JPH0328783A - Moving body position detection system - Google Patents

Abstract

PURPOSE:To simplify line constitution by exciting an inductive radio line consisting of three induction circuits from different antennas on a moving body and receiving induced voltages of respective induction circuit terminals selectively on the ground. CONSTITUTION:Induced voltages Vra and Vrb of an induction line 11'r are branched and filtered by band-pass filters 5ra and 5rb and noise components are removed. Then linear detectors 6ra and 6rb perform linear detection with ¦Vra¦ and ¦Vrb¦ and A/D converters 13ra and 13rb perform conversion. Then the voltages are inputted to an arithmetic part 14 through an input interface 14a. Absolute values ¦Vsa¦ and ¦Vsb¦, and ¦Vta¦ and ¦Vtb¦ of induced voltages of induction circuits 11's and 11't are also inputted similarly. A power supply system supplies a signal indicating the outline value Z of a vehicle position to the input interface 14a and the arithmetic part 14 performs arithmetic operation corresponding to a specific expression according to a program connected in a ROM 14c to output the value of an angle Vp to the power control system through an output interface 14e.

Description

[Detailed Description of the Invention] [Industrial Applications] The present invention relates to a system for detecting the position of a moving object moving along a fixed traveling route using guided radio, and in particular, it relates to a system for detecting the position of a moving object moving along a fixed traveling route, and in particular, for detecting the position of a moving object moving along a fixed traveling route. In order to simplify the configuration and reduce the crosstalk between the lines, the guided radio line consisting of two or three guided lines is confined to different positions of the moving body 1-:. The present invention relates to a moving body position detection method in which two lj l-un-j- are excited by energizing a high-frequency radio wire with a phase of 5'%.

(Prior Art) Constantly detecting the position of a mobile object moving along a certain travel route on the ground is an essential requirement for the 1'-1 dynamic operation of these mobile objects, and it is especially In autonomous vehicle driving, the vehicle position is continuously and periodically detected within the range of the array spacing of ground propulsion coils arranged at regular intervals along the driving route, and the system supplies power to the ground propulsion coils based on this. It is necessary to control the frequency, amplitude, phase, etc. of the current.

Figures 7 and 8 show the structure of the system used on the JR Miyazaki experimental track for synchronous linear motor vehicles (magnetic levitation railway). A plan view showing the guided radio track (hereinafter abbreviated as "track j") and on-board antenna (rectangular loop coil, hereinafter abbreviated as "antenna"). A processing circuit diagram and a cross-sectional view thereof are shown in FIG. The track 100 has six guiding lines 11'r, 2Z
v, 11' s, thorn S, 11'l. , 22t, and each guide line II'r-22t will be explained by taking the guide line 1rr as an example. The same line consists of connecting lubes Il'rb arranged at a constant circumference of 3lI1 and an interval of P.
and a two-wire transmission line 11'ra (in the case of this figure, two parallel lines) cascading these, and P is the arrangement interval of the ground propulsion coils and the distance from the line starting point]Z is detected. The structure and function of the signal processing circuit 4 will be described later.

The starting end (Z
=O) are indicated by Vlr to Vat, respectively. Coupling loop Il'r of antenna 2 and each line
Since the shape of b-rtb is bilaterally symmetrical and the coupling loops ll'rb-22tb are all arranged with a constant period P, the absolute value of the envelope of V+r(Z) to Vzt(Z) Considering it as a function of Z, IV1r(Z) ~ 1
If expressed as vzt(Z) l, these can be expressed in the following equation.

are set equal. The two parallel lines 11'ra intersect at the center point of the adjacent bonding loop Il'rb.
This is to cancel out the noise voltage induced by the external magnetic field. Guide line 2''l r & J is placed at a position shifted by P/2 in the longitudinal direction from the same 1rr, and the similar positional relationship is that of guide line 11's-22s and 1ft-2zt.
There are also guide lines 11' r and 11 in between.
' s and +rt are arranged at positions sequentially shifted by P/3 in the elongated direction.

For convenience of understanding the line configuration, reading line 1 is shown in Figure 7.
Although the wires 1'r to 22t are shown in parallel, in reality, as shown in FIG.
Complete as 0. The antenna 2 is fixed to the vehicle body using a rectangular loop coil, is supplied with a high frequency current of an on-board transmitter 3 (transmission frequency f), and is held at a constant height above the track 100. 4 is a signal processing circuit placed at the line terminal, and the induction line 1 is controlled by the high frequency magnetic field of the antenna 3.
Voltage induced at the terminal of 1″r~22t V1r~■2,
is input to this, and based on these, the vehicle position (of the antenna) is determined. Here, α is the attenuation constant of the line, k is a constant determined by the system configuration, and Cn is the Fourier coefficient.

Here, ΔV, (Z), ΔVS(Z), Δ
If Vt(z) is introduced, from equation (P~(3)), equation (4
) On the right side, the term corresponding to m=o is the fundamental wave, and m
The term corresponding to ≧1 is an odd-order spatial high frequency. By appropriately selecting the dimensions of the antenna and the separation distance from the line, C, > C3, C5, C7, c. ＋－－－－－ (5
), in which case equation (4) can be approximated as △
Vr(Z)=2e αzkC. cos(2πZ/P)
becomes.

Here, ΔVr(Z), Δ■S(Z), ΔV. (z) to obtain new general transmission waves e and -K' by amplitude modulation, respectively, and further a. = Positive sequence voltage defined by ■1. and negative sequence voltage■
If 7 is introduced, the above-mentioned new 1 will be created from Take (6) to (8).
Reference phase signal derived from general transmission power source
and V. ．． , V. If we show the phase difference of /V, , /v1, respectively, we get /V+'-2πZ/P, ZV, -2πZ/d)00)
Matashi 4? −(P/2π),' V +,= − (p/2π)
/) V,, (II) is obtained. That is, Z is Z
For each increase up to - + shout), /V shows a linear increase of 2π. Here, since the identification number between 2nπ (r1. integer) and O is impossible, the relationship between Z and ZVP becomes a sawtooth wave as shown in FIG. Zunawara, Z■1, {directly through the vehicle position 5'7Z within a certain distance P range 11
I. 'iJ! Children can detect it in a cool way.

Next, we will explain the configuration and operation of the signal processing circuit.
, V2r are respectively pass-through/:i}-pass filters (centered at 11゛4
After the noise voltage Ll- is removed by the wave number f) 5■, 5r2, the linear detector [) rl, 6, , 2 causes the voltage L V
It is converted into rl l, 1■r2 and input to the differential amplifier 7r. However, the differential width switch 7r is i. (This is nothing but ΔV, (Z) shown in (3). 8 is a carrier wave power source (angular frequency ωC), and the part of its output is sent to the amplitude modulator 9r {J
(Funded.

That is, the modulator 9' generates a created wave (
4 j Amplitude modulate WC I. That's the output number. 1st generation (7) NotJ, 6ko Aiko Zuru. Induction electric moon Vl,. ,■2,,Vl1,V 2tt Even if it's stiff, people h
A similar circuit is provided (not shown), and LJS. i
J, is derived. U, directly, and US 120
[degree hand polyphase shifter]Os, U, is -120 degree phase shifter 101.
are guided to the adder 11 via the respective channels.

Zunawa! ), jThe operation of the JII calculator 11 is shown in equation (8).
, corresponds to the operation to find . The phase shifter 12 is supplied with j% ip 萀-Sangin 4; ej"cl from the primary transmitting power source 8, and V from the power II calculator 11. Therefore, the phase shifter 12 supplies ZV, is output.Naturally, it is possible to detect the vehicle {j7 j'i.7. through this value.Actually, 2■ Because the figure in Figure 9 contains spatial harmonic components, a limbo-like error due to this is superimposed on the figure, but spatial harmonic components of integral multiples of 3 such as the 3rd, 9th, and cancel each other out in the adder 11 and disappear.

(Problem to be solved by the invention) However, the following problems have been pointed out in the power 2 described in 7.+iiJ.

(+) The number of line conductors is extremely large (12), which complicates the line configuration and makes manufacturing difficult, resulting in an economic disadvantage.

(2) The guiding lines 11I to 22t are not the same i, jij that are independent of the transfer heat 1 and above. In other words, there is ↓;1− inevitable crosstalk on these lines, and the induced voltage V l+,
~V2L is affected by voltage from other lines, which causes position detection errors. Since the crosstalk current is approximately proportional to the total length of the line h, it becomes a serious drawback in large-scale systems i,-. For this reason, in the actual Nostem, the longitudinal dimensions of the coupling loop I1'rb-22th are reduced (-, A), although the longitudinal dimension of the coupling loop I1'rb-22th is intended to be smaller than the configuration shown in FIG. 1 has a striking degree.In this case, it is necessary to expand the 7 antenna 20) 11゛ method in the longitudinal direction to reduce the coupling loss between the line and the antenna and reduce the spatial harmonic content. .

(Means for Solving the Problems) The present invention has been made in view of the above, and takes the following means to solve the above problems. For the fourth time, the induction line has three lines (the number of line conductors is 6) and U7, and there are two on-board antennas (array interval P / 2), and each of them is excited with a current of a different frequency.

9 10 [Operation] On the ground, certain portions of the two frequencies are selectively received for each line. In other words, two position signals can be derived from one guidance line, and the vehicle position can be detected by a method similar to that described above. Since the number of induction lines (and therefore the number of line conductors) is halved, the line structure is simpler and easier to manufacture, and difficulties due to crosstalk are greatly reduced.

〔Example〕

FIG. 1 shows an embodiment of the present invention; the upper part is a plan view showing the configuration of a line and an antenna, and the lower part is a Bronk diagram showing the configuration of a signal processing circuit arranged at a line terminal.

The line 100 has three guiding lines 11'r, 11'S, 1
Constructed by rL. The structure of each guide line is the same as that shown in FIG. 7, so a description thereof will be omitted. These guide lines are arranged at positions shifted by P/3 in the longitudinal direction. In reality, each of these lines is stacked in layers, as in the case of FIG.

Antennas 2a and 2b are fixed to the vehicle at an interval of P/2, and are excited by different on-vehicle transmissions m3a and 3b (with frequencies f, , f, respectively).

The structure and function of the signal processing circuit 4 will be described later.

In the above configuration, the induced voltages of each line 11''r, 11's, and 1-choL at the terminal of the line 100 are divided into fa, fb, and divided into vra, V Sa % V ta, respectively.
■Display by , , , V , , V . If the coordinate of the antenna 2a is Z, the absolute values of the envelopes of these induced voltages can be expressed by the following equations.

k3, k5, α1, α, are constants determined by the system configuration, as in the case of equation (P, (2)), and α1, α, are line attenuation 1
1 12 constant, which takes different values for the transmission frequencies f3 and fb.

Here, as the 6 correction coefficients on both sides of equation θ3), (k./k
．． )e-'''.a-ailZ+''b+'/2 multiplied,
The result is k l v',b(z) l. l V'
sb(Z) l. l v'tb(z) If it is displayed as l, it will be introduced.

From 2〇width, 0 theory, is obtained.

In a practical near-motor vehicle system, a number of point detection loops are provided along the travel path, so that the approximate value (in tens of meters) of the vehicle position Z is known in the power control system. In many cases, the value of (α3α,) is small, so if the approximate value of Z is known, the above-mentioned correction coefficient can be calculated with sufficient accuracy. Here, as in the case of formula (P~(6)), ΔVr, Δ■5, defined by the following formula ζ
Δ■, and the same form as equation (4) is obtained. Here, if the relationship of equation (5) is valid, Vp, V. will be introduced.

We get 13 14. Therefore, /■l, -2πZ/I), ZVl1---2πZ/P
12Φ, and the vehicle position Z can be continuously and regularly detected within the periodic interval P through the value of ZVp or ZVo. Here, the relationships from equations 08) to (20) can be derived. That is, ΔVr, Δv5
, Δ■,, the value of Z■p (therefore Z) can be calculated from equation (2P).

Next, the structure and function of the signal processing circuit 4 shown in FIG. 1 will be explained. Band-pass filters 5ra and 5r are used in connection with the processing of the induced voltage V rll% vrb.
b (center frequencies ra and rb, respectively), linear detector 6ra
, 6rb, and A/D converters 13ra and l3rb are provided. VSa-Vt. Although the same path is provided for processing, it is not shown for simplicity.

14 is a calculation unit that digitally calculates ZVp based on IV, a1 to lvtbl, an input interface 14a that takes in human data internally, CPIJI, Ib, which is in charge of four arithmetic operations, and a calculation program that calculates 1 gram. RO to pay
M14c, RAM14d which temporarily stores intermediate calculations;
, and an output interface 14e that outputs the results of the calculations to the outside.

In the second configuration, the reading conduction of the induction line 11'r is performed. and ■. IVr. 1 1V,. Linear detection is performed by 1, and A
After being converted into digital quantities by the /D converters 13ra and 13rb, they are taken into the calculation unit 14 by the human interface 14a. Guidance line 11's, 11
' The absolute value of the induced voltage at t mV, . 1 1■5bl,
vtaj, 1*tb1 is also captured in the same way. On the other hand, a signal indicating an approximate value of the number 1 vehicle position 7fZ is supplied from the power control system (not shown) to the input interface 14a, and the arithmetic unit 14 outputs a signal based on the gram stored in the ROM 14c. Then, calculations corresponding to equations (14) to (2) are executed 15 16 and the value of ZVP is outputted to the power control system through the output interface 14e.

A configuration not shown in Figures 1 and 2 or a configuration in which the number of guiding lines is 3 each.
and 2, and the structure is significantly simpler than the conventional line shown in FIG. Therefore, manufacturing of the line becomes easy and the manufacturing cost thereof is also reduced.

The number of induction lines is halved, and the induction lines do not overlap directly, so the induced voltage from other lines superimposed on the induced voltage of each line is also significantly reduced, and at the same time, the induced voltage from other lines is reduced significantly.
Difficulties due to crosstalk are also reduced.

In the configurations shown in FIGS. 1 and 2, the vehicle position signal is calculated digitally, but it is also possible to replace it with an analog circuit having an equivalent function. For example, if the difference in the maximum value of each reading voltage is adjusted by an AGC circuit that changes its gain in response to the approximate value of the vehicle position Z, and the result is applied to the same circuit shown in the lower part of FIG. The same objective can be achieved by means of practical means.

If the line length is relatively short or the surrounding noise magnetic field is small, the intersection of two parallel lines connecting the coupling loops may be omitted as shown in FIG. Alternatively, these two parallel wires may be converted into twisted pairs as shown in FIG. Also, the fifth
In the figure, the connecting loop may be made with multiple springs (in the case of this figure, double windings).

According to this coupling loop, coupling loss between the line antennas can be avoided even if the dimension of the coupling loop in the longitudinal force direction is reduced.

FIG. 2 shows an example of a modification of the structure of FIG. 1. That is,
This is to deal with a disconnection accident in one guidance line (11 in the case of this figure). At this time, the induced voltages Vta and Vtb disappear, and the induced voltages of the remaining two lines Vra, . , V sa, Vsb (
Therefore, inside the arithmetic unit 14, based on Δ■,, ΔV,) DE! Processing takes place overnight.

At this time, /VP is calculated from the following formula.

/V, -2πZ/P = tan-' ((△V, +2ΔV S)/l11
−V , ] (22) The validity of equation (22) can be easily understood from the following identity relationship and equation (17) or 17 18 .

(1-e.+m/3)ejmZ/P =2 (cos(2πZ/P)-e-"'3cos(2
πZ/P-2π/3) (23) However, unlike the configuration in Figure 1, the 3rd, 9th, 15th, - included in the induced voltage
The spatial harmonic components such as -~ do not disappear in the signal processing circuit 14, and therefore the data processing result on the right side of equation (22) includes an error. Now, in formula (I6), up to the term m = 1 (up to the fundamental wave and the 3rd harmonic)
Taking into account, these relationships are substituted into the right-hand side of equation (22), and Z■
, is calculated. The value of ZV at this time (apparent {a)
In particular, if expressed by Zv', then lV'p -2W
Z/P+(C3/CI) (sin(4 πZ/P+
π/3) s in (8 πZ/P- π/3) l
It can be seen that (25). The second term on the right side of equation (25) is a newly generated position detection error, which fluctuates in a ripple-like manner as Z increases. However, as shown in equation (25), the values of ZV and Z■ correspond to 1:1, and the relationship is also clear in advance, so this relationship can be expressed as a numerical table and RO
If stored in M, the apparent value ZV, to the true value Zv,
The value of (2πZ/P) can be searched. In other words, the (!'1 difference caused by spatial harmonics) can be suppressed, making it possible to accurately detect the vehicle position.However, compared to the structure shown in FIG. 1, the data processing time is slightly increased.

FIG. 6 shows another embodiment of the invention. On the upper side of the car in the figure, 3'c is a harmonic oscillator (frequency f), 9'a, 9
'b is a modulation amplifier, and 3'a and 3b are low frequency oscillators (the frequencies are Δfa and Δrb, respectively). Further, in the signal processing circuit 4 on the ground, 5r is a band pass filter whose center frequency is f, 6r is a linear detector for high frequencies, 5ra,
5rb is a bandpass filter whose center frequency is Δf and Δf, respectively, and 6ra and 6rb are linear detectors for low frequencies. The other structural elements are the same as those shown in FIGS. 1, 2, and 7, so their explanation will be omitted. Note that, for reasons described below, no intersection is provided in the two parallel lines II' ra = II' ta connecting the coupling loops 1 rb to 1 tb.

In the above configuration, the high frequency oscillator 3' c
The outputs are input to modulation amplifiers 9'a and 9''b which are divided into two parts, and are modulated and amplified (amplitude modulated in the case of Fig. 6) by the outputs of low frequency oscillators 3'a and 3'b. are supplied to the antennas 2a and 2b, respectively.The induced voltages v, , vs+Vt of each inductive line are manually inputted to the signal processing circuit 4 on the ground.Of these, to explain the processing of The noise component is removed by the linear detector 6r and converted into a low frequency signal (consisting of two frequencies Δf. and Δf).The low frequency signal is converted to Δfa1Δfb by the band pass filters 5ra and 5rb.
After being converted into direct current by linear detectors 6ra and 6rb, and converted into digital quantities by A/D converters 13ra and 13rb, the signals are manually input to the calculation section 14.

Since both Δf8 and Δf are carried by the same carrier wave (frequency f), the A/D converter 13ra,
In terms of the configuration shown in Figure 1, the output of 13rb is expressed by formula 02),
04) lvr. Corresponds to 1 1v'rbl. Also from the induced voltages Vs, ■, of other lines, IVs. 1,
v'sbl, tvtal, l V'tbl 2-equivalent slack quantities are derived and supplied to the calculation unit 14. Arithmetic unit 14
The calculations corresponding to formulas (15) to (2P) in formula 11 are executed to obtain the value of ZVP, and through this value, the vehicle position Z can be detected continuously and periodically within the range of period P. can.

In this method, the coupling loops in each inductive line generate induced voltages of the same polarity with respect to the external magnetic field, so even when two antennas are coupled to different coupling loops, the induced voltage of the carrier wave remains within the line. There is no cancellation.

However, its application is limited in places with significant noise magnetic fields, systems with long lines, etc. On the other hand, unlike the configuration shown in FIG. 1, there is no need to supply the approximate value of Z to the arithmetic unit, which has the advantage of simplifying data processing. Further, even if a disconnection accident occurs in one of the guidance lines, this situation can be handled by a method similar to the configuration shown in FIG. 2.

21 22 Through the configurations shown in FIGS. 1, 2, and 6, the on-vehicle antenna is not limited to a river-shaped loop coil, but may be of other types, such as a ferra l-har anrana, or play antenna (small loop coil,
It is also possible to use an array element such as a Li-I/H antenna as an array element.

〒f: The field of application of the present invention is not limited to linear motor vehicles, but is also applicable to other moving bodies (rail vehicles, industrial transport machinery) that move along a fixed running route. iJ
II111 Of course, there are words that can be used.

[Effects of the Invention] As explained above, according to the moving object position detection method of the present invention, the guided radio line consisting of three guiding lines is fixed at different positions ζ of the moving object -L. It is excited by an antenna to which a signal current is applied, and by selectively receiving the induced electric current Y at the terminal of each inductive line at the ground-1- with respect to the different {+'+ sign components,
Two position signals are derived, and based on these signals, the position of the moving object is continuously detected one by one, one by one, every lap, within a fixed periodic interval. Compared to the conventional force formula that uses a certain line from the conductor number 12), the {14 configuration of the line is significantly simplified, and the cost of the line is also reduced.The difficulties caused by crosstalk between the lines are also greatly reduced. We were able to.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention, FIG. 2 is a diagram showing a modification of the embodiment shown in FIG. 1, and FIG. 3 Ii. 1 is a diagram showing an example in which the intersection of two parallel wires connecting bonding loops is omitted, FIG. 4 is a diagram showing an example in which the parallel two lines in FIG. A diagram showing an example of i11 volume,
FIG. 6 is a diagram showing another modification of the embodiment of FIG.
The figure shows the structure of the conventional linear motion vehicle position detection system.
FIG. 8 IA is a sectional view showing the positional relationship between the line and the antenna in the configuration shown in FIG. 7, and FIG. 9 is a schematic diagram showing the relationship between ZV1 and Z. Explanation of symbols lr, 2s, 3L, ]'r, 2s, 3t line conductor 23 24 11' r, 11' s, ll't, 22r, 2
2 s, 22 t----Guidance line I1'r
a. Il'sa, Il'ta. ZZra,
22'sa. 22ta 2-wire transmission line (parallel 2 wires, twisted pair) 11'rb, ll'sb, ]l'tb, 22rh, 2
2S 11,22tb - binding loop 2,2a
, 2b On-board antenna (rectangular loop coil) 3, 3a, 3 b-- On-board transmitter 3'a, 3'b Low frequency oscillator 3'c---High frequency oscillator 4 Signal'' Hg processing circuit 5r, 5ra , 5 r b........
-Bone area pass filters 6r, 6ra, 6rli--
Linear detector 7r - differential amplifier 8 local oscillator 9r modulator 9'δ,
9'b- Modulation amplifier]. Os, 10t - Phase shifter 1] Adder 12 ------- Phase meter 13ra, 13rb - A/D converter 14 ]. 4a ] 4b 14d 14e 100 101 Signal processing circuit human power interface CPU 14c R A M Output interface track band-shaped insulator 102 ROM Covering patent Applicant Railway Technology Research Institute
Hitachi Cable Co., Ltd.

Claims (1)

[Scope of Claims] Two circuits of a guiding line constituted by coupling loops arranged in a straight line at a constant periodic interval P in the longitudinal direction, and a two-wire transmission line cascade-connecting these coupling loops. 3
A selected number of lines are sequentially transferred in the longitudinal direction.
Guided radio tracks (hereinafter referred to as "tracks"), which are arranged at an interval of /3 and are laid along the moving path of the moving object; Two sets of antennas are fixed and excited by different high frequency signal currents, and at the terminal of the line, the induced voltages of the induction line are selectively received for each of the different high frequency signal current components, and their envelope absolute values are obtained. , and detects the position of the moving body continuously and periodically within the fixed interval P based on the detected values. Detection method.