CN85107666A - The navigational system of unpiloted vehicle - Google Patents
The navigational system of unpiloted vehicle Download PDFInfo
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- CN85107666A CN85107666A CN 85107666 CN85107666A CN85107666A CN 85107666 A CN85107666 A CN 85107666A CN 85107666 CN85107666 CN 85107666 CN 85107666 A CN85107666 A CN 85107666A CN 85107666 A CN85107666 A CN 85107666A
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Abstract
With light beam is that the system that vehicle navigates between a plurality of terminal points comprises: at least one transport vehicle; This face is divided into spacer device between a plurality of adjacent countrys; Be used to survey this face by two neighboring interval border condition optical signal generators, send and indicate the interval light signal of car and the light signal of address, dated terminus are arranged; Logical circuit between spacer device and optical signal generator connects each interval light signal of situation control identification that car is crossed the border; Vehicle-mounted photelectric receiver is used for surveying the light signal of optical signal generator and is converted to electric signal; Be connected in photelectric receiver onboard and receive the vehicle movement control circuit of its electric signal.
Description
The navigational system that the present invention relates to is used to control unpiloted automotive vehicle and travels between the ground of many terminus.
In many industry or commercial facility, must be with originating station to selected regional transporting material, personnel, instrument or machine.For this reason, the definite route that travels of this class transport vehicle can be described as important.But transport vehicle follows and sails that route do not bump with another transport vehicle or solid obstacle also is important.Even more ideal situation is that transport vehicle can not strike anyone in the district of travelling.
An object of the present invention is to provide such system, can make many this type of car self-conductance ground arrive the area of appointment separately by the stretch face.
Another object of the present invention provides has navigation information, and unpiloted motor dolly need not in any way electric signal to be transferred to this transport vehicle in it travels.
Another purpose of the present invention is to reduce to insignificant degree with transport vehicle and another car and with barrier or people's danger of bumping against in the district of travelling.
A further object of the present invention is that a navigation control system is provided.Travelling of these vehicles is limited on the permission route, and this system and each transport vehicle all do not have electrical link, but can make the overseer see the working condition of system.Thereby can rearrange the layout that vehicle can cross the zone, and need not to redesign the control of vehicle, and allow considerable vehicle to travel in the zone simultaneously.
As a whole, the present invention includes: one is led and control system.Be used for realizing on the road surface between many terminus the transportation of car, all there is an address mark each terminus, and this system comprises a transport vehicle that can move at least on the road surface; Spacer device is used for the road surface is divided into many adjacent cell area, also is used for the situation of propagated sensation vehicle by border between two adjacent cellular zones: the optical signal generator device.Be used to launch the light signal of representing each light signal that the car interval is arranged and representing each terminus address mark; Be connected the circuit arrangement between described spacer device and the described optical signal generator device, be used to respond the situation of car by the border, each interval light signal is represented in control; Have the first optoelectronic receiver device on the described car.Be used for the light signal that the above-mentioned optical signal generator device of propagated sensation produced and produce the electric signal of representing this light signal; And be stated from this car and connect the optoelectronic receiver device addressed to receive the vehicle motion control device of its electric signal, be used for controlling the motion of described vehicle according to light signal.
It should be noted that method provided by the present invention is in order to solve guiding one or many transport vehicles, inscribe by regional the arrival between the selected area in certain road surface, and the present invention not to relate to the problem of vehicle parking to the position of accurately stipulating.As long as car one arrives the intrasystem purpose of the present invention district, can realize the stop problem with craft by the operating personnel at scene thereupon, perhaps finish automatically by the known system of a non-part of the present invention.
Unmanned is a kind ofly can and can make the car that some determines substantially under steam according to self power motion from mule carriage or from motor-car.So this car is different from telecar, travelling of the latter is to be controlled by communicating by letter with car from car place far away by operator or automatic system.Also be different from the car that leads by the path of guide rail or mark from motor-car.
With remote control or Guide vehicle compare, the above-mentioned type have many advantages from motor-car, comprising having eliminated the needs of laying rail or setting up guide path, the straighforward operation personnel need be set, and provide targeting signal for car from a distant place.
According to the present invention, all lead the information of doing and avoid colliding, dangerous information all is to offer each car by fixing light source and fixing light hurdle, these light sources are only got in touch by its light beam and each car, the light hurdle then monitoring vehicle in interregional motion, thereby obtain the information of control Navigation Control light beam.
System of the present invention can indicate the zone that vehicle can travel rapidly, thereby prevents vehicle and barrier collision or enter the explosive area that a ditch is for example wherein arranged.And, only need to settle again simply the support that is loaded with the Navigation Control light beam, just can make a given area adapt to any variation in explosive area.The details of feasible route so just needn't be provided for vehicle, but underwayly receive these information from fixed light source.
Below illustrate most preferred embodiment, and consult accompanying drawing, so that understand the present invention in more detail, in the accompanying drawing:
Fig. 1 is the area planar figure that is equipped with a most preferred embodiment navigation control system of the present invention,
Fig. 2 partly is the local illustrative diagram of one of Fig. 1 system, and part is the control circuit calcspar of this system,
Fig. 3 a-3k is the signal graph of key diagram 2 circuit workings,
Fig. 4 is the stereographic map of parts in Fig. 1 system,
Fig. 5 is a kind of planimetric map of vehicle, and this vehicle is navigated by the control of the system among Fig. 1,
Fig. 6 is the circuit block diagram of the car controlling equipment of bus equipment shown in Figure 5.
Fig. 1 is the simplified schematic planimetric map of the fixed part of navigational system of the present invention, and this system is used to control on the floor of 1,2,4,5,6,7,8 and 9 one group of goods station on vehicle or the ground and moves.Navigational system includes one, and in the present embodiment, lamp bracket is arranged in the square network shape by interval permission light modulation frame 11,15,17 and 19 arrays of forming, and structure draws one by the interval array of forming of some squares, and all there is a lamp bracket in each interval on its each angle.
Each lamp bracket is equipped with 1 to 4 light source, and each light source produces the oriented light beam with optical axis 21.As shown in the figure, each support 11 is equipped with four such light sources, and the mode that differs 90 ° of angles according to the optical axis that makes them disposes.Each support 15 is equipped with three such lamp sources, and each support 17 is equipped with two such light sources.In the situation of support 15 and 17, the light beam that each light source produced, its optical axis are also at a distance of 90 ° of angles.Each support 19 is equipped with a light source, produces a branch of oriented light beam.
Each limit in each square district also is provided with light hurdle 24, for simplicity's sake, only dotted one among Fig. 1, each light hurdle can constitute with known method, promptly by a lamp support light source that sends parallel beam is housed and forms with the light-sensitive cell that this light beam of aligning is housed by the support at other end place, border, relevant district.
According to one embodiment of present invention, this system also includes additional range light 27,28,29 and 30, and they can be installed on the discrete support, or are suspended on ground region or the floor block.Range light 27～30 can be arranged in the place of any needs, and forms to the radiative structure of all directions, as marine light.Support 11,15,17 and 19 lamps of being adorned then are used for control interval permission light and navigation information is provided, and have not just needed additional range light 27～30 in this situation but according to another embodiment of the present invention.
Each light hurdle 24 all is electrically connected with interval permission radiant, the light that these light sources send, and its optical axis all points to the zone boundary that has the light hurdle.Like this, for instance, light hurdle 24 shown in Figure 1 will and the support 19 contained light sources of position between goods station 4 and 5 be electrically connected, also is electrically connected the beam axis sensing light hurdle 24 of these light sources with carrying out near the support 15 contained light sources on the right side, top on light hurdle 24.When light hurdle 4 is blocked when restoring again then, will depend on the direction of motion of the vehicle that blocks this light hurdle to the control mode of each in these light sources, promptly this vehicle enters or leaves the interval relevant with this light source.
Fig. 2 shows clear interval permission light modulation support and two light hurdles that are associated with an interval.In the illustrated case, this interval is defined with four kinds of different light source brackets.But, each support is divided into four quadrants as shown in FIG. again, and each quadrant is all related with a light source.In the situation of support 19, has only the light source of a single beam axis 21 shown in having.Fig. 2 also expresses suitable logical circuit, is used for controlling the light beam of this interval border of monitoring.Each light hurdle includes a receiver 34, produces one and points out whether intercepted output signal of the light beam relevant with this light hurdle, all is connected in an input end of AND gate 36 with each relevant between known zone receiver 34.Because each light hurdle is simultaneously relevant with two intervals, so each receiver 34 also will be connected to a discrete logical circuit by circuit 38, this circuit is used to control the light source of another related interval, and what each interval logical circuit can be with shown in Fig. 2 is identical.
Like this, AND gate 36 has four input ends, each all with shown in each receiver 34 on interval relevant two light hurdles continuous.The output terminal of AND gate 36 is connected to the input end of phase inverter 40 and the signal input part of trigger 42.The output terminal of phase inverter 40 is connected to the input end of the trigger 44 of next stage.
Each trigger 42 and 44 is configured to respond each rising edge of a pulse of its input end, so that get fixed output state, this state is the anti-attitude of last output state.
In addition, each trigger 42 and 44 all is connected in a circuit 46 that receives asserts signal, and asserts signal depends on car or no car in the relevant range when system has just started working.If no car in the relevant range, the signal that via line 46 provides just are changed to the logical zero attitude with the output of each trigger 42 and emerging 44; If car is arranged in the relevant range, then be changed to the logical one attitude.
The output of trigger 42 is connected in four OR-gates 48 input end in each.Will explain that as following each OR-gate 48 all interrelates with each light source of monitoring related interval, the output terminal of each OR-gate 48 is connected to a signal generator 50; The output terminal of this signal generator is connected to a light source again, and it is controlled, and has represented the connection of two signal generator 50 output terminals among the figure.
The output terminal of trigger 44 is connected to four two input end AND gates 52 input end in each.Only represented two AND gates among the figure with simplified illustration, another input end of each AND gate 52 links to each other with a receiver or photoelectric cell 34 respectively.
Each generator 50 all constitutes with conventional method, when its input end is added with positive signal, makes relative light source produce first kind signal, when its input end does not have signal, then makes relative light source produce the second class signal.Give account the working condition of circuit below with reference to waveform shown in Fig. 3 a-k.The position of each waveform is illustrated among Fig. 2 by the reference letter of Fig. 3 a-k correlogram among Fig. 3.Among Fig. 3 each figure in separated, represent that the length of the duty relevant with these signal values is indefinite.
Waveform shown in Fig. 3 is fixed according to following hypothesis, be that interval shown in Figure 2 is no car at first, shown in time cycle between just begun after soon, there is car to enter this interval through right side boundary, and near shown in during end cycle, leave the interval by bottom margin, if car is arranged in the zone at first, circuit then begins running program with duty shown in the waveform middle region so.In the embodiment shown, positive logic is got to be decided to be, and when the light hurdle was not blocked, the output terminal of each receiver 34 produced logical one, when the relative photo hurdle is blocked, and output logic " 0 ".
When sequence shown in Figure 3 begins, enter into interval car, at first block right side Guang Lan, after car went the interval fully, the light hurdle restored, the signal that is produced by correlation receiver 34 is pictured among Fig. 3 a, any one is blocked in four light relevant with the interval, and AND gate 36 is output as the logical zero attitude as can be known, and correspondingly phase inverter 45 is output as the logical one attitude, the output of AND gate 36 is shown in Fig. 3 C, and the output of phase inverter 40 is shown in Fig. 3 e.
Like this, when any one light hurdle relevant with the interval blocked, the output state of trigger 42 remained unchanged shown in Fig. 3 d, and the output of trigger 44 changes the anti-attitude of its previous state into, shown in Fig. 3 f.
The output of trigger 42 is provided for four OR-gates 48 input end in each, and the output of trigger 44 then offers each AND gate 52 input end in each.Another input end of each AND gate 52 then is connected to and has an optical receiver 34 that limits this interval corresponding light hurdle.
The output waveform that appears at relevant AND gate 52 places, intercepted smooth hurdle when initial shown in Fig. 3 g, and other each with initially the time the relevant AND gate 52 in not intercepted smooth hurdle, its output waveform is then shown in Fig. 3 h.
The output terminal of each AND gate 52 is connected respectively to another input end of each OR-gate 48, the relevant OR-gate 48 in intercepted smooth hurdle when initial, and its synthetic output is shown in 31, and the output of other OR-gate 48 then is pictured among Fig. 3 k.
After vehicle entered this interval fully, relevant light hurdle just restored, and the output state of trigger 42 overturns, and the output state of trigger 44 is constant.
Thereafter, when vehicle leaves this interval by light hurdle, below, the signal that is produced by this place's receiver 34 will have shape shown in Figure 36.When this light hurdle was blocked, the output state of trigger 44 overturn, and the output of trigger 42 remains unchanged.After this car left the zone fully, the light hurdle just restored, and the output of trigger 42 is overturn, and the output of trigger 44 remains unchanged.
Each generator 50 is configured to like this, and when the signal of its input end has the logical zero attitude, the output of generator will make its relevant light source produce the light signal that indicates no car in the related interval.When the input signal to generator 50 has the logical one attitude, the output of generator will make relevant light source produce one and indicate the light signal that car is arranged in this interval.Like this, by Fig. 2 and Fig. 3 as seen, when entering this interval vehicle at first and block light hurdle, right side, light beam is covered with the light source on the support 11 of above-mentioned interval border, continue to produce the light signal of interval interior no car, so just, allow car to continue to enter this interval, other light source then produces and shows the light signal that car is arranged in this interval, makes to approach this interval vehicle from other any direction and stopped.After vehicle entered this interval fully, the signal that imposes on light source on the support 11 also will change or indicate in this interval car, made the vehicle of following just can not enter this district by right side boundary.
Afterwards, when vehicle left the interval, all light sources continued to produce and indicate the light signal that car is arranged in the interval territory, when car leaves fully till light hurdle, below restores.Can find out that below when car leaves an interval and enters when next interval, the light source relevant with above two intervals is independently to be subjected to the hurdle bundle to produce the light signal of necessity.
Top basis is provided with the form of a discrete circuit to each interval, explained the logical circuit of the light source in the certain interval of control, will be appreciated that simultaneously all optical receivers 34 all are to be connected in a computing machine with all light sources in the system, be composed of in this computing machine and control each interval program of this system in a manner described.
Also dotted the scope 54 of photograph that each navigational light beam is covered among Fig. 2.Generally, the irradiation that all has a down dip slightly of each light beam, like this, in car was in greater than regional 1/2nd scope, light beam just can " be seen " by the optical receiver on the car, and was certain, the interval at car place is adjacent to the interval relevant with light beam, and is adjacent to the interval border relevant with light beam.Like this, can guarantee the interval permission light light beam that optical sensor does not respond with the interval is relevant on the car at a distance, or the interval relevant with the present zone that enters of this car permission light light beam.
Fig. 4 expresses the suitable embodiment of interval permission light modulation frame (lamp bracket 19) with the form of skeleton view.This lamp bracket includes the interval permission light light beam source of settling near its top 56, and its location can make its generation have the light beam of Fig. 2 institute scope 54 with orientation.The light beam that is produced by light source 56 is wanted downward-sloping certain angle, makes it to be enough to shine in the ken as the optical receiver on the car between above-mentioned adjacent country.
In addition, lamp bracket 19 has light source 60 on the position that is higher than this light hurdle, produces the conical light 62 of irradiation downwards, the alerting light signal when approaching lamp bracket with non-vehicle.This alerting light signal can be set on other any structure, as be distributed in car travel the zone in range light 27-30 on.
The mode that lamp bracket 11,15 is identical with lamp bracket shown in Figure 4 with 17 usefulness is configured to, and suitably is distributed on their periphery but have two to four light beam sources 56.
On the other hand, all lamp brackets of system of the present invention can be installed four because the ad-hoc location of lamp bracket and don't the light source that need use.This choice selectivity can be simplified the work in the time of need rearranging lamp bracket.
Fig. 5 is a planimetric map, be illustrated in that its navigation is controlled in the system of the present invention from the motor-car example.Except including exercisable front and back wheel and being used for also comprising the optical sensor 70,72,74,76 and 78 of accepting the top irradiation along one of fore-and-aft direction advances the system of car, their position has determined to receive only the light that light source 60 is produced with orientation from motor-car 66; And two optical sensors 80, each all be contained in one can be active support 82 on, and orientation receives light that light source 56 produced and the optical radiation that is produced by range light 27-30.
More particularly, if car 66 is by this way near lamp bracket 19, the sensor 70 that promptly is positioned at its front end at first receives light, be to provide car almost honest indication facing to lamp bracket by adjacent optical sensor 72 thereupon, in this class situation, to be converted into control signal by sensor 70 and 72 bursts that provided, the indication car is earlier towards the short and small segment distance of backward going, returns to then along inceptive direction to travel and deflection certain angle to the right.Similarly,, then by 74, then will carry out similar operation, but will indicate car after backward going, turning left, and then recover travelling along inceptive direction if light is received by sensor 70 earlier.
If sensor 72 is subjected to light earlier, then be sensor 70, the center of this expression car just takes over slightly towards lamp bracket.At this moment, can be used to refer to car racing to the right, avoiding lamp bracket, and not carry out reversing along its travel direction by the burst that these sensors produced.
If only receive earlier by sensor 72, then be sensor 76, then headstock has bigger deflection with respect to lamp bracket 19 as can be known, and this moment, burst can be indicated the car very little amount of turning right.
At last, if light earlier by sensor 70, is received by sensor 72 and 74 again then simultaneously, show that then car is honest in lamp bracket, at this moment the burst that is produced will be used for making car to travel in opposite direction, change to the left or to the right according to the regulation of giving choosing then and to overtake.
The position that is installed in the sensor 70～78 on the car 66 can be according to making apart from M between lamp bracket and relative conical light 62 peripheries.For instance, each sensor 70 should be less than 0.7M apart from a side of car 66, the end and the side of each sensor 76 and the relative car of 78 distances should be less than 0.7M, distance from sensor to immediate vehicle turning is just less than M like this, and any sensor that the side sets up after sensor 76 and 78, all should be placed in apart from the place of adjacent sensors less than M, and with the side distance of relevant car should be less than 0.7M.
When car travelled in floor area, the swinging mounting 82 of car front end can rotate to each limit, the place ahead of travelling in 135 °～150 ° scope continuously, made relevant sensor 80 can scan by stages permission light modulation and range light.
The embodiment that is installed in the car kinetic control system on the car 66 is shown among Fig. 6 with block diagram.This system includes one and is connected in the alert logical circuit 84 of giving of used sensor 70～78.Only represented to be installed in the sensor on car one end among the figure.And the sensor that is contained in the car other end can be in parallel with the sensor of similar number shown in Figure 6, and this is because when car travels in a certain direction, its direction of motion relatively, and the sensor of car front end always enters among the taper light 62.
Logical circuit 84 can be made of microprocessor or a hard-wired logic circuit, and the latter is used for surveying the process that relation that optical sensor 70～78 discussed by the front enters taper light.Constructing this kind program of such logical circuit or establishment microprocessor, is very clearly to those skilled in the art.When one that the detects optical sensor special process of being excited.It can be the characteristic signal of digital form that circuit 84 just produces one, shows the special process that is detected, as long as sensor 70～78 does not detect the light that light source 60 sends, circuit 84 does not just produce output signal, therefore will be less than influence to the operation of car.
In order to prevent the effect of surround lighting, the light that light source 60 is produced can be given a special pulse form, logical one a disconnected shape on the frequency of suitably selecting.Like this, circuit 84 just will constitute only to the generation of the signal on this frequency response.
Have two optical sensors 80 to be connected on the switch 85, controlled of this switch allows the signal of car front end sensors pass through.The output terminal of switch 85 is connected in navigation lights watch-dog 86.Each light signal that this watch-dog monitoring sensor 80 receives, watch-dog 86 includes the parts of indication sensor 80 output signal strengths.Watch-dog 86 is that structure is used for comparing the situation that occurs continuously of certain known navigation signal when support 82 rotates, the maximum amplitude when aiming at the corresponding navigation lamp with the ken axle of determining the sensor 80 that it appears at work.
Watch-dog 86 and circuit 88 all can be made of suitable digital sampling element, memory and a microprocessor of suitably programming.With clear, all these members can be conventional from following narration.
Comparator circuit 88 has connected a programmable storage circuit 90 again, and it has programming input end 92, and its structure can allow manual input or electricity input.Drive programming input end 92,, characterize the relevant light signal of depot that will arrive with car to characterization signal of circuit 90 input storages.If this system includes independently range light 27～30, then storage circuit 90 also will be programmed to store and be characterized the characterization signal that each range light produces the light signal pattern, and these range lights are all on the starting point and the feasible path between the Target Station of car.Circuit 90 also further constitutes the characterization signal that each storage sequentially is provided to comparator circuit 88 with certain priority level.For instance, the formation of this priority level can be headed by the signal type relevant with the target depot, is thereafter the signal type of each the continuous navigation lamp of starting point along Target Station to car.Each signal representation is provided for comparator circuit 88 again from storage circuit 90, each the signal type that is provided at scan period end and monitor 86 compares.If in this cycle, the signal type that first signal type that memory 90 is provided and monitor 86 are provided is inconsistent, and comparer 88 will notify memory 90 to send other signal type of next limit priority.Like this, the signal type of wanting ground, the farthest spot correlation on the travel route with car was always sought by this system before looking for next nearer navigation signal type.
In scan period, support 82 is driven by drive unit 94 and rotates around the longitudinal axis, and this drive unit is the direction of the field of view axis of monitoring sensor 80 continuously, and produces its signal with respect to car 66 angular ranges of indication on the output line that has connected watch-dog 86.This signal can be digital form or analog form, and relevant with the navigation signal that has been determined maximum amplitude in watch-dog 86.
In order to prevent owing to receive the difficulty that more than one range light signal is caused simultaneously, so adopt following variation separately or synthetically: each sensor 80 can be constructed has the narrower ken; First navigation signal type that watch-dog can be configured to adopt correlation technique only to monitor and receives is till maximum amplitude is determined, again then begin to monitor the signal type of then receiving; Navigation sources can be controlled with certain their navigation lights type of sequence emission, makes signal not overlap in time; All navigation signal lamps can be configured to and be positioned to, and each lamp only is detected on the restriction part part in whole interval, allow the overlapping of small part, always are arranged in the travel scope of a range light of route of car to guarantee sensor 80.
The control logic circuit 98 of vehicle receives from the comparison signal of comparator circuit 88 and the bearing signal of related sensor, also receives the alarm signal from logical circuit 84.
Also include the circuit of valuation 102 of interval permission light signal in the circuit structure, it also is connected on the switch 85, receives the signal by the there, and has connected the control logic circuit 98 of vehicle again.Will explain below, and point out whether to have between a given zone optical signal type of car always to have that certain can find out, the feature of different and navigation lights type.And each interval permission light beam has only when relevant car and is in in specific interval is permitted between the adjacent country in the interval that light beam is relevant the time, just shines on the sensor 80.
Therefore, interval permission optical signal estimation circuit 102 can be configured to the plain mode that the interval that definite sensor 80 is detected permits light beam whether indicate related interval a car or car free.The signal that obtains like this can be simple two level signals, offers the control logic circuit road 98 of vehicle, notify this circuit with car at that time in the adjacent interval territory, location and sensor 80 kens whether car is arranged in right this interval.
Circuit 98 also is connected in device 94, provides this device 94 of indication that support 82 is stopped operating where necessary or recovers the signal of such commentaries on classics.
The control logic circuit 98 of vehicle comprises a series of outlet lines, connects electric control operating mechanism 104 and 106 respectively, and each such mechanism operating the wheel of car 66 each end, and the CD-ROM drive motor 108 that advances car 66.CD-ROM drive motor 108 can borrow suitable gearing to be fixedly connected on two groups of wheels, and can rotate to both direction.Perhaps, according to the direction of propulsion of car, in a period of time, make CD-ROM drive motor 108 only be connected in one group of wheel selectively.
According to the embodiment shown in Fig. 6, circuit 98 includes little processing 112 of the CPU (central processing unit) that constitutes the vehicle movement control system.Microprocessor 114 connects alarm logic 84 and receives its signal, and permits light logic circuit 120 and manipulation/drive logic 124 switching signals with navigational logic circuit 118, interval.Microprocessor 114 also is connected in switch 85 and drive unit 94 is carried switch controlling signal and drive control signal.If sent alarm signal here by circuit 84, microprocessor 114 is with regard to the work of termination logic circuit 118 and 120, until carried out suitably avoid operation after.Similarly, microprocessor 114 when receiving navigation lights, work that can termination logic circuit 120, but the then work of termination logic circuit 118 when receiving subregion permission light signal.
Microprocessor 114 provides to logical circuit 124 and handles and drive signal, and the action required that can receive the expression executed therefrom and/or represent the signal of the distance that car travelled within a certain period of time.
Circuit among all Fig. 6, and mechanism 104 and 106, motor 108, with the gearing that is connected motor 108 and wheel all routinely technology construct.
In the many feasible specially for carrying out examples of the present invention, will two special embodiment of narration: embodiment be that wherein interval permission light modulation only provides the expression signal whether car is arranged in their relevant intervals, and all navigation all by as 27～30 range light and similar range light, as the lamp 110 that is placed on each depot 1,2 and 4～9 is controlled; Another embodiment is that wherein all interval permission light and navigation informations are all only provided by interval permission light modulation, and range light 27～30 and 110 has not just needed in this case.First above-mentioned embodiment is particularly suitable for depot or similar target building will move often.Or movable barrier is arranged in the workspace, thereby the real navigation route often changes etc. in the facility.Second embodiment then is suitable in many nonvolatil facilities.
In first above-mentioned specific example, each interval permission light modulation can be controlled with very simple mode, does not produce continuous light beam when its relevant interval has car, and light beam then becomes the pulse with certain selected frequency when related interval has car.Yet, prevent optical sensor response environment light if desired and produce the rub-out signal of " interval no car ", then each interval permission light modulation of may command does not produce light pulse with first frequency when related interval has car, and when related interval has car, then produce light pulse with second frequency, second frequency is advisable with 1: 3 with respect to the ratio of first frequency.Another kind of desirable form is to permit the frequency of light modulation to remain unchanged in the interval, and change the width of each pulse.For instance, if related interval does not have car, the interval permission of order light modulation logical one disconnected than being 2: 1; And work as related interval car is arranged, then logical one is disconnected than can be 1: 2.
All range lights 27～30 and 110 all are constructed to be permeable to comprehensive emission light signal, and relatively horizontal line has an inclination angle, make the sensor 80 that is positioned at any position, navigational system institute overlay area can receive such signal, only blocked by barrier from each range light extremely near zone or the sight line between area sensor 80 and range light.In this case, the arrangement of range light will make one of gross vehicle and range light have sight line to get in touch, and the signal type of these lamps is programmed in the memory circuit 90.
Because car 66 has two sensors 88, be connected in logical circuit 98 and receive its signal so close 85, thereby the signal of only making way for the sensor 80 that car holds to overtake passes through.
Each range light produces a characteristic light pulse train, is the identification pulse sequence of notice monitor 86 navigation lights pulse train states before this sequence.
The navigation light pulse signal preferably has certain detectable feature that obviously is different from interval permission light signal.For instance, each navigation light sequence can be on a detectable different frequency, perhaps is made of detectable different pulse pattern.For example, each navigation lights can be made up of the length pulse that separates at interval, and making the duration of its each pulse is 1: 1 with the ratio of the interval that continues mutually.Yet this is a feasible example, also has many other possibilities, belongs to conspicuous possible example for the technician who is familiar with digital communication technology.
The light pulse sequence relevant with each range light for example, can so just can indicate the regional range light that the system of being positioned at is covered in simple mode according to Morse's code, or the lamp relevant with special depot, whether launches special light beam.Beam signal can also be determined special navigation light source by Enough.
Below, main reference Fig. 1 and Fig. 6 tell about the typical navigation procedure of a system, and wherein navigation signal is by providing with light source that interval permission light source separates mutually.
At first it should be noted that in the system shown in Figure 1, those its have a subregion permission light beam of mixed and disorderly sign, by fixing " there is car in the zone " signal that produces for good and all.This will guarantee reliably that Che Buchi goes out outside the system and go.On the border in zone, have only actual the have or not vehicle condition Be Controlled of those light beams relevant ability according to related interval with the interval that includes depot.Each depot 1,2 and 4～9 all is separately installed with the corresponding to range light of the lamp relevant with depot.In these range lights each, and the characteristic pulse type of each all controlled generation in the range light 27～30, it is by all the same initial nervuration row of all lamps and the pulse train of the special range light of sign are thereafter formed.
In when beginning operation, all interval permission light modulations all are prescribed to indicate with aforementioned manner car or no car in the related interval.Suppose that there is a car at 4 places of standing when initial and will leaves for station 8.Standing 4 o'clock, the circuit 90 on the car adopts the impulse type that is equal to of station 8, range light 28 and range light 29 to program, and the mode of establishment makes these impulse types be examined one by one by described order.
After programming is finished, a signal can be provided, the indication car begins to sail out of station 4.At this moment, the device 94 of circuit 98 indication car front ends begins runing rest 82 in certain mode, makes relevant sensor 80 carry out continuous scanning motion, and 135 ° from an axletree line left side of the scopes of scanning are to right 135 ° of tool.Receive a light pulse signal that includes the identification pulse sequence that indicates navigation lights if sensor 80 falls, then monitor the Strong degree of these signals, and compare with the Strong degree that this signal occurs next time by watch-dog 86.Each navigation lights has a scanning motion with the optical sensor 80 short total sequence period of comparing.If the Strong degree that relatively indicates continuously this light signal of a special navigation lights increasing, is just continued to retouch to sweep.If the Strong degree begins to reduce after increasing, then watch-dog 86 support 82 that can indicating circuit 98 stops operating writes down the signal that indicates sensor 80 ken axle respective corners positions on this signal type that is monitored and the circuit 96 together and keeps in.Perhaps, if navigation signal pulse train has the short duration of sufficient Enough, then when maximal value was determined, this sequence can go on record, and interrelated with signal on the circuit 96, and did not stop scanning sequence.
After maximal value was determined and deposited monitor 86 in, scanning can be proceeded.
If the burst that offers watch-dog 86 tool Strong degree from measure seriatim constantly descends, when promptly not passing through maximal value, then scanning is only proceeded and is not stored this sequence.The maximal value of above-mentioned distinctive signal type might be determined in the promptly dextrosinistral scanning in sweeping along retouching of other direction.
After finishing single pass along a direction or finishing the scan period that single pass constitutes along both direction, for its one or more range light signal types that big value has been determined in circuit 86, to in turn send into comparator circuit 88, each such signal type has the signal that indicates sensor ken axle respective direction.
Each such navigation lights type will be compared with the signal type that indicates station 8 that circuit 90 provides.If find not match, then that all are such optical signal type is compared with the signal that indicates range light 28, if still find not match, it is compared with the signal type that indicates range light 29.
Like this, when having observed signal and be complementary, 80 of sensors other range light signal of limit priority always that can receive then.
At structure during above system, guarantee that vehicle can " see " at least one range light in its controlled area, the signal type of this range light is stored in the circuit 90.If do not find such signal type, then can proceed one period shorter sweep time than the time in an inswept interval.And if a suitable navigation signal type is not also found, car can stop and sending the alarm that as seen maybe can listen so, perhaps circuit 98 indication cars continue to overtake, by the control of interval permission light modulation, then seek range light again in a period of time of selecting.
In case a navigation signal type that is provided by watch-dog 86 is complementary with one of storage 90 signal types that provided, then just be sent to the control logic circuit 98 of vehicle from the signal of the respective sensor direction of comparator circuit 88.Its result, circuit 98 indication drive units 94 swinging mountings 82 make sensor 80 point to pointed direction.Circuit 98 offers in mechanism 104 and 106 selected one with signal then, if necessary, also offers CD-ROM drive motor 108, makes car to overtake and turn to the direction that indicates.In such turning to, for the range light source that Tracking Recognition is used, the speed rotation that support 82 is turned to be equal to car.Perhaps can restart scanning.
After the direction of having determined required range light, as the powered vehicle and the another kind of practice that makes it to turn to be, can stop and make device 94 swinging mountings 82 to permit light modulation to seek the interval in a fan section interscan, the reference direction in this fan section is facing to required range light, and this scanning below will be given detailed description.
Discerning a navigation light source, and car can turn to or also not turn to, so that headstock is when this navigation signal light source, at this moment car can stop, circuit 98 provides signal to make sensor 80 carry out making this interval permission light be detected from respect to 45 °～50 ° of axletree line left directions or 45 °～50 ° interscans from a reference direction left side to its right direction to drive unit 94 simultaneously.If indicating the optical signal type of the interval permission light in no car interval is found, then the tilted direction of 80 of optical sensors can be write down in the mode that is similar to monitor 86 and is carried out for circuit 102, and corresponding direction signal offered circuit 98, sensor 80 is originally turned to along the direction rotation of finding and indication make headstock towards this direction.
Be not found if there is the car interval, car can stop and continue above-mentioned scanning and become no car until interval, car the place ahead.As a total principle, the number of vehicles of moving in system should make for becoming no car between any given area after short a period of time.
On the other hand, be not found if there is the car interval, then scanning can be in the left side 135 °～45 ° scope carry out.Be not found if there is the car interval then, then signal is fed to circuit 98, and the indication car begins to shift left, and enters the interval that is found to be no car.If this scanning does not point out not have the car interval, then can similarly scan on the right side of car.
When if car must left or be turned right in order to find not have the car interval, after car has entered no car interval, then for seek scanning that interval permission light modulation carries out just should be respectively with respect to the existing orientation of car towards the right side or left lateral sail, unlikely to depart from best route too far away to guarantee car.
If it is that the car interval is arranged that all scanning all illustrates, then start anew to repeat to seek the scanning in no car interval, found out until no car interval.
Begin in interval each situation that moves of no car at car, the headstock of this moment is turned roughly towards interval permission light source.Then, in the advancing of car, can left direction 10 ° scan for 10 ° to right direction, constantly watching the direction of the light source that navigates attentively and adjusting car thereupon making it to continue this light source of subtend.
If found to have two interval permission light signals during sweep interval permission light modulation, and each all indicates a no car when interval, then can make car respond its direction interval permission light modulation nearest with the range light direction that is identified.
When the moment that car is about to pass an interval hurdle, it will leave the interval permission light modulation found topped zone.At this moment, owing to look from car, each interval permission light source is positioned at the right side of its related interval, just can indicate the car angle (more suitable with the angle about 30 °) of a selection of turning left, and advances and be equivalent to 1/2nd distance of about interval length of side.This will make car sail the center in the interval that it enters into, thus the danger of permission light modulation post between the zone of approach be reduced to minimum, and guarantee sensor 80 be in interval permission light modulation between several adjacent regions in the topped zone.
Then can carry out new searching, as previously mentioned, seek the navigation lights of sensor 80 visible limit priorities.
According to another feasible embodiment, can after originally just having faced toward the zone of interval permission light beam, begin to scan the navigation light source that searching is programmed through it.
According to the volume of traffic of car, what also can take is 1/4th quadrants before the scanning that will seek no car interval directly is limited in car, i.e. reference direction to the left and right between 45 ° of lines, and till when making car stop to the interior interval of scanning area to become no car.
If after having determined required range light, do not survey dividing regions permission light modulation, then can make car towards this range light, the fan zone scanning that sensor 80 is continued before car is sought interval permission lamp.In case this lamp is detected, carry out to this lamp with regard to controlling car at once as stated above.
The another kind of operating process that can carry out according to system shown in Figure 6 is, during surveying range light, can monitor the interval permission light modulation that shines on the sensor 80 continuously, so that after required navigation lights is determined, can select suitable direction of traffic immediately.
In the situation of described second embodiment, each interval has fixing position, and each interval permission light modulation produces the light beam pulse figure that can discern with its related interval position.
Come referring to Fig. 1, the interval can be arranged in the grid matrix of rule, makes each interval all be positioned at one and walks crosswise R especially again
0～R
5With specific file C
0～C
3In, and each interval can be walked crosswise with the combination of file number by it and clearly confirmed.
Suitably relevant generator 50 is compiled and edited program, the light pulse signal that just can select each interval permission light modulation 56 to be produced is with the interval of determining that it is relevant.
For instance, each light pulse signal type can be discerned the light pulse coding walked crosswise and four by initial light pulse sequence and its follow-up four and be used for that the light pulse coding of file constitutes between cog region.The group of each four light arteries and veins can provide the relevant binary representation of walking crosswise with the number of file, that is to say that short pulse is represented the binary zero value, and long pulse is represented the binary one value.
Interval between the pulse can change between two values, with a car or car free whether between the indicator.
This system, as long as the maximal value of a light signal is positioned, circuit 102 with assessment go out between continuous two pulses every perdurability, and circuit 86 with assessment go out light pulse group continuous after the initial light pulse sequence represented two advance value.
The coordinate that storage circuit 90 only needs to plan to implement the interval of crossing with car programs, comparer 88 then is constructed to be permeable to store the coordinate representation in the interval that car enters at last, this expression is provided by the impulse type of light usually, and it is in the end by the value of biography and a no car of energy recognition interval.
Thereafter, when the continuous mutually light pulse type of assessment, comparer 80 will determine whether the interval that interrelates with it is on the direction in target interval territory.
With regard to above-mentioned this arrangement, determine it is simple thing very, because only need to determine the difference with the stringer value walked crosswise of each target interval; The interval that vehicle enters at last and occupies in now; Existing with other impulse type by the interval of valuation.
If walk crosswise with the file value by continuous mutually binary signal institute recognition, promptly discerned and walked crosswise RO or file CO by " 0000 ", walk crosswise R2 or file C2 etc. and discerned by " 0010 ", afterwards comparer 80 only need to determine its light pulse type just by in valuation interval walk crosswise with the file value in each, whether different with the analog value of target interval, with and different amount be equal to or less than the analog value in the interval that enters at last and target interval analog value poor.
For example, the destination of programming is at interval CO, and during the station 8 of R3, the signal at identification station 8 can be expressed as:
CO R3
0000 0011
If car now be at interval C2, R1 then discerns this interval signal indication and is
C2 R1
0010 0001
Difference between these signals, in the decimal system, can calculate into
△Cc＝2， △Pc＝2
The interval that the footnote here " c " expression occupied at that time.Allow the optical sensor 80 of work carry out the foregoing scanning running of seeking interval permission light modulation, if car has received now from interval C2, the interval enabling signal of R2, this signal indication is:
C2 R2
0010 0010
Then comparer 88 will be determined △ Cr=2 and △ Rr=1 with respect to target interval.Here footnote " r " refers to the interval of received signals, and therefore, comparer 88 will be determined:
△ Cr=△ Cc and △ Rr＜△ Rc
And if light signal points out that this interval do not have car, this comparer just drives cars with indicating circuit 98 and advances towards the light source of seeing this moment.If no car in interval, circuit 98 is proceeded scan operation with indicating device 94.
If the interval that is received permission light signal is and interval C1 that R1 is associated, and has same result; If the light signal that receives is and interval C3, R1 is associated, and then comparer 88 will indicate this light source of Che Buxiang and carry out, and continues to be scanned up to from the near no car interval of target and be positioned.
In described first embodiment situation; When sensor 80 has passed through peace institute towards the interval permission light source institute coverage area in the no car interval of advancing, just make car turn left to just entered interval in the middle part of advance.
Stating in the situation of embodiment in any one work, will always make circuit 98 barrier cars and indicating device 94 begin scanning from " there is car in the interval " signal of circuit 102, seek another feasible direction.
Signal from " near dangerous " of circuit 84 will always make circuit 98 instruction cars take suitable avoiding action.Simultaneously, circuit 98 can scan in suitable scope by Enough indicating devices 94, determines the orientation of just tracked light signal once more, or to make the reverse direction of the turning action that this device carries out in order averting danger along car and to turn over equal amount.
Referring again to Fig. 2, the interval of each formation permission light beam be radiated at all that sensor is at least and the adjacent region of light beam related interval between 1/2nd places.Yet, the light beam that forms can receive on 1/2nd the scope between greater than adjacent region suitable, comparatively ideally be, in the time of in the middle part of car is between adjacent region fully, light beam just shines on the sensor 80 of work, like this, the subregion of all between adjacent region permission light beam is all producing " car is arranged " signal type.
Can further form each interval permission light beam in this wise, make it before car enters related interval fully, stop to shine on the working sensor 80 of car; Otherwise car will be stopped by " car is arranged " type of the interval in the interval that it had just entered permission light signal, and should the interval former not have car before this.
When preferably circuit 98 being configured to make the sensor 80 of Che Zaiqi work to receive interval permission light signal, move on by its original travel direction.This will guarantee owing to light beam inaccurate or other when making car pass certain reason such as zonule that do not have interval permission light beam irradiates, can continue to travel.
Have, for having adopted the independently system of range light, each interval permission light modulation does not have Che Shike in its relevant interval to be turned off simply, produces a detectable signal type and then can start this lamp when there is car in its relevant interval again.Like this, car just can be when sweep interval be permitted light modulation straight to selected range light.
The above system does not stop two cars roughly simultaneously through saying that the possibility that such situation takes place is very little together.So this can represent a kind of acceptable risk.
System of the present invention can be used to produce the interval when the people enters the interval have the car signal.On the other hand, can adopt suitable delay circuit, make system interrupt insensitive for the light hurdle in short-term that causes by the people.
Should be understood that above narration of the present invention allows many Bian Change formulas and adjustment form, all these is considered as being included in the definition and scope of equivalent of following claim.
Claims (7)
1, a kind of transmission that is used for the enterprising driving in ground between a plurality of terminus, and there are the navigation and the control system of an address label in each terminus, this system comprises: at least one can be at the transport vehicle of ground motion; Light hurdle device is used for ground is divided into a plurality of adjacent cells interval and is used for the situation of sensing car by two adjacent cellular zone borders; The optical signal generator device is used to launch the address label that indicates each light signal that the car interval is arranged and indicate each terminus; Be connected the circuit arrangement between described smooth hurdle device and the described optical signal generating apparatus, be used to control each interval light signal of identification with the situation of response car by a border; First photoelectric receiving arrangement on the described car is used for the light signal that the above-mentioned optical signal generator of sensing produced and produces the electric signal of representing light signal; And the car kinetic control system on the described car, be connected in the photoelectric receiving arrangement of addressing and receive its electric signal, control the motion of the vehicle of speaking of above according to light signal.
2, the system of the described definition of claim 1, wherein said optical signal generator device comprises beam generated device, in order to produce a plurality of independent light beams, independently interval independent borderline phase contact of each light beam, and shine a zone in the area of this independent border vicinity on the isolated area therewith, be positioned at like this when regional with this vehicle of box lunch, this light beam is that described photoelectric receiving arrangement receives.
3, the described system of claim 1 further includes: a plurality of vertical support bodies that are loaded with described signal generator unit also vertically are placed on the above-mentioned ground; Be installed in the alarm light source on each this kind supporter, be used for guiding a light cone downwards around each such supporter; And be installed in second photoelectric receiving arrangement on the aforementioned car, be used for working as the light of the light cone reception of its sd so from described alerting light source apparatus, and be connected in the motion control device of described car, with the electric signal of light that the described alerting light device that representative receives is provided, described car can be moved avoiding for the mode of such supporter that light cone was surrounded.
4, the system of the described definition of claim 1, wherein said smooth hurdle device is carried by supporter.
5, the defined system of claim 1, wherein light hurdle device includes a plurality of smooth hurdles, and each light hurdle produces the light beam of an interval border of a branch of aligning.
6, the defined system of claim 1, wherein said car motion control device comprises: can the programming storing apparatus, an electric signal is provided, the light signal of the terminus that indicates selection is seen in this electric signal representative; And be attached thereto one device it the electric signal that such signal and described first photoelectric receiving arrangement are produced is compared, be used for determining that whether light signal as the selected terminus of identification is just by described first photelectric receiver device reception.
7, the defined system of claim 1, wherein said first photoelectric receiving arrangement comprises: one can wind with respect to the mode of the Z-axis of the described car rotation supporter by this car carrying; One has the directional characteristic optical receiver of most sensitive on certain orientation, be installed on the above-mentioned supporter to move with it, and the direction character of described optical receiver orientation is perpendicular to the pivot axis of movement of aforementioned supporter; Be connected in described supporter, be used for described supporter carries out the pivot motion around its Z-axis device; And be connected in described supporter, monitoring becomes the movement monitoring device of the angle orientation of certain orientation with respect to described vehicle, and described vehicle motion control device comprises the circuit arrangement that is connected in described optical receiver and described monitoring arrangement, so that the indication with respect to the inceptive direction of described car to be provided, and provide the indication of the light signal that receives by described optical receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85107666 CN85107666A (en) | 1985-10-19 | 1985-10-19 | The navigational system of unpiloted vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85107666 CN85107666A (en) | 1985-10-19 | 1985-10-19 | The navigational system of unpiloted vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN85107666A true CN85107666A (en) | 1987-05-06 |
Family
ID=4795717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 85107666 Pending CN85107666A (en) | 1985-10-19 | 1985-10-19 | The navigational system of unpiloted vehicle |
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| Country | Link |
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| CN (1) | CN85107666A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006074614A1 (en) * | 2005-01-14 | 2006-07-20 | Huawei Technologies Co., Ltd. | The self recovery method and system as well as information transfer approach in optical channel shared protection |
| CN102069807A (en) * | 2009-10-30 | 2011-05-25 | 西门子公司 | Assembly and method for controlling actuation of a driver-less means of transport |
| CN104517457A (en) * | 2013-09-30 | 2015-04-15 | 鸿富锦精密工业（深圳）有限公司 | Positioning light source device, positioning device and positioning method |
-
1985
- 1985-10-19 CN CN 85107666 patent/CN85107666A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006074614A1 (en) * | 2005-01-14 | 2006-07-20 | Huawei Technologies Co., Ltd. | The self recovery method and system as well as information transfer approach in optical channel shared protection |
| CN102069807A (en) * | 2009-10-30 | 2011-05-25 | 西门子公司 | Assembly and method for controlling actuation of a driver-less means of transport |
| CN102069807B (en) * | 2009-10-30 | 2014-04-09 | 西门子公司 | Assembly and method for controlling actuation of driver-less means of transport |
| CN104517457A (en) * | 2013-09-30 | 2015-04-15 | 鸿富锦精密工业（深圳）有限公司 | Positioning light source device, positioning device and positioning method |
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