F2 wave
By extracting the frequency of the difference between and f1 and multiplying that frequency by m, a continuous phase F2 wave with a shift amount of zero can be obtained, and this is used as the reference phase signal. Now, the phase discriminator PDl
8 discriminates whether the two inputs D and e are in phase or out of phase and outputs it. This PDl 8 includes a low-frequency p-wave converter and a square wave converter, and outputs it from the output device 19 in the next stage to Fig. 4g. As shown in the waveform, for example, an H (high) level output is generated if the phase is the same, and an L (low) level output is generated if the phase is opposite. Furthermore, PF, A, etc. have a unique amount of phase rotation, but since these cannot be predicted, a phase shift correction circuit is inserted into the PD input, and the PD
It is necessary to correct in advance so that an ideal phase difference input is added to the input of l8. In this way, if the guide line 8 is crossed at a fixed point on the traveling path of the moving object, and if the intersection is made in the section where point information is to be given in accordance with the long/short codes of the binary encoded information, the moving object can be Due to the passage, detection of the same and opposite phases like the g waveform is performed on the moving body side, and it is possible to detect a fixed point and point information.
On the other hand, for data transmission, e.g. DPSKed f1
The wave passes from the guide wire 7 to the antenna 9 and reaches BPFl2 in Figure 3.
And when the f1 wave extracted in A13 is input to the phase shift signal demodulator DTCl4, in this case, a known DPSK wave demodulation method is used, for example, the preceding bit signal is delayed by one bit time. By using a phase discriminator to detect the phase difference between the previous bit and the subsequent bit, the j waveform shown in Fig. 4 is output from the phase discriminator in the DTCl4, and the low-frequency p-waveform and rectangular waveform (not shown) are outputted from the next stage. The data of the ground station 11 is converted into a square wave by a wave conversion circuit, that is, the fourth wave.
A signal identical to the waveform shown in FIG. Z can be restored.

Next, see Figure 2D.

To decode the binary code point information when the interval is exceeded, proceed as follows. Fig. 5 is a rewrite of Fig. 2 focusing on the DO section, and the mobile equipment 29 and 30 in the figure are for 10 in Fig. 2, and 29 is the data demodulator and intersection in Fig. 3. The phase detector 30 is a decoder that performs the above decoding. As shown in FIG. 5, the guide wire 8 has crossings corresponding to the binary values of the information signal to be transmitted.
For example, information representing points other than the Dc section (point information) is crossed every certain section S, and in the DO section, for the binary code ゜゜0゛ to be transmitted, a short section SC゜l is used.゛ is subjected to an intersection in which a long interval L is assigned.
Moreover, there is a relationship of S=L/·2. In the example in Figure 5, the code is 0.
10011 as S? Since the SLL is composed of long and short sections, the g waveform in FIGS. 3 and 4 becomes the input waveform in FIG. K-wave output is obtained. In addition, the level of the g waveform is reversed in sections other than the Dc section as shown in Fig. 2 and in the example of Fig. 5 for each S section, so from this g waveform output, the speed of the moving body can be detected, the relative address type position can be detected, etc. It can be used to determine the relative address by calculating the number of level inversions from the reference point. Next, the operation of the decoder 30 will be explained.

FIG. 6 is a block diagram of an example circuit configuration of the decoder 30.
8 are the constituent elements. 20 is an interface circuit, 2
1 is a control circuit for determining the intersecting interval of the guide wires 8; 2;
2 is a clock or timing pulse generation circuit; 23;
24 is a time measurement counter for the intersection interval, 25 and 26 are storage circuits for measured values, 27 is an arithmetic circuit, and 28 is a shift register.

First, g from the data demodulator and intercrossing phase detector 29
Waveform 1 In this case, if the k waveform is inputted, it is inputted to the control circuit 21 via the interface circuit 20.
FIG. 7 is a waveform example diagram of each part showing the operation shown in FIG. It has the ability to generate output respectively. When m waveform is at H level, counter 23 counts clock pulses from clock generation circuit 22, and when m is at L level, counter 24 counts clock pulses. In this manner, first, when the m waveform is at H level, the counter 23 operates to measure the time t relative to the current speed of the moving object. Next, when the m waveform shifts to L level, the multi waveform becomes H level, counter 24 counts clock pulses, and at the same time counter 23 stops counting. Then, within the control circuit, n is generated every falling edge of the m waveform.
The count value t of the counter 23 is instructed to be stored in the memory 25 by the pulse. When the m waveform shifts to the H level again, the counter 24 stops counting, and the count value t of the counter 24 is stored in the memory M26 by the O pulse generated every time the m waveform rises. In this manner, the counting operations of the counters 23 and 24 are controlled by the level of the m waveform, and storage is instructed to the memories 25 and 26 by the N and O pulses, respectively. Next, the p waveform is a rectangular pulse that occurs at the same time if both the N and O waveforms occur, and the q waveform is! This is a pulse that occurs at the trailing edge of the p waveform, that is, at the falling edge, and this p pulse causes the counter 23 or 2 to
4 reads the stored value of the preceding memory 25 (or 26) and the stored value of the subsequent memory 26 (or 25) into the calculation/judgment circuit 27 during counting, and performs the following calculation/judgment and outputs the judgment. Obtain r waveform. In this example, all crossing sections in the guide line sections other than section Dc have a constant sign S (i.e. "
Since it is set to ゜0゛), TlO is set to the above pre-memorized value (゜0゛).
Let T2 be the value determined to be ゜゜0゛ by the count value), and let T2 be the subsequent count storage value.

If ×1.5×T2, it is judged as “1゛TlO×1.5>T2,゜゛0゛, and the r waveform corresponding to the judgment value “゜1” in FIG. 7 is output.

At the same time, a q pulse is supplied from the control circuit 21 to the shift register 28 as a shift clock, and the r waveform is
The data is written to the shift register as shown in the figure. To explain this in detail, only in the first L interval of DOl, that is, the interval indicated by L in the binary code or the S interval
"0" is written in the buffer. Next, D is determined by the above calculation. At L at the beginning of the section, "゜1" is output like the r waveform, and the shift register 28 receives the seventh signal due to the coincidence of q and r. It is written as shown in I7 in the figure. In the next calculation judgment, the preceding value is “゜1゛,” so the judgment criterion for this subsequent stored value is set as follows. Sttll is the value determined to be “1” in the preceding count value, and T2 is the value of the subsequent stored value. Let it be a count value. Tll×
If 0.75 T2, then "゜1゛Tll×0.75>T2, then "0''. Based on this determination, the S section following Ts is outputted as "0".

Similarly, in the subsequent L interval, ゛“1゛ is changed to the next S
In the section, “゜0゛” is judged and output. Shift register 2
8, the output r waveform of the calculation/judgment circuit 27 is read into I7 on the input side of the shift register by the shift pulse q and stored, and as the shift pulse q arrives, the next waveform is read from the register I7 in the shift register 28. In register I6,
The stored contents are sequentially shifted from register 16 to register 11, such as the next register I5. Waves I7 to j1 in FIG. 7 show the above operation; the r waveform is read into I7 with a shift pulse q, and the data before rewriting of I7 is read into I6 with the same shift pulse q. These reading operations are performed sequentially.
This is done up to one register, and shifted in order by the q pulse as shown in FIG. Note that the number of shifts in the shift register is seven digits in this example, but the number of digits, that is, the number of bits is arbitrary. In this way, the m waveform in FIG. 7 is sequentially 00010.
I is stored in the shift register 28 as 1001100.
1010 of i1 to I7 surrounded by ``1'' of 7 and i1
011 is D. It is detected as (binary encoded) point information of the section. Although not shown in FIG. 6, each storage element 11 to I7 of the shift register can output stored data, but as mentioned above, it is detected that the outputs of i1 and I7 are ゜゛1゛. The detector detects that it is a point information section, and the 2nd section between i1 and I7
Value point information is output. Note that the binary codes taken out from the shift register 28 are taken out in series or in parallel and displayed on a display or recorded on a recorder, for example. Further, counters 23 and 24 can be replaced with one counter. Now, in the configuration example shown in Fig. 2, a two-frequency signal generator is provided on the ground station 11 side, but this signal generator may also be provided on a mobile object, in which case it is transmitted from one or more mobile antennas. The f1 wave and the F2 wave are inductively coupled to the guide wires 7 and 8, respectively, and the guide wire 7 is connected to the f1 wave extraction BPFl2 as shown in FIG. It is inputted from the guiding wire 8 to the F2 wave extraction BPF16.

By doing this, phase detection and decoding of the intersecting section of the guide line 8 is performed based on the opposing state of the moving object and the guide line. On the other hand, data transmission from the mobile body to the ground station using the f1 wave is also demodulated by the data receiving section 14 and output.
If a two-frequency signal generator is placed on a mobile object in this manner, the ground station can detect when the mobile object passes a fixed point and receive data transmission from the mobile object. In addition, in the present invention, as in the example of FIG.
The middle section was made to intersect every S (= “0゛)”, but
On the other hand, in the DO section, the code surrounded by S=゜"0゛ is information, and except for the Dc section, L (="゜1゛) or L>? A similar effect can be obtained even if the setting is made to intersect every L. As described in detail above, according to the present invention, data can be transmitted from a ground station to a mobile body, and fixed point information and binary encoded point information can be detected on the mobile body side. Conversely, data can be transmitted from the mobile body to the ground station, and the ground station can detect the passing point (fixed point information) of the mobile body. Therefore, when used, for example, for fixed point (position) detection or transmission of control signals when a mobile body automatically travels, it has the advantage that facility costs and operation costs are low and economical effects are large. Also, it is not allowed to change the binary encoded point information, such as the information to drive slowly or the speed in h.
It is easy to change the combination of intersection intervals in a section all at once with a simple mechanism, so it can be easily realized. Also, to determine whether the code is 1 or O, the time count value T of the preceding code is used. ．． Ni゛1
Since the time count value T.n+1 of the subsequent code is determined by the reference value multiplied by 75% for ゛ judgment and 150% for ゜“0゛ judgment, even when the moving object is accelerating, it can not be affected by a wide range of speed changes. Since the phase discrimination method is used for data reception and phase reversal detection at each crossing, an amplitude limiter can be used, and even if there are fluctuations in the coupling loss between the antenna and the guide wire, the phase remains unchanged. Since the input level of the discriminator can be kept constant, high-quality data transmission and accurate location (
It is a remarkable feature of the present invention that it is possible to detect mobile object position information and binary coded point information.

[Brief explanation of the drawing]

FIG. 1 is a configuration example diagram of a point information detection device, FIG. 2 is a basic configuration example diagram of an information transmission device implementing the present invention, FIG. 3 is a configuration example block diagram of a data demodulator and a cross-phase detector, and FIG. 4 is an example diagram of operation waveforms of each part in FIG. 3, FIG. 5 is a detailed diagram of the Dc section in FIG. 2, and FIG. 6 is an example diagram of a decoder configuration for binary encoded information.
FIG. 7 is an operational waveform diagram of each part of FIG. 6. 1...2-frequency transmitter, 2...Fixed point detector, 3, 9...Antenna, 4...Coupler, 5, Ra, R, ...Terminal resistor, 6, 7, 8
...Guiding wire, 10) ...Receiving device, 1
1... Ground station, 12, 16... Band offshore transducer, 1
3, 17...Amplification and amplitude limiter, 14...
...Data signal receiving section, 15...Frequency multiplier,
18... Phase discriminator, 19... Output device, 20... Interface circuit, 21... Control circuit, 722... Clock generator, 23, 2
4... Counter, 25, 26... Memory circuit (memory), 27... Arithmetic judgment circuit, 28...
...Shift register, 29..Data demodulation and cross phase detector, 30..Decoding code.

Claims (1)

[Scope of Claims] 1. 2^k phase (k
is an integer such as 1, 2, 3, etc.), and a first guide wire of a parallel two-wire system through which a signal current for data transmission is subjected to phase shift keying (integers such as 1, 2, 3, etc.); It is extended over the required section, and to specify within that section, intersections are made to form long and short sections corresponding to the binary code for point information, and for areas other than the specified section, either one of the long or short sections is used. The first frequency f_1 is obtained by intersecting at intervals equal to the length of
and f_2=mf_1/(m-1) [m is an integer greater than or equal to 2]
A second guiding wire of a crossed parallel two-wire system carries a signal current of an unmodulated second carrier frequency f_2 having a relationship of a ground station and a transmission line configured with a transmitter that supplies the lines from one end on the same side; a receiving antenna that is mounted on a moving body and picks up signal current from both the first and second guide lines; The signal currents of the first and second frequencies are selectively extracted from the reception input from this antenna, set to a constant amplitude, and the difference frequency is multiplied by m. The output is used as a reference phase signal and is used as the second frequency component of the constant amplitude. a circuit that performs phase discrimination to detect the number of times a moving object passes through a fixed point or an intersection, and determines the length of a time interval between crossings of binary codes, decodes the code into a binary code, and outputs the same; 1. A mobile point information transmitting device comprising: a receiver equipped with a phase shift signal demodulation circuit that demodulates and outputs a data signal from a frequency component. 2 Relational expression between two frequencies f_2=mf_1/(m-
In 1), when m = 2, the receiver on the mobile side selects and extracts the reception input from the antenna for each frequency f_1 and f_2 to have a constant amplitude, and then doubles the first frequency f_1 to obtain a reference phase signal. and using this, the second frequency f_2
2. The mobile point information transmitting device according to claim 1, wherein the mobile point information transmitting device performs phase discrimination of an output wave.