JPH05324065A - Traveling direction control system for moving body - Google Patents

Abstract

PURPOSE:To economize a moving body traveling facility by sharing a guiding line, transmitter and reception antenna with guiding radio communication. CONSTITUTION:Guiding radio signal on a guide line 12 transmitted from a base station are received by two reception antennas 24 and 24' on a moving body 10, and these signals are utilized for controlling the traveling direction of the moving body 10 together with the reception of data from the base station 14. Therefore, the guiding line, transmitter and reception antenna are shared.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling direction control method for a moving body, which controls the traveling direction of the moving body by utilizing a magnetic field emitted from a guide line laid along a traveling path of the moving body. Is.

[0002]

2. Description of the Related Art A generally used method for controlling a traveling direction of a moving body is to supply a high-frequency traveling direction control signal to a guide line (cable) laid along a traveling path of the moving body, This is a method that uses the magnetic field generated around the induction line. In this method, the two receiving antennas on the moving body pick up the magnetic field around the guide line and the steering of the moving body is controlled by utilizing the difference in the strength of the magnetic fields received by these receiving antennas (Japanese Patent Publication No. 53). -26753).

On the other hand, communication means such as wireless communication, optical space communication or guided wireless communication is used for transmitting data and the like from a base station to a mobile body and receiving data from the mobile body at the base station. Has been. In the case of performing relatively high reliability guide wireless communication as a communication medium among these communication means, a guide line for guide wireless communication is provided along the traveling path of the mobile in addition to the guide line for controlling the traveling direction of the mobile. Is laid.

[0004]

However, in this prior art, in addition to the guide lines for the traveling direction control and the guiding lines for guiding wireless communication, which are separately laid along the traveling path of the moving body, the traveling direction control is provided. Since it requires a signal oscillator that oscillates a high frequency signal, a transmitter for communication, a receiver and a receiving antenna for controlling the traveling direction and a transmitting / receiving antenna for communication,
It was uneconomical because the equipment was large.

It is an object of the present invention to avoid the above-mentioned drawbacks and to use a guide line, a transmitter and a receiving antenna for inductive wireless communication so as to make a mobile traveling facility economical. To provide.

[0006]

In order to solve the above-mentioned problems, the present invention is laid along a traveling path of a moving body and is inductively connected to the moving body, and a transmitter and a receiver. For communication transmitted from a base station of an inductive radio system to a guide line, in which a high frequency signal is sent from the mobile body or the base station to a guide line connected to a base station including It is an object of the present invention to provide a traveling direction control method for a moving body, characterized in that a guided wireless signal is received by a plurality of receiving antennas on the moving body to control the traveling direction of the moving body.

[0007]

As described above, when the guided radio signal for communication is received by the plurality of receiving antennas on the mobile unit, and the traveling direction of the mobile unit is controlled at the same time as receiving the data from the base station from the signals, the guide line and the transmission are transmitted. Since the machine and the receiving antenna can be shared, the traveling equipment of the mobile body can be made economical.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, an embodiment of the present invention will be described in detail. FIG. 1 shows an inductive wireless system for implementing a traveling direction control system for a moving body according to the present invention. It is laid along 10 running paths. The guide line 12 is used both for controlling the traveling direction of the moving body 10 and for performing communication between the moving body 10 and the base station 14, as will be described later. The guide line 12 is connected to a transmitter 18 and a receiver 20 via a coupler 16 in the base station. In FIG. 1, reference numeral 22 is a terminating resistor of the induction line 12.

As shown in FIG. 2, the guide line 12 is buried in the ground at a certain depth, and the moving body 10 has two receiving antennas 24, 24 so as to receive signals from the guide line 12. Have '. The guide line 12 may be laid on the ground surface without being buried in the ground. Also, 24, 2
In addition to 4 ', in order to transmit information from the mobile body 10 to the base station 14 through the guide line 12, the receiving antennas 24, 24'
Separately from the above, a transmitting antenna (not shown) is installed.

The system of the present invention is thus installed along the traveling path of the moving body 10 and is inductively connected to the moving body 10 via the receiving antennas 24 and 24 ', and the transmitter 18 and A high-frequency induction radio signal for communication is sent from the mobile unit 10 or the base station 14 to the guide line 12 connected to the base station 14 including the receiver 20 to perform the guide radio communication between the mobile unit 10 and the base station 14. , The two receiving antennas 2 of the mobile 10 transmitted from the base station 14 to the guide line 12
The traveling direction of the moving body 10 is controlled by using the communication guidance wireless signal received by the communication terminals 4 and 24 '. The guide radio signals received by the two receiving antennas 24 and 24 ′ respectively detect the deviation of the moving body 10 with respect to the guiding line 12 from the difference, similarly to the known traveling direction control method.
The steering is controlled so that 0 is not deviated from the center line of the guide line 12, and the traveling direction is controlled.

The method of controlling the traveling direction of the mobile body together with the guided radio communication according to the present invention will be described in detail with reference to FIG.
When processing the signals received at 4 and 24 ′ as communication signals, the signals received at both receiving antennas 24 and 24 ′ are added by the adder 26 and transmitted to the communication control device 30. When the communication signals received by the two receiving antennas 24 and 24 'are added in this way, the gain of the signals is further increased and the communication can be performed with high accuracy. Only the signal that has been transmitted may be transmitted to the communication control device 30. A signal transmitted by a transmission antenna (not shown) provided in the mobile unit 10 enters the base station 14 from the guide line 12 and the receiver 20 as usual.
Is received and processed.

Next, when the signals received by the receiving antennas 24, 24 'on the moving body 10 from the guide line 12 are processed as a traveling direction control signal, both receiving antennas 24,
The signal received at 24 'is subtracted by the subtractor 28 to obtain the difference, which is transmitted to the direction control device 32. Young
If the difference between the signals received by the two receiving antennas 24 and 24 'is zero, the moving body 10 is on the center line o of the guide line 12 and the traveling direction is maintained as it is, but the difference is small. If the value is not zero, the steering direction is controlled to the right or left depending on whether the value is in the ± direction to control the traveling direction so as to eliminate the deviation in the ± direction.

As shown in FIG. 2, the moving body 10 has a guide line 1
If the distances between the two receiving antennas 24, 24 ′ and the center line o of the guide line 12 are L and m, respectively, the receiving antennas 24, 2 are deviated from the center line o.
The signal levels received by 4'are as shown in FIGS. 4A and 4B, respectively. In FIGS. 4A and 4B, the reception levels of the reception antennas 24 and 24 ′ are _RL
And R _m respectively. When these signals are added at the time of the communication processing, as shown in FIG. 5, the reception level is represented by (R _L + R _m), it is understood that reception gain is increased. Further, when the travel direction control process, when these signals are subtracted, as shown in FIG. 6, the reception level is represented by (R _L -R _m). Since L> m in FIG. 2, the moving body 10 is displaced to the right and is represented by − in this case. Therefore, the traveling direction control device controls the moving body 10 in a predetermined traveling direction by steering the moving body 10 to the left.

If the coils of the receiving antennas 24 and 24 'are different in direction from each other, the phases of the received signals are inverted, and the signal levels at the time of addition and at the time of subtraction are reversed. As shown by the dotted line in FIG. 3, a signal inverting circuit 34 is provided at the subsequent stage of the antenna to invert the received signals and process both received signals as shown in FIGS.

In the above embodiment, the present invention is applied to the system in which the communication between the base station 14 and the mobile unit 10 is bidirectional. However, the present invention is also applied to the one-way communication from the base station 14 to the mobile unit 10. The present invention can be applied.

[0016]

According to the present invention, as described above, the guide radio signal for communication on the guide line is received by the plurality of receiving antennas on the mobile body, and this signal is received together with the data reception from the base station. Since it is used for controlling the traveling direction of the moving body, the guide line, the transmitter and the receiving antenna can be shared, and therefore the traveling equipment of the moving body can be economically provided.

[Brief description of drawings]

FIG. 1 is a system diagram of an inductive wireless system used in a traveling direction control system for a mobile body of the present invention.

FIG. 2 is an explanatory diagram showing a relationship between a receiving antenna on a moving body and a guide line.

FIG. 3 is a system diagram of a signal processing system that processes a signal received by a receiving antenna of a mobile body.

FIG. 4 is a diagram showing reception levels of two reception antennas on a moving body, (A) showing a reception level of one reception antenna, and (B) showing a reception level of the other reception antenna.

FIG. 5 is a diagram showing addition levels of received signals of two receiving antennas on a moving body.

FIG. 6 is a diagram showing subtraction levels of received signals of two receiving antennas on a moving body.

FIG. 7 is a diagram showing a state in which a reception signal of one reception antenna on a moving body is inverted.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 moving body 12 inductive line 14 base station 16 coupler 18 transmitter 20 receiver 22 terminating resistor 24 receiving antenna 24 'receiving antenna 26 adder 28 subtractor 30 communication control device 32 traveling direction control device 34 signal inversion circuit

Claims (1)

[Claims] 1. A mobile body or a base laid along a travel path of the mobile body, inductively connected to the mobile body, and connected to a base station including a transmitter and a receiver. A plurality of communication induction radio signals on the mobile body are transmitted from the base station of the guide radio system of the guide radio system for conducting the guide radio communication between the mobile body and the base station by sending a high frequency signal from the station. A traveling direction control method for a moving body, characterized in that the traveling direction of the moving body is controlled by receiving with a receiving antenna.