JPS6126604B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides information on the position and fixed position of a moving object on a certain traveling path when an automation system controls the movement of a mobile object such as a crane, a trolley, a vehicle, or a train that moves on a certain traveling path. This relates to a device that detects the passage of a point from a fixed ground station (hereinafter referred to as a ground station) using a guide line, and is characterized by the simplicity of the mobile device, the need for no power supply, and the high measurement accuracy.

In a device that detects the position of a moving object at a ground station using conventional guided radio, for example, parallel two-wire guidance wires are laid that intersect at predetermined intervals along the travel route, and An oscillator with a specific frequency or an oscillator and an antenna are mounted on the tower and the antenna is coupled to the guide line, and the ground station detects changes in the output level of the guide line when a moving object passes through the intersection of the guide lines. Devices that connect a device to one end of a guide line to detect passage of an intersection (fixed point) are in practical use, but this requires an oscillator to be installed on the moving body, and therefore requires a power source.
For this reason, the inductive radio method cannot be used to detect the position of unpowered vehicles such as trolleys and vehicles on the road. The present invention realizes the elimination of a power source in a mobile device, and will be described in detail below with reference to embodiments.

FIG. 1a is a diagram showing an example of the basic configuration of the present invention. Symbol 1 in the diagram is the crossing parallel two-wire guide line 1 laid in a designated area along the running route, 2 is the non-crossing parallel two-wire guide line laid parallel to 1, and 3 is the terminal. resistors, 5 and 6 are couplers, 7 is a position detector, 4 and 4' are tuned coupling coils installed at a constant distance L ₂ in the running direction above the moving body C ₀ , and the first
Figure b is a diagram showing the relative relationship between the guide wires 1, 2 and the coils 4, 4'. In addition, A and B in the figure are the sections of the guide line with the intersection as the boundary, and the signal phase detection sections A,
Called B, L ₁ is the total length of both sections A and B.

Next, Figure 2 shows the induction wire 1 and the tuned coupling coil 4,
A and B to reduce the coupling loss between 4'
It is an example figure which comprised the guide wire 1 of a section by the rectangular loop of multiple turns.

FIG. 3 is a circuit configuration diagram when the amplitude level detection method is used in the position detector 7 of FIG. 1. In Fig. 3, 8 is a signal wave oscillator with a specific frequency;
is a bandpass filter (BPF) for signal wave extraction, 10 is an amplifier, 11 is a detector, 12 is a square wave converter, Pout
was the detection output.

The position detection operation using the amplitude level detection method shown in FIG. 3 is as follows. Guide wires 1 and 2 shown in FIG. 1 are laid along the travel path at fixed points on the travel path, and tuned coupling coils 4 and 4' are provided at both ends of the travel direction of the moving body, respectively. Combine with. A coupler 5 is connected to one end of the guide wires 1 and 2.
A position detector 7 is connected via 6. Furthermore, in the example of FIG. 1, L ₁ <L ₂ and the moving direction of the moving object is from left to right.

Now, the output of the oscillator 8 in the position detector 7 is sent to the guide wire 1 via the coupler 5.
Since the lengths of section and section B are almost equal and the intersection is made at the junction of sections A and B, when the moving object is not within sections A and B, the connection of guide lines 1 and 2 is a line. Although there is only an inter-coupling, the signal waves of the guide wire 1 are not outputted to one end of the guide wire 2 because A and B cancel each other out with equal and opposite phases. In reality, it is necessary to correct the distance between A and B in order to completely balance this cancellation, but in any case, it is possible to maintain the output of the guide wire 2 → coupler 6 at an almost zero level. can.

Next, when the moving object enters section A from the left, the moving object antenna coil 4 is coupled to the guide wire 1, and then the antenna coil 4 is coupled to the guide wire 2, and the position detector 7 is connected to the third Enter in 9 in the figure.
The desired signal wave is extracted in the BPF 9, further amplified in the amplifier 10, and then subjected to envelope detection in the wave detector 11. The detection output is passed through the built-in low frequency filter in the next stage 12, and then when there is no signal (noise level)
Square wave conversion is performed using the intermediate level of the signal as the determination level, and the detection output Pout is obtained. Further, at the intersection from the A section to the B section, the coupling from the guide wire 1 to the coil 4 becomes zero level with anti-phase balance, so the output of the square wave converter 12 becomes a zero level output similar to when there is no signal. Next, the moving body and the coil 4
When the vehicle enters section B, the same detection output as in section A is obtained. Further, based on the assumption that L ₁ <L ₂ , the coil 4' passes through the A section-B section after the coil 4 passes through the B section, so that the same detection output as when the coil 4 passes is obtained. In this way, it is possible to determine the amplitude level of the signal when the coils 4 and 4' of the moving body C exist within the sections A and B, and the position of the moving body can be detected. Although this method simplifies the configuration of the position detector as shown in FIG. 3, it is vulnerable to interference input and has low reliability because fluctuations in amplitude level directly affect detection accuracy.

Next, the operation of position detection by the phase discrimination detection method used in the present invention will be explained. FIG. 4 is a diagram showing an example of the configuration of the position detector 7 using phase discrimination detection. In this figure, 8, 9, and 12 are the same as in Figure 3, 13 is an amplification amplitude limiter (A/L), 14 is a phase discriminator PD, 15 is an amplitude level detector LD, and 16
is a clock gate circuit G, and 17 is a clock generator.
CL, 18 is a memory/output device M. Also the fifth
The figure is an operational waveform diagram of FIG. 4. First, a signal wave from the specific frequency oscillator 8 is sent to the guide wire 1.
Antenna coil 4 or 4' of mobile body C is A, B
If it does not exist within both sections, the signal output of the guide wire 2→coupler is held at zero level for the same reason as above. Next, the moving object C ₀ moves to the right S _r or to the left S
coil 4 or 4' is A or B.
When entering the section, the signal wave from the guide wire 1 is inductively coupled to the guide wire 2 via the coil 4 or 4', but in the A section and the B section, the phase of the induced voltage is reversed compared to the guide wire 1. The combined input of the guide wire 2 is also reversed in phase at the crossing point and is input to the position detector 7 via the coupler 6.

In the position detector 7, the BPF 9 shown in FIG. 4 selectively extracts the signal wave and inputs it to the next stage A/L 13. FIG. 5 is a waveform diagram of each part of FIG. 4, and the b waveform is the output waveform of the BPF 9. As shown in the figure, the phase of the b waveform is inverted at the A/B section junction. A.L13 amplifies the signal wave and outputs a part to the amplitude level detector LD15, but the rest is limited to a constant amplitude and then sent to one input terminal of the next stage phase discriminator PD14. The LD15 detects the envelope of the signal wave (the broken line in the waveform b in Figure 5), and converts it into a square wave using a square wave converter whose conversion point is set to the intermediate level between the detected output when there is no signal and when there is a signal. The obtained waveform (e) in FIG. 5 is output and sent to the clock gate circuit 16.

Now, the quasi-phase signal shown in the waveform d in Figure 5 is input from the oscillator 8 to the other input of PD14, and the phase is discriminated from the above input signal, and its output is input to the square wave converter W12. do. In W12, the signal is converted into a square wave through a low frequency wave generator on the input side. That is, when the waveforms b and d are in phase, they are converted to an "H" level, and when they are out of phase, a "L" level is converted and output as shown in the waveform of FIG. Note that a circuit for correcting the amount of phase shift inherent in the coupler, BPF, and amplifier is provided on the input side of the PD 14 so that an ideal phase relationship can be obtained.

A clock g (Fig. 5) is sent from the clock generator 17 to the next clock gate circuit G16, and when the e level of the output of the amplitude level detector LD15 is "H" level, the clock g is output, and the square wave conversion is performed. When the output of the device W12 is at the "H" level, a clock is output from the h terminal, and when it is at the "L" level, the clock is output from the terminal to drive the memory output device M18 at the next stage. This M18 is composed of, for example, a flip-flop. Therefore, the moving object moves from left to right in Figure 1 or Figure 2 (this is referred to as S
The output Pout of M18 becomes the i waveform in Figure 5 when traveling (referred to as _r direction), and the output when the moving direction of the moving body is opposite to S _r (this is referred to as S direction).
Pout becomes the i waveform in Figure 5. Note that the amplitude level detector LD is installed at the junction of sections A and B of the guide line 1.
The output e waveform of 15 becomes “L” level, and PD1
The output waveform of 4→W12 is converted from “H” to “L” or from “L” to “H”.
As the signal level is small as indicated by the waveform envelope b, the output of the square wave converter W12 during this period is turned off by the clock gate circuit G16, and the signal level is sent to M18 at a sufficiently large and stable position. This prevents the occurrence of erroneous outputs due to deterioration of the /N ratio. Therefore, if the traveling direction is S _r by passing through the intersection of antenna coils 4 and 4', then H→
By detecting the falling of L and, if the running direction is S, by detecting the rising of L→H, the entry of the head of the moving body into this intersection, that is, the fixed point, and the advance of the tail end of the moving body are detected.

The above was a case where a specific frequency was sent from the oscillator 8 to the guide wire, but next, two different frequencies
An example using ₁ and ₂ will be described below with reference to FIGS. 1, 6, and 5. FIG. 6 is a diagram showing an example of the configuration of the position detector 7 in this case. In this figure, the same symbols as in FIGS. 3 and 4 represent the same items, and those with dashes also represent the same types of items. 19 is an amplitude limiter. First, the frequency is output from oscillators 8 and 8' respectively.
Signal waves ₁ and ₂ are sent to the guide wire 1 through the coupler 5 and also to the PD 14.
However, the difference frequency between ₁ and ₂ must be sufficiently removed by the low frequency filter in PD14, and must be sufficiently separated by BPF9 and BFP9'.
₁ and ₂ are generally several KHz or more. In addition, for example, the tuning coupling coil 4 of the mobile body _C0 has _a
It is assumed that the tuning coupling coil 4' is tuned to each of the _two waves.

The moving body C ₀ is located in the fixed point area of Figure 1, that is, A,
When the wave does not exist in section B, both waves ₁ and ₂ are balanced on the path 5-1-2-6 in FIG. 1 as described above, and there is no output to the coupler 6. Next, if mobile C moves from left to right (in the S _r direction), as it enters sections A and B, _one wave will be 7,
BPF 9 on the path 8 → 5 → 1 → 4 → 2 → 6 → 7, 9
Here, _one wave is selected and extracted and sent to amplifier 1.
Sent to 0. ₁₀ input waveforms are shown in FIG. Enter
Envelope detection of _one wave is performed, and as in the case of FIG. 4, it is converted into a square wave (FIG. 5e) with a certain level as a conversion point and sent to the clock gate circuit 16.

The limiter 19 limits _one wave to a constant amplitude and inputs it to the phase discriminator PD14. On the other hand, the same path as the _first wave 7, 8' → 5 → 1 → 4' → 2 → 6 → 7,
_{The 2} waves of 9' are BPF 9' → amplifier 10' → limiter 1
Input in the order of 9 → PD14. The FD14 has a frequency difference of several KHz or more from the transmitters 8 and 8'.
_{The first} wave and _{the second} wave are respectively input as reference phase signals for phase discrimination. However, the difference frequency components generated in this PD 14, such as the difference frequency between ₁ and ₂ and the difference frequency between signal waves different from ₁ and ₂ , are removed by the next stage 12 (low-frequency converter on the input side of the square wave converter W). Therefore, it does not cause interference.Now, _one wave from limiter 19 is sent to oscillator 8 at PD14.
A phase difference discrimination with respect to _one wave of the standard phase signal is performed, and then a square wave output is produced in the square wave converter W12. If the phase is in-phase, the output is "H" level, and if the phase is opposite, the output is "L" level. The waveform in FIG. 5 represents this output. The waveform from W12 and the output from the _one- wave amplitude level detector 15 are input to the clock gate circuit G16.
The clock from the clock generator CLK17 is also inputted to the memory output device M18, and in exactly the same manner as described in the operation in FIG. Furthermore, when the antenna coil 4', which is tuned to _{the second} wave following the antenna coil 4, enters the AB section, the BPF
9'→amplifier 10'→limiter 19→PD14→square wave generator W12→G16' and amplifier 10'→amplitude level detector 15'→G16', the inputs to two clock gate circuits G16' are obtained, and the memory output The device M18' is driven to output an output Pout. Therefore, passage of the coils 4 and 4' through the guide wire intersection is detected separately as Pout and P'out.

All of the above was for the case where L ₁ < L ₂ , but the circuit configuration of the position detector 7 when (extension section length L ₁ of guiding wire 1 ) > (distance L ₂ between moving body coils 4 and 4') An example is shown in Figure 7. The symbols in Fig. 7 are the same as in Figs. 4 and 6, and the operation is almost the same as in Fig. 6, so the explanation will be omitted, but it is possible to process _1- wave input and _2- wave input independently. L ₁ > L ₂
This is different from the case in Fig. 6, as it allows the condition of .

Note that in the configuration shown in Figure 1, the lengths of the A section and B section of the guide line are equal and one intersection is provided, but as shown in Figure 9, three sections A, B, and C are provided and two
In the case of the one with two intersections, the length of the A and c sections is 1/2 of the B section, and when the mobile coil is not present in these sections, the input to 6 by the A and C sections and the input to 6 by the B section. There is also a configuration in which the input is in reverse phase so that it is balanced (zero). With this configuration, a device for detecting when a moving body passes through section B can be obtained by using the phase discrimination detection method shown in FIG. 4, FIG. 6, or FIG. 7.

Now, in the examples explained so far, as shown in Fig. 1, there is one cross-type coupling coil, and a tuned coupling coil is provided at both ends of the moving body to detect when the moving body passes a fixed point. For example, within a fixed length section of several kilometers, the mobile object is divided into sections of short distance L ₁ every several hundred meters.
A device that continuously detects the section position of C ₀ will be explained.
FIG. 8 is a diagram showing an example of the basic configuration in this case. In this figure, 20 is a crossed parallel two-wire guide wire (or a multi-turn loop) crossed at a short interval of L ₁ , and 21 is an uncrossed parallel two-wire guide wire (or the intersection of 20 22 and 22' are tuned coupling coils installed a distance L ₂ apart at both ends along the travel path of the moving body C ₀ , 22 is _{a one-} wave coil, and 22' is _{a two-} wave coil. Be in tune with each. Reference numeral 23 indicates a crossed parallel two-wire guide wire laid parallel to the guide wire 20 in the divided section A, with an intersection approximately in the center; 24 is a guide wire coupler;
5 is a cross position detector for each of the _1st wave and _2nd wave in the A section, 26 is a frequency oscillator for both ₁ and ₂ , 2
7 is a cross position detector ₁ and ₂ for the guide line 20, respectively, a relative address type section detector, A,
B, C, DE, . . . are section names, and x, y, z are couplers of the guide lines 21, 20, 23, respectively. Both the _1st and _2nd frequency outputs from the oscillator 26 are fed to the induction wire 20 via the coupler 24(y), but the phase of the induced electric field is reversed at each intersection, so the total length of the same phase section is approximately Equally, when the moving body coil is not coupled to this induction wire section, each coupler 24x, 24z of the induction wires 21 and 23 is corrected by adding a phase and correction circuit so that its output becomes zero. put.

Now, when the mobile body C ₀ moves in the S _r direction, the tuned coupling coils 22 and 22' become _{1 and 1} , respectively.
₂ and coupled to each guide wire. Therefore, in section A, the coil 22 is connected to the intersection position detector 25.
_{The 1st} wave and _2nd wave induced outputs are input corresponding to the positions of ₂₂ ' and 22 _' .
In the detector 25 having the structure shown in the figure, Pout as shown in FIG.
is outputted to the output terminal 29, and P'out is outputted to the output terminal 29', respectively, and sent to the section detector 28. and the respective guiding wires 2 of coupling coils 22 and 22'.
A level change from H to L occurs at the intersection of 3 (the left side of the intersection of the guide line 23 in section A
(when the right side is in reverse phase). The moving body C ₀ is further A,
B, C, D... If you move through the sections in order, you will reach the guide line 21.
The output is input to a cross position detector 27 corresponding to the section position of the coupled coils 22, 22'. 27 has a circuit configuration as shown in FIG.
Continuous section detection is performed for _{the 1st} wave and _2nd wave by 2', and the output corresponding to Pout in Figure 7 is output terminal 3.
The outputs corresponding to 0 and P'out are respectively output to the output terminal 30' and input to the next stage section detector 28. In this detector 28, the coil 22 at the head of the moving body
This system uses a counter to detect in which section the coil 22' installed at the tail end is located (this is called the section position) using a relative address method, and each of Pout and P'out is detected in a relative address manner using a counter. It consists of a counter, an interval symbol output device, a counter reset output device, etc.

Due to the movement of the moving body _C0 , the tuned coupling coil 22
When the signal enters the detection zone as shown in Fig. 8, the intersection position detector 2 is detected from the guidance output ( ₁ wave) of the guidance wire 23.
Pout of 5 is output to 29, and the detector 28 extracts the level H→L conversion point and resets the top detection counter. As the moving body C ₀ continues to move, the Pout of the detector 27 is output from _{the 1-} wave induction output of the guide wire 21 to 30, and the counter in the detector 28 registers this H level (or L level). Counts the number of occurrences and converts it to an interval symbol (or interval number) and outputs it. Rear tuned coupling coil 2
2' as well as the coil 22, the guide wire 23 is
P'out is outputted from _{the 2-} wave induced output to 29', and after the rear detection counter of the detector 28 is reset, P'out is outputted from _{the 2-} wave induced output of the guided wire 21 to 30', and the detector 28 The above-mentioned counter counts the number of occurrences of this H (or L) level, converts it into an interval symbol, and outputs it. In this way, the positions of the leading end 22 and the tail end 22' of the moving body C ₀ are determined by the guide line 2.
It can be seen that the symbols of the 0 section are continuously output.

In addition, in Fig. 8, we explained the detection method when there is only one moving object _C0 , but as an application of this method, when multiple moving objects exist within a long distance section, different frequencies are assigned to each moving object, and the same guiding line is used. If oscillators, position detectors, etc. similar to those shown in FIG. 8 are provided for the assigned frequencies, it is possible to detect the area in which each moving body exists.

As explained in detail above, according to the device of the present invention, a tunable coupling coil is only placed on a moving object traveling on a fixed travel path, and the position of the moving object is detected on the ground fixed side, although no power source is required. This makes it possible to simplify and reduce the weight of mobile tower-mounted equipment.
This improves the reliability of the position detection device, reduces operating costs, and lowers equipment costs. In addition, with the phase discrimination detection method, the limiters (A, L) can be used even if the distance between the coupling coil and the guide wire on the moving body side changes during running, so the permissible variation range is wide and high accuracy is achieved. Stably obtained. Furthermore, it can detect noise disturbances with much higher precision than the amplitude level detection method, so it can detect when a moving object passes a fixed point, continuously detect the area in which the moving object exists, and detect the leading and tail ends of the moving object. It is expected to have significant practical benefits such as continuous position detection.

[Brief explanation of the drawing]

Fig. 1 is an example of the basic configuration of the device of the present invention, Fig. 2 is an example of another configuration of the guide wire shown in Fig. 1, and Fig. 3 is an example of the circuit configuration of a position detector using the amplitude level detection method. , Figure 4 is an example of the circuit configuration of a position detector using the phase discrimination detection method, Figure 5 is an example of the operation waveforms of each part in Figure 4, and Figures 6 and 7 are position detection using the phase discrimination detection method. Diagrams of different circuit configurations for each device, No. 8
The figure is a basic configuration example diagram of a device implementing the present invention when detecting the position of a moving object in each continuous section.
This figure is another example of the configuration of the guide line shown in FIG. 1. 1, 2, 20, 21, 23...guiding wire, 4, 2
2, 22'...mobile side tuning coupling coil, 5,
6, 24... Coupler, 7, 25, 27... Position detector, 8, 8', 26... Transmitter or oscillator,
9, 9'... BPF, 10, 10'... Amplifier, 11
...Detector, 12,12'...Square wave converter, 1
3, 13'...Amplification and amplitude limiter (A, L), 1
4, 14'... Phase discriminator (PD), 15, 15'...
...Amplitude level detector, 16,16'...Clock gate circuit, 17...Clock generator, 18,1
8'...Memory output device, 28...Section detector.

Claims (1)

[Scope of Claims] 1. A cross-shaped parallel structure laid along a moving vehicle travel path and crossed at each fixed point or division point.
a linear first guide wire; a non-intersecting parallel two-wire second guide wire laid parallel to the first guide wire;
Ground-side fixed equipment consisting of an oscillator that supplies a signal of a specific frequency from one end of the first guide wire and a position detector connected to one end of the second guide wire; two tunable coupling coils that are attached to the respective guide wires and coupled to the respective guide wires and tuned to the specific frequency, and the induced output from the first guide wire of the second guide wire is connected to the movable body. The first and second guide wires are arranged so that the value becomes zero when the second guide wire does not exist, and the position detector detects the phase difference between the specific frequency component extracted from the output of the second guide wire and the oscillator output. A device for detecting the current position of a moving body, comprising a circuit that detects passage of the first guide line at the head and tail ends of the moving body by a discrimination output, and detects a section where the moving body exists. 2 A first guide line of a parallel two-wire type or a multi-winding rectangular loop type, which is laid along the moving route and has an intersection at each fixed point or division point, and a first guide line that is laid parallel to this guide line. A second guide wire of a non-crossing parallel two-wire system, an oscillator that feeds signals of two specific different frequencies ₁ and ₂ from one end of the first guide wire, and an output of one end of the second guide wire. Ground-side fixed equipment consisting of a position detector as an input, attached to the leading and tail ends of the moving body along the direction of movement, coupled to each guide line, and tuned to each of the above two frequencies ₁ and ₂ . the first and second guiding wires are arranged so that the induced output from the first guiding wire of the second guiding wire is zero when the moving object is not present; , the position detector detects the head of the moving body by the phase difference discrimination outputs of the _1st and _2nd frequency components separately extracted from the output of the second guide wire and _{the 1st} and _2nd outputs of the oscillator. A device for detecting the current position of a moving body, comprising a circuit that detects passage of the intersection of the first guiding line at the tail end and detects a section where the moving body exists.