JPH087075B2 - Method and apparatus for detecting self-position in moving body - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is capable of accurately detecting its own traveling device on a moving body, for example, traveling on a dedicated moving path such as various railways, monorails, elevators, etc. The present invention relates to a self-position detecting method for a moving body and a self-position detecting device using the detecting method.

[Prior Art] Conventionally, as a method of detecting a self-position on a moving body, a visual confirmation of a ground sign by an operator on the moving body has been mainly performed, and as a supplementary means, point information is transmitted by an information transmitting means by a transponder. The transmission method is used. Another method is to detect the position of the moving body by calculating the moving distance from the rotation speed of the support wheel that supports the moving body.

[Problems to be Solved by the Invention] (1) The moving speed of the moving body is increasing year by year, and the traveling speed of the floating railway, which is currently under research and development, is 50.
It is 0 km / h. It is difficult to visually identify a ground sign from a moving body that is running at such a high speed, and it is almost impossible to perform it particularly under climatic conditions such as rainy weather and dense fog.

(2) There is a demand for automatic operation of a moving body in order to save labor and improve safety, but for that purpose it is essential to continuously detect its own position on the moving body at all times.

Conventionally, in the method of transmitting point information to a moving body by means of an information transmitting means using a transponder, which has been used as an auxiliary means, it is possible to detect the position only when the moving body reaches the installation position of the transponder ground element. Therefore, it cannot be used for continuous position detection.

(3) The method of detecting the position of the moving body by calculating the moving distance from the number of rotations of the supporting wheel that supports the moving body is effective when the moving speed of the moving body is low and the wear of the supporting wheel is small. When the speed becomes high, the position detection error becomes a very large value due to the idling phenomenon of the support wheels and the slippage during deceleration.
Moreover, this method cannot be used in the floating railway, which is currently being researched and developed, because the moving body and the moving path travel without contact.

[Means for Solving the Problem] The present invention proposes a self-position detecting method and a self-position detecting device using the method, which solves the above-mentioned conventional problems and has high accuracy. Take the following measures.
N described below is one value arbitrarily selected from integers of 2 or more.

(1) A high-frequency magnetic field is adopted as a medium connecting the moving body and the moving path, and the moving body and the moving path are always connected through this medium.

(2) As a device embodying the above (1), a fixed period P is provided in a moving road side coupling device for connecting a moving body and a moving road.
If there are n induction lines in which a group of coupling loops that are arranged in a straight line and are connected in series by a two-wire transmission line are prepared, and the coupling loops of each line overlap along the moving path of the mobile unit, Instead, shift the lines so that they are spaced at integer multiples of P / n. A high frequency magnetic field is constantly generated in the coupling loop group in the induction line by causing a high frequency current to flow from the transmitter located at one end of the induction line. As the moving body-side coupling device, a receiving antenna that is fixed to the moving body and generates an induced voltage by electromagnetic induction coupling with an induction line is installed, and an induced voltage is generated by the high-frequency magnetic field.

(3) As a combination of a coupling loop group forming a guide line on the moving path and a receiving antenna on the moving body, the positional relationship between the coupling loop group and the receiving antenna is P / n in the moving path direction.
Considering n combinations shifted from each other, the absolute value of the envelope detection of the induced voltage obtained by each combination is used as the basic data for self-position detection.

(4) As a device that embodies (3) above, a high-frequency current of a different frequency is supplied to each induction line from the transmitter located at one end of the induction line n line described in (2) above. By generating high-frequency magnetic fields of different frequencies for each line in the coupling loop group, and separating the induced voltage induced in the receiving antenna on the moving body by the position detection processing device for each of the different frequency components described above, And the receiving antenna have a positional relationship with each other in the direction of the moving path.
It is possible to obtain n combinations that are shifted by P / n and the induced voltage due to each combination. Envelope detection is performed on each of these induced voltages, and the absolute value is used as basic data for self-position detection.

(5) In the position detection processing device located on the moving body, the basic data obtained by the means of the above (4) is loaded into the microcomputer, and the ratio of n values of the basic data is changed as the moving body moves. The position of the moving body continuously detected within the range of the constant cycle interval P is calculated by utilizing the continuous and cyclically changing in the unit of the above-mentioned constant cycle interval P, and the above-mentioned frequency is calculated. The self-position of the moving body is continuously detected by synthesizing the moving amount of the moving body obtained by counting.

[Operation] (1) Since a high-frequency magnetic field is used as a medium connecting the moving body and the moving path, stable characteristics can be obtained even with changes in weather conditions, and the moving body and the moving path need to be in mechanical contact with each other. There is no.

(2) Since the induction line is adopted as the moving road side coupling device and the coupling loop group forming the induction line constantly generates a high frequency magnetic field, the receiving antenna and the coupling loop are always in the coupled state, and the moving body is continuously connected. It can detect its own position.

(3) Since the position detection processing device located on the moving body calculates the position based on the ratio of continuously changing basic data, the position of the moving body can be continuously detected. Further, in the process, the traveling speed and the moving direction of the moving body are detected and the abnormal data based on the past data are corrected simultaneously and at high speed, and the position of the moving body is continuously detected accurately even in the moving body moving at high speed. You can

(4) Since there is no need for human intervention in the process of detecting the position, automatic driving can be supported.

[Embodiment] The present invention will be described with reference to an embodiment shown in FIGS. 1 and 2 in the case of n = 3, that is, the case where the number of guide lines on the moving path is three.

(1) Fig. 1 is a block diagram showing an outline of the self-position detecting device when the number of guide lines on the moving path is three, and is shown at one end of the three guide lines 9ab, 10ab, 11ab provided on the moving path. Coupling loop groups (91g, 92g, 93g), (101g, 102g, 103g), (111g, 112g) in each induction line due to high frequency currents Iu, Iv, Iw with different frequencies from the transmitters 12u, 12v, 12w located , 1
13g) generate high-frequency magnetic fields with the same frequencies as Iu, Iv, and Iw, respectively.

The inductive lines 9ab, 10ab, 11ab are crossed at the center points of the adjacent coupling loops in order to cancel the influence of the external noise magnetic field with the adjacent coupling loops.

At this time, the voltage induced in the receiving antenna 13 on the moving body is a combination of the induced voltage due to the electromagnetic inductive coupling with each coupling loop group. Amplify this, Iu, Iv,
Only the components of the same frequency as Iw are taken out by the bandpass filters 14u, 14v, 14w, and after level adjustment, they are input to the envelope detection circuits 15u, 15v, 15w, and the outputs are A / D converters 16u, 16v. Input interface converted to digital value with 16w as basic data for self-position detection
Input to the microcomputer 18 via 17.

(2) Fig. 2 shows how each frequency component of the induced voltage induced in the receiving antenna by electromagnetic induction coupling between the receiving line and the receiving antenna changes with the movement of the receiving antenna, and what kind of signal is obtained during the process. Is showing.

Of the voltage induced in the receiving antenna 13, the same frequency component Vu as Iu is 13 due to the movement of 13 and the coupling loop group 91g, 92g, 93g
It changes as shown in FIG. 2B due to the change in mutual inductance with. Envelope detection of this Vu
The signal voltage of Vcu is obtained. By adjusting the size of the coupling loop in the induction line and the size of the receiving antenna, Vcu becomes a sinusoidal signal, and the peak value of the maximum induced voltage becomes V
If the position of the antenna 13 from the center between the coupling loops is 0 and x is expressed by the following equation.

Similarly, of the induced voltage induced in the receiving antenna 13,
Signal voltages Vcu and Vcw due to the same frequency components as Iv and Iw are also obtained, but coupled loop groups (91g, 92g, 93g), (101g, 102g, 103
g) and (111g, 112g, 113g) are installed by being offset by P / 3 from each other in the direction of the moving path, the following formula is obtained.

Here, Vn = Vcu + e- ^{j (2π / 3)} Vcu + e- ^{j (4π / 3)} Vcw
Introducing Vn defined by Is obtained. From this formula, ∠Vn = − (2πx / P−π) is obtained, and it can be seen that the position x of the antenna 13 can be continuously detected within the range of the periodic interval P through the value of ∠Vn. Also, from the formula Can lead to a relationship. here, Introducing the value defined by Becomes

That is, if three values of Vcu, Vcv, and Vcw are known, by substituting these values into the equation, as shown in FIG.
It is possible to obtain a value that changes linearly and periodically. Therefore, the position of the antenna, that is, the position of the moving body can be continuously detected by combining the position information obtained by counting the number of cycles and the value of θ. Further, the moving speed and moving direction of the moving body can also be detected from the rate of change of θ with time.

The information thus obtained is output via the output interface 19 shown in FIG.

[Effects of the Invention] As described above, according to the present invention, the following effects can be obtained.

(1) The self-position on the mobile phase can be detected stably and accurately and continuously regardless of changes in weather conditions.

(2) Since there is no need for the moving body and the moving path to be in contact with each other, there is no need to worry about mechanical wear and maintenance is very easy. It can also be applied to a moving body that travels in a non-contact state with a moving path such as a floating railway.

As can be seen from the equation (3), since θ is determined by the ratio of three induced voltages, all three induced voltages change at the same time even when the moving body shakes, so that stable position detection characteristics can be obtained.

(4) It can support a wide speed range from 0 km / h to high speed as long as the processing time allows for the speed of the moving body.

(5) Since the position and speed of the self can be continuously detected with high accuracy, fine speed control can also be supported, and position detection for automatic operation of carry carriers and cranes other than vehicles such as railroads and elevators can be performed. It can also be applied as a device and has a wide range of uses.

[Brief description of drawings]

FIG. 1 is a block diagram showing an outline of a self-position detecting device according to an embodiment of the present invention, and FIG. 2 is a diagram showing an induction voltage induced in a receiving antenna by electromagnetic induction coupling between an induction line and the receiving antenna. It is the figure which showed the mode that it changes with, and what kind of signal is acquired in the process of processing. 9ab, 10ab, 11a …… Inductive line 91g, 92g, 93g, 101g, 102g, 103g, 111g, 112g, 113g …… Coupling loop 12u, 12v, 12w …… Transmitter 13 …… Receive antenna 15u, 15v, 15w… … Envelope detection circuit 16u, 16v, 16w …… A / D converter 17 …… Input interface 18 …… Microcomputer 19 …… Output interface 14u, 14v, 14w …… Bandpass filter 20su, 20sv, 20sw, 20ru, 20rv, 20rw …… matching transformer 21su, 21sv, 21sw, 21ru, 21rv, 21rw …… amplifier circuit 22su, 22sv, 22sw …… transmitter circuit 23u, 23v, 23w …… level adjustment circuit 25 …… position detection processor

Claims (2)

[Claims] 1. A group of coupling loops linearly arranged along a moving path of a moving body with a constant period P being separated from each other is prepared as n groups, each group being one value arbitrarily selected from an integer of 2 or more. The groups are arranged P / n apart from each other in the direction of the moving path, generate high-frequency magnetic fields of different frequencies, install one receiving antenna on the moving body, and combine them with the n coupling loop groups described above. The induced voltage generated in the receiving antenna by electromagnetic inductive coupling is separated for each of the different frequency components described above, and the absolute value of each envelope detection is detected, and the ratio of the n detected values is determined according to the movement of the moving body. The position of the moving body is continuously calculated from the above n detection values on the moving body by utilizing the fact that it changes continuously and cyclically with the above-mentioned constant period interval P as a unit. A self-position detection method for a moving body. 2. An inductive line in which a group of coupling loops linearly arranged with a fixed period P therebetween is cascade-connected by a two-wire transmission line, where n is one value arbitrarily selected from an integer of 2 or more. It is obtained by preparing a line and arranging this induction line along the moving path of the moving body so that the coupling loops of the lines do not overlap and the lines are shifted so that the intervals are an integral multiple of P / n. An induction line n line having a positional relationship, a transmitter for supplying high-frequency currents of different frequencies to the induction line n line, and a induction device that is fixed on a moving body and is electromagnetically coupled with the induction line described above. The generated receiving antenna and the induced voltage generated in the receiving antenna are separated for each of the different frequency components described above, and the absolute value of each envelope is detected,
By utilizing the fact that the ratio of these n detection values changes continuously with the movement of the moving body and periodically with the unit of the constant cycle interval P, the detection is continuously performed within the range of the constant cycle interval P. The position detection processing device is capable of continuously detecting the position of the moving body by synthesizing the position of the moving body and the moving amount of the moving body obtained by counting the frequency described above. A self-position detecting device in a moving body, which uses the method according to claim 1.