JPH09203604A - Position detector for moving object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position detector for a moving object which can highly accurately detect the position of the moving object. SOLUTION: One or two loop coils where induced voltage at a predetermined threshold or higher is generated when alternate current flows to an oscillation coil 24a of a moving object are detected by sequentially scanning loop coils Li-1 , Li , Li+1 .... This threshold is set in a range such that it is larger than an induced voltage value generated on the loop coil Li+1 when a center of the oscillation coil 24a is on a grid Gi , while it is at an induced voltage value or higher generated on the loop coil Li+1 when the center of the coil 24a is between grids Gi and Gi+1 . When one loop coil has been detected, the moving object is determined to be positioned at the center of the loop coil, while when two loop coils have been detected, the moving object is determined to be positioned between the two loop coils.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device for a moving body which can be used for an industrial remote control device, a game machine or the like which detects the position of the moving body and controls the moving body. is there.

[0002]

2. Description of the Related Art Conventionally, as a position detecting device of a moving body for detecting the position of a moving body moving on a two-dimensional plane, an oscillation coil provided on the moving body and an x-direction and a y-direction on a tablet board, respectively. A loop coil group in which a plurality of loop coils are arranged adjacent to each other, and position detecting means for detecting the position on the plane of the oscillation coil by finding the position where the loop coil and the oscillation coil are electromagnetically coupled. There is. When the oscillation coil exists somewhere on the tablet board, an induced voltage is induced in the loop coil in the vicinity by the alternating magnetic field generated from the oscillation coil. FIG.
Shows the relationship between the distance x from the center of one loop coil of the x-direction loop coil group to the center of the oscillation coil and the induced voltage induced in the loop coil. From FIG. 12, it can be seen that the induced voltage value is large in the loop coil very close to the oscillation coil and small in the loop coil far from the oscillation coil. In such a moving body position detecting device,
The oscillating coil is oscillated, and the position detecting means electrically scans the loop coil of the x direction and y direction loop coils. The one loop coil in which a large induction voltage is induced by electromagnetic induction between is detected. Then, the position of the moving body is determined assuming that the moving body is located within the region where the detected loop coils in the x-direction and the y-direction overlap.

[0003]

However, in the conventional position detecting device for a moving body, x detected as described above is detected.
The position of the moving body is detected in units of regions where one loop coil in the y direction and one loop coil in the y direction overlap, and the position of the moving body is detected only with an accuracy determined by the width of the loop coil in the arrangement direction. I couldn't. Therefore, it is desired to realize a position detecting device for a moving body that can detect the position of the moving body with higher accuracy.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a position detecting device for a moving body which can detect the position of the moving body with high accuracy.

[0005]

According to a first aspect of the present invention, there is provided a position detecting device for a moving body having a first coil group in which a plurality of loop coils are arranged adjacent to each other. A substrate body, a moving body that has an oscillating coil that flows an alternating current to generate a magnetic field and electromagnetically couples with a loop coil provided on the substrate body, and a moving body that moves along the surface of the substrate body; When the center of the oscillation coil is located in the center of the oscillation coil, the oscillation voltage is larger than the induced voltage value generated in the two loop coils arranged on both sides of the one loop coil, and the oscillation occurs in the middle of two adjacent loop coils. When the center of the coil is located, the loop coils of the first coil group are sequentially scanned using a threshold value set in a range that is equal to or less than the induced voltage value generated in the two adjacent loop coils. , Detecting one or two loop coils in the first coil group in which an induced voltage equal to or higher than the threshold is generated, and if the number of detected loop coils is one, the position of the moving body is Position detection that determines that the two loop coils are at substantially the center position, and that if there are two detected loop coils, the position of the moving body is determined as a substantially intermediate position between the two loop coils. Means and are provided.

According to a second aspect of the invention, there is provided a position detecting device for a moving body according to the first aspect, wherein the threshold value is
When the center of the oscillation coil is located at a position where the width of the one loop coil in the arrangement direction is divided into 3: 1, the loop on the side closer to the oscillation coil of the two loop coils adjacent to the one loop coil It is characterized in that it is an induced voltage value generated in the coil.

According to a third aspect of the present invention, there is provided a movable body position detecting apparatus according to the first or second aspect of the invention, wherein the substrate body has a plurality of loop coils adjacent to each other and orthogonal to the first coil group. The position detecting means sequentially scans the loop coil of the first coil group, and one of the first coil groups in which the induced voltage equal to or higher than the threshold value is generated. While detecting one or two loop coils, the loop coils of the second coil group are sequentially scanned to detect one or two loop coils in the second coil group in which an induced voltage of the threshold value or more is generated. Thus, the position of the moving body on the substrate body is obtained.

[0008]

According to the invention described in claim 1, when the center of the oscillating coil is located at the center of the one loop coil, the two loop coils arranged on both sides of the one loop coil are arranged. When the center of the oscillating coil is located in the middle of two adjacent loop coils, it is less than the induced voltage value generated in the two adjacent loop coils. , Sequentially scan the loop coil of the first coil group,
By detecting one or two loop coils in the first coil group in which an induced voltage of a threshold value or more is generated, if the detected loop coil is one, the position of the moving body is the one loop coil. It was decided to be the approximate center position of
On the other hand, when the number of the detected loop coils is two, it can be determined that the position of the moving body is approximately the intermediate position between the two loop coils, so that a section narrower than the width of the loop coils in the arrangement direction is set. The position of the moving body can be detected as a unit.

According to the second aspect of the present invention, according to the above configuration, when the center of the oscillation coil is located at a position where the width of one loop coil in the arrangement direction is divided into 3: 1, it is adjacent to the one loop coil. By setting the value of the induced voltage generated in the loop coil on the side closer to the oscillation coil of the two loop coils as the threshold value, it is possible to make the sections for detecting the position of the moving body have the same width.

According to a third aspect of the present invention, with the above configuration, the substrate body is provided with a second coil group which is orthogonal to the first coil group and in which a plurality of loop coils are arranged adjacent to each other, and the position detecting means comprises: Sequentially scan the loop coil of the first coil group, while detecting one or two loop coils in the first coil group in which the induced voltage of the threshold value or more is generated, sequentially scan the loop coil of the second coil group, By detecting one or two loop coils in the second coil group in which the induced voltage of the threshold value or more is generated, the position of the moving body can be specified by the two-dimensional coordinates set on the substrate body.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic block diagram of a remote control device for a mobile body to which a position detecting device for a mobile body according to an embodiment of the present invention is applied, and FIG. 2 is a schematic diagram of a game machine to which the remote control device for the mobile body is applied. 3 is a diagram for explaining a tablet board of the remote control device for the mobile body, FIG. 4 is a diagram for explaining a flat plate of the tablet board of the remote control device for the mobile body, and FIG. 5 is a remote control for the mobile body. FIG. 6 is a schematic block diagram of the position detection circuit of the communication controller of the control device, and FIG. 6 is a schematic diagram of the mobile object in the remote control device of the mobile object.

The remote control device for a mobile unit shown in FIG.
The mobile body 10, the tablet board 30, the communication controller 50, the controller 80, the operation panel 90, and the display device 110 are provided. In this remote control device for a mobile unit, the communication controller 50
The radio waves are transmitted from the mobile unit 10 to the mobile unit 10 and the oscillation coils 24a and 24b provided on the mobile unit 10 and the tablet board 3 are provided.
By using electromagnetic induction with the loop coil group 34 provided in 0, by sending a signal from the mobile body 10 to the communication controller 50, a signal is sent and received between the mobile body 10 and the controller 80. , Controls the operation of the moving body 10.

In the present embodiment, a case where such a remote control device for a moving body is applied to a game machine will be considered. This game device has a tablet board 30 as shown in FIG.
Four player moving bodies 10a, 10 placed on top
b, 10c, 10d are respectively replaced by operation panels 90a, 9
Four operators who are divided into two teams play a ball game by freely moving by operating 0b, 90c, and 90d. The operator of each team controls his or her own player moving body to push the ball moving body 10e into the goal of the opponent team to compete for a score. Further, in the present game device, in particular, in order to improve the interest of the game, when the player moving bodies 10a to 10d move into a specific area on the tablet board 30, the operation panels 90a to 9d are temporarily displayed.
There is provided a "control area" where the control of the player moving bodies 10a to 10d by 0d does not work. The "control area" is, for example, a "slow area" in which the moving speed is halved, a "reverse area" in which the moving direction is reversed, a "spin area" in which a spin operation is performed for a certain time, and a movement in the approach direction is continued. "Slip area".

As shown in FIGS. 1 and 3, the tablet board 30 has a flat plate 32, a loop coil group 34, and an analog switch group 36. As the flat plate 32, for example, a table size having a length of 80 cm and a width of 100 cm is used. As shown in FIG. 4, a picture of a field as a stadium is drawn on the flat plate 32 according to the content of the game. Here, the inside of this field is a movable area of the moving body.

The loop coil group 34 includes two oscillation coils 24a and 24b of the moving body 10 on the flat plate 32.
Is used to detect the position of, and includes an x-direction loop coil group 34a and a y-direction loop coil group 34b. The x-direction loop coil group 34a and the y-direction loop coil group 34b are each a large number of loop coils arranged adjacent to each other on the flat plate 32 along the x-direction (horizontal direction) and the y-direction (longitudinal direction). Here, 200 loop coils are provided in the x direction and 160 loop coils are provided in the y direction, and each loop coil is wound once. The loop coil arranged in the x direction and the loop coil arranged in the y direction each have a width in the arrangement direction of about 5 mm. Further, each loop coil in the x direction is sequentially numbered from 1 to 200, and each loop coil in the y direction is sequentially numbered from 1 to 160. With this number, the tablet board 30 The x and y coordinates above are set. In FIG. 3, in order to make the explanation easy to understand, adjacent copper wires of adjacent loop coils are drawn apart from each other.
Actually, for example, regarding the first loop coil and the second loop coil adjacent to each other along the x direction, the copper wire 1R on the right side of the first loop coil and the copper wire 2L on the left side of the second loop coil are They are overlapped, and the same applies to other loop coils. As the loop coil array 34, a film sheet on which a loop coil pattern is printed, or one in which several flat cables are connected may be used.

The analog switch group 36 is shown in FIGS.
, The x direction analog switch group 36a, y
Direction analog switch group 36b. The x-direction analog switch group 36a includes a large number of analog switches, and each analog switch is connected to each x-direction loop coil. The x-direction analog switch group 36a is
As shown in FIG. 5, x based on the control signal S from the transmission and position detection control unit 54 of the communication controller 50.
The connection of each loop coil in the direction is sequentially switched. As a result, the signals generated by the oscillation coils 24a and 24b of the moving body 10 are detected. Then, the y-direction analog switch group 3
6b is similarly configured.

As shown in FIG. 2, the operation panel 90 has a joystick 92 and two button type switches 94a and 94b. Joystick 9
2 is x = in the xy coordinate system set as described above.
It is possible to tilt in a total of 8 directions from 0 to π / 4, and each of the player moving bodies 10a to 10d moves on the flat plate 32 in the tilting direction of the joystick 92. In addition, by pushing the button type switches 94a and 94b, the player moving bodies 10a to 10d are accelerated and decelerated. The display device 110 displays the score of each team and the remaining play time. Here, a 7-segment LED is used for score display, and a bar graph made of bicolor LEDs is used for remaining play time display.

The controller 80, as shown in FIG.
The controller 82, the ROM 84, and the RAM 86 are provided.
The ROM 84 stores a game program, map information, and the like. The map information is information on which area on the tablet board 30 the various control areas are set. For example, in the case of a ball game, the spin area is set to a predetermined area near the goal of the opponent team in the field shown in FIG. Then, in this case, the game program is the player moving body 10a-
When 10d moves to the spin area, the player moving bodies 10a to 10d rotate at that position for a certain period of time, and a red LED provided on the player moving bodies 10a to 10d.
Is programmed to light. The RAM 86 temporarily stores the latest position information, orientation information, and speed information for each of the moving bodies 10a to 10e. The control unit 82 creates an operation command for each of the moving bodies 10a to 10e and outputs the operation signal to the communication controller 50. In addition, the oscillation coils 24 of the moving bodies 10a to 10e
Based on the position information of a and 24b, the moving bodies 10a to 10
The position and direction of e are calculated, and the moving bodies 10a-10
For example, the speed of the moving bodies 10a to 10e is calculated based on the newly calculated position information about e and the previously calculated position information. Here, the operation signals are the moving bodies 10a to 10a.
It includes a mobile ID signal for identifying e, a command signal, and the like.

As shown in FIG. 1, the communication controller 50 includes a DPRAM (dual port RAM) 52, a transmission / position detection control unit 54, a transmission unit 56, a transmission antenna 58, and a tablet board 30. Mobile 1 in
A position detection circuit 62 for detecting the positions of the oscillation coils 24a and 24b of 0a to 10e. DPRAM52 is
An operation command sent from the control unit 82 to each of the moving bodies 10a to 10e and the moving body 1 detected by the position detection circuit 62.
The position information about the oscillating coils 24a and 24b of 0a to 10e is stored. The transmission and position detection control unit 54 controls the moving bodies 10 stored in the DPRAM 52.
The operation command for a to 10e is passed to the transmission unit 56,
The position information about the oscillation coils 24a and 24b of the moving bodies 10a to 10e detected by the position detection circuit 62 is DPR.
Write to AM52. The transmission unit 56 includes the mobile units 10 a to 1 sent from the transmission and position detection control unit 54.
The operation signal for 0e is FSK (frequency shift keyi
ng) Modulate and transmit 10.7MHz radio wave antenna 5
Send from 8.

The position detection circuit 62 is composed of the moving bodies 10a-10a.
The oscillation coils 24a, 24e of the moving bodies 10a to 10e based on the signals emitted from the oscillation coils 24a, 24b of
The position of 24b is detected, and as shown in FIG. 5, the first amplification circuit 72a and the second amplification circuit 72b, the first A / D conversion circuit 74a and the second A / D conversion circuit 7 are detected.
4b, the first latch circuit 76a and the second latch circuit 76.
b and a counter 78. The first amplification circuit 72a and the first A / D conversion circuit 74a, and the second amplification circuit 72b and the second A / D conversion circuit 74b are obtained from the x-direction analog switch group 36a and the y-direction analog switch group 36b, respectively. The amplified AC signal is amplified and converted into a pulse signal.
At this time, the first A / D conversion circuit 74a selects and binarizes only the AC signal having a voltage value equal to or higher than a predetermined threshold value V _TH among the AC signals amplified by the first amplification circuit 72a, It is sent to one latch circuit 76a. Similarly, the second A / D conversion circuit 74b selects and binarizes only the AC signal having a voltage value equal to or higher than a predetermined threshold value V _TH among the AC signals amplified by the second amplification circuit 72b, It is sent to the latch circuit 76b. Here, as will be described in detail later, the threshold value V _TH is generated in two loop coils arranged on both sides of the one loop coil when the center of the oscillation coil is located at the center of the loop coil. The induced voltage value is larger than the induced voltage value, and is set within a range that is equal to or less than the induced voltage value generated in the two adjacent loop coils when the center of the oscillation coil is located between the two adjacent loop coils.

The counter 76 counts the numbers from No. 1 to No. 200 according to the control signal S based on the clock signal C from the transmission and position detection control unit 54, and uses this count information as the first latch circuit 76a. , Second latch circuit 76b
Output to Further, the first latch circuit 76a stores the count value obtained by capturing the pulse signal sent from the first A / D conversion circuit 74a based on the count information of the counter 78. Similarly, the second latch circuit 76b stores a count value obtained by capturing the pulse signal sent from the second A / D conversion circuit 74b based on the count information of the counter 78. The count value stored in the first latch circuit 76a becomes the x-coordinate of the oscillation coil of the moving body, and the count value stored in the second latch circuit 76b becomes the y-coordinate of the oscillation coil of the moving body.

The mobile unit 10 is a self-propelled robot that moves along the surface of the tablet board 30 by operating the operation panel 90, and here, two types of five units in total are provided. That is, four player moving bodies 10a-10
d and one ball moving body 10e. As shown in FIG. 6A, the player moving bodies 10a to 10d have a substantially cylindrical body portion and a substantially spherical head portion, and a player's drawing according to the game content is drawn on the surface. Has been. Further, the shape of the ball moving body 10e is shown in FIG.
As shown in FIG. Each of these moving bodies 10a
-10e has a bottom diameter of about 8 cm and a height of about 10
cm. The moving bodies 10a to 10e are different only in appearance, and are the same in performance and function such as maximum speed.

Each of the moving bodies 10a to 10e is shown in FIGS.
As shown in FIG. 2, the mechanism unit 12, the battery unit 14, the built-in receiving antenna 16, the receiving unit 18, and the control unit 2
2, two oscillation coils 24a and 24b, and an oscillator 26
And The mechanical unit 12 has a red light emitting LED and a green light emitting LED, two stepping motors, two drive circuits for driving each stepping motor, and a total of two wheels 13a and 13b provided on the left and right. The wheels 13a and 13b are independently driven by separate stepping motors. Then, each wheel 13a,
The rotation speed of 13b is determined by the pulse frequency given to each stepping motor from the control unit 22. here,
The information about the pulse frequency is included in the command signal in the operation signal that is generated by the control unit 82 of the controller 80 and is transmitted from the communication controller 50 to the mobile unit 10. The moving body 10 can move forward and backward, rotate clockwise or counterclockwise, and bend left and right. For example, when moving forward, rotate both wheels forward,
When moving backward, both wheels are reversed. When rotating, one wheel is rotated forward and the other wheel is rotated reversely. Further, when turning right while moving forward, the pulse frequency applied to the driving motor on the right side is adjusted to an appropriate value lower than the pulse frequency applied to the stepping motor on the left side. Further, the battery unit 14 includes, for example, 2.4.
A secondary battery such as a V, 500 mW NiCd battery is used.

The oscillation coils 24a and 24b are the oscillator 26
To generate a magnetic field and electromagnetically couple with a loop coil provided on the tablet board 30. As shown in FIG. 6C, the oscillation coil 24a is provided on the bottom surface of the moving body 10 at the center thereof, and the oscillation coil 24b is provided on the bottom surface of the moving body 10 on the back side thereof. Then, the oscillation coil 24a and the oscillation coil 24b
The distance between and is about 3 cm. Thus, by providing the moving body 10 with the two oscillation coils 24a and 24b,
Even if the moving body 10 is stationary, the controller 80 determines the moving body 1 based on the position of the oscillation coil 24a.
The position of 0 can be detected and the oscillation coil 2
The direction of the moving body can be detected as the direction of the vector from the position 4b to the position of the oscillation coil 24a.

The receiving antenna 16 is for receiving the radio wave transmitted from the transmitting antenna 58 of the communication controller 50. The receiving unit 18 FSK demodulates the radio wave received by the receiving antenna 16 and extracts an operation signal from the radio wave. The control unit 22 integrally controls the moving body 10. Specifically, it is determined whether or not the signal is addressed to itself based on the mobile body ID signal in the operation signal obtained by the receiving unit 18. If it is for itself, the AC current from the oscillator 26 is applied to the oscillation coils 24a, 2
Sequentially flow to 4b. Further, the driving of the stepping motor and the light emission of the LED are controlled based on the command signal in the operation signal.

Next, a method of detecting the position of the moving body 10 in the moving body position detecting apparatus of this embodiment will be described.
Hereinafter, the case of detecting the x-coordinate position of the moving body 10 will be described in detail. The y-coordinate position of the moving body 10 can be detected in the same manner as when detecting the x-coordinate position. First, the first A / D of the position detection circuit 62
A method of setting the threshold value V _TH when binarizing the AC signal extracted from the tablet board 30 in the conversion circuit 74a will be described. FIG. 7 is a diagram showing how the moving body 10 moves across the loop coils of the x-direction loop coil group. Here, the center of the oscillation coil 24a of the moving body 10 is first located on the x-direction grid G _i (point A), and the moving body 10 moves to the x-direction grid G _{i + 1} adjacent to the right side thereof. Then, it is assumed that the center of the oscillation coil 24a is located in the middle (point C) between the x-direction grid G _i and the x-direction grid G _{i + 1} . Further, the x-direction grid G _i refers to an imaginary line that passes through exactly the middle of the loop coil L _i of the x-direction loop coil group 34a and is parallel to the y-axis direction. Below,
The x-direction grid will be simply referred to as a grid. At this time, the relationship between the center of the oscillation coil 24a of the moving body 10 and the voltage induced in each loop coil will be considered in three cases. FIG. 8 is a diagram showing the relationship between the position of each loop coil and the induced voltage induced in the loop coil in these three cases.

In FIG. 8, Case 1 is a grid G_iTrue
The oscillation coil 24 of the moving body 10 is located above (point A in FIG. 7).
When the center of a is located, Case2 is grid G_iTo low
Grid G_{i + 1}Departs at a near position (point B in Fig. 7)
If the center of the vibration coil 24a is located, Case 3
G_iAnd grid G_{i + 1}Just in the middle (in Fig. 7)
When the center of the oscillation coil 24a is located at point C)
You. In Case 1, loop coil L_iHas the maximum voltage
Value V_maxIs induced. Here, in FIG. 8, the vertical axis
The voltage value is the maximum voltage value V_maxIs standardized to "1"
Represents. Also, the loop coil L_i-1, L_{i + 1}Up to
Large voltage value V_maxSmaller and equal voltage value V₁'But
Be guided. By the way, induction induced by loop coil
The voltage depends on the radius of the oscillation coil 24a and the tablet board.
To change the spatial distance between 30 and the oscillation coil 24a, etc.
Although it changes more, in the present embodiment, the oscillation coil 24a
The radius of the tablet board 30 and the oscillation coil 24a
Voltage value V₁'But
It is set to be 0.4. In case 2
Pukoir L_iIs the maximum voltage value V_maxSmaller voltage value
V_TwoIs induced. Also, the loop coil L_i-1The electric
Pressure value V₁Voltage value V smaller than '_Two″ Is guided and looped
Coil L_{i + 1}Is the voltage value V₁Greater than voltage value
V_Two'Is induced. In Case 3, loop coil L_i
And loop coil L_{i + 1}Equal voltage value V_Three′ Induced
Is done. Here, under the conditions selected by the present inventors in Case 1,
Is the induced voltage value V _Three'Was 0.8. Also, Loopco
Il L_i-1Is the voltage value V_TwoVoltage value V smaller than '_Three″
Is induced.

FIG. 9 is a diagram showing the relationship between the position of each loop coil and the induced voltage induced in the loop coil when the moving body 10 moves along the x-axis direction.
The results of se1, 2, and 3 are shown in a stack. From FIG. 8 and FIG. 9, the moving body 10 moves from the grid G _i to the grid G.
_It can be seen that the voltage value induced in the loop coil L _i gradually decreases from V _max to V ₃ ′ as it moves to an intermediate position between _i and the grid G _{i + 1} . The voltage value induced in the loop coil L _{i + 1} gradually increases from V ₁ ′ to V ₃ ′, and the voltage value induced in the loop coil L _i−1 gradually decreases from V ₁ ′. And it becomes V ₃ ″.

The present inventors have further detailed the above results.
Look up, grid G_iFrom the oscillation coil 24 of the moving body 10
Distance to the center of a and loop coil L_i-1, L_i, L
_{i + 1}The relationship with the voltage value induced in the was calculated. This relationship
As shown in FIG. Here, in FIG. 10, the horizontal axis is the grid.
De G_iAnd the center of the oscillation coil 24a
The center of the vibration coil 24a is grit G_i-1Located on the side of
In some cases, the distance is shown with a minus sign. Curve a is
Loop coil L_i-1The induced voltage induced in
Loop coil L_iThe induced voltage induced in
Line c is loop coil L_{i + 1}Table of induced voltage induced in
You. As can be seen from FIG. 10, the induced voltage is
Of the upper limit that can detect more than one loop coil
Voltage level V _UIs for two adjacent loop coils
At the intersection of all curves a and b or curves b and c
Voltage level, that is, V described above_max80% of
Voltage V _Three'. Because the first A / D conversion circuit
74a threshold V_THTo V_UWhen set to a larger value,
Two grids in which the centers of 10 oscillation coils 24a are adjacent to each other
If they are located in the middle of the
The induced voltage induced in the two loop coils is_TH
Smaller than. Therefore, the first A / D conversion circuit 7
When it was binarized with 4a, all became "0",
Because it will not be able to detect even one coil
is there. In addition, there are three loop coils in which the induced voltage is induced.
The lower limit voltage level V that is not detected above_LIs one
Curves for two loop coils spaced apart
The voltage level at the intersection of a and c, that is, the upper
V described_max40% of voltage V₁'. Why
If the threshold value V of the first A / D conversion circuit 74a_THTo V_LLess than
When set to the bottom, the center of the oscillation coil 24a of the moving body 10
Is the grid G_iThree loops when located near
Coil L_i-1, L_i, L_{i + 1}Each induced voltage induced in
Threshold V_THAbove, three loop coils L_i-1,
L_i, L_{i + 1}Is detected at the same time.

In the present embodiment, the first position detecting circuit 62
When detecting the induced voltage in the A / D conversion circuit 74a of
Threshold V used for_THTo the voltage level V_LVoltage
Bell V_USet within the following range and induced voltage is induced
To be able to detect one or two loop coils
I have to. One or two loops detected in this way
The position of the coil is the position of the oscillation coil 24a. Especially,
Threshold V_THAs shown in Fig. 7, one loop carp
Le L_iOscillation coil at the position where the width in the array direction is divided into 3: 1
Loop coil L when the center of the coil 24a is located_{i + 1}
Induced voltage value V_THI would like to set it to '
Yes. This threshold V_TH′ Can be obtained as follows.
it can. As can be seen from FIG. 10, the oscillation coil 24a
The center is the grid G_iGrid G from directly above_iAnd next to it
The grid G_{i + 1}When moving to an intermediate position between
Grid G_{i + 1}Induced voltage is almost linear
Changes to Therefore, the threshold V_TH′ Is the upper limit voltage level
Le V_UAnd the lower voltage level V _LCalculated as the average value of
Wear. In fact, under the conditions of this embodiment, V_TH′ = 0.6
It is.

In the case of FIG. 10, the curve representing the induced voltage can be linearly approximated by appropriately selecting the radius of the oscillation coil 24a and the spatial distance between the tablet board 30 and the oscillation coil 24a. However, for example, when the radius of the oscillating coil 24a is increased or when the distance from the tablet board 30 to the oscillating coil 24a is increased, each curve a, b, which represents the induced voltage of each loop coil shown in FIG. Since c becomes gradual, these curves a,
It is desirable to approximate b and c with a quadratic curve. The value of the threshold value V _TH is not limited to the average value of V _U and V _L described above, and may be set to an optimum value by actual measurement.

Further, the radius of the oscillation coil 24a is reduced.
Or the tablet board 30 to the oscillation coil 24a
When the distance to is shortened, each loop shown in Fig. 10
The curves a, b, and c representing the induced voltage in the coil are steeper
Become. Therefore, the loop coil L_i-1Induction induced by
Curve a for voltage and loop coil L_{i + 1}Was guided to
Voltage at the point where the curve c of the induced voltage
As the level decreases, the noise level V_NBe lower than
There is. In such a case, the lower limit voltage level V _LIs the
Noise level V_NShould be set to a larger value
You.

Next, a method of determining the position of the moving body 10 based on the positions of the one or two loop coils detected as described above will be described with reference to FIG. Here, x _i-1 to x coordinate corresponding to the loop coil L _i-1, the x coordinate corresponding to the loop coil L _i x _i, the loop coil L _{i + 1}
The x coordinate corresponding to is set to x _{i + 1} . Now, when the moving body 10 moves along the x-axis direction, the number of loop coils in which an induced current of a threshold value V _TH or more is induced is one, two, one,
Two, one, and so on.
In FIG. 7, based on the number of detected loop coils, all the sections in the x direction are set as unit sections I _i-1 , I _i-1 ′, I.
_i , I _i ′, ... That is, for example, the unit section I _i-1 is a section in which the induction voltage of the threshold value V _TH or more is induced only in the loop coil L _i-1 when the center of the oscillation coil 24a is located in the unit section,
Further, the unit section I _i-1 ′ is a section in which an induction current of a threshold value V _TH or more is induced in the loop coil L _i-1 and the loop coil L _i when the center of the oscillation coil 24a is located within the unit section. Is. At this time, when the center of the oscillating coil 24a is located within the unit section I _i-1 , only the loop coil L _i-1 induces the induced voltage equal to or higher than the threshold value V _TH. The position of the moving body 10 is determined on the assumption that the x coordinate of the position of 10 is x _i-1 . Also, the oscillation coil 2
When the center of 4a is located in the unit section I _i-1 ′,
Since the induced current of the threshold value V _TH or more is induced only in the loop coil L _i-1 and the loop coil L _i , the x coordinate of the position of the moving body 10 is the average of x _i-1 and x _i . That is, the position of the moving body 10 is determined as (x _i-1 + x _i ) / 2. Therefore, in the present embodiment, the position of the moving body 10 can be detected in units of sections that are narrower than the width of the loop coil in the arrangement direction. In particular, by using the above-mentioned V _TH ′ = 0.6 as the threshold value V _TH , the unit sections can all have the same width, so that the position detection accuracy of the moving body 10 can be reduced by x as compared with the conventional device. It can be exactly doubled in direction.

In the above description, the x-coordinate position of the moving body is detected.
Only the case of moving out is explained in detail, but the y coordinate position of the mobile
The position can be similarly detected. for example
For example, the first A / D conversion circuit 74a and the second A / D conversion circuit
Threshold value V for binarization in the circuit 74b_THTo the above V
_THSet to ′. In this case, the position of the moving body is in the x direction.
Unit defined by unit section and y-direction unit section
It will be decided in units of areas. Especially here
Is the threshold V_THBy using ', the unit group in the x direction
, The unit sections in the y direction all have the same width,
Therefore, the unit area can also be a square with one side having the same length.
it can. FIG. 11 shows how to determine the xy coordinate position of the moving body.
It is a figure for explaining. Here, the loop co
Il Lx_iX coordinate of x_i, X direction loop coil Lx
_{i + 1}X coordinate of x_{i + 1}, Y direction loop coil Ly_jof
y coordinate is y_j, Y direction loop coil Ly_{j + 1}Y coordinate of
To y_{j + 1}And For example, the oscillation coil 2 of the moving body 10
Unit region R is at the center of 4a₁If located inside, x direction
Loop coil Lx_iAnd in the y direction
Loop coil Ly_jThreshold V_THInduction voltage greater than '
Therefore, the position of the moving body 10 is (x_i, Y_j) And decide
Is done. In addition, the center of the oscillation coil 24a of the moving body 10 is
Unit area R_TwoIn the x direction,
Loop coil Lx _i, The loop coil in the y direction
Ly_j, Ly_{j + 1}Threshold V_TH′ Or more induced voltage
Therefore, the position of the moving body 10 is (x_i, (Y_j+
y_{j + 1}) / 2) is determined. Oscillation coil of moving body 10
The center of 24a is the unit area R_ThreeX, if located within
Loop coil Lx in direction_i, Lx_{i + 1}In the y direction
Loop coil Ly_jThreshold V_TH′ Or more invitation
Since the conductive pressure is induced, the position of the moving body 10 is ((x_i
+ X_{i + 1}) / 2, y_j) Is determined. And mobile
The center of the 10 oscillation coils 24a is the unit region R_FourLocated within
Loop coil Lx in the x direction_i,
Lx_{i + 1}In the y direction, the loop coil Ly_j, L
y_{j + 1}Threshold V_THSince an induced voltage of ′ or more is induced,
The position of the moving body 10 is ((x_i+ X_{i + 1}) / 2, (y_j+
y_{j + 1}) / 2) is determined.

Next, the operation of detecting the position of the mobile unit in the remote control device for a mobile unit of this embodiment will be described.
First, the controller 82 of the controller 80 operates the operation panel 9
The operation command for the mobile unit is created based on the information and the like input from 0, and the operation command is sent to the DP of the communication controller 50.
Write to RAM52. Transmission and position detection control unit 54
Sends the operation command stored in the DPRAM 52 to the transmission unit 56, and the transmission unit 56 FSK-modulates this operation signal and sends out a radio wave from the transmission antenna 58. All mobiles receive the radio wave at the receiving antenna 16, and FSK demodulate at the receiving unit 18 to extract an operation signal. The control unit 22 of each moving body first determines whether or not the signal is addressed to itself based on the ID signal in the operation signal. If it is not addressed to itself, it does not recognize the subsequent command signal portion and executes the previously sent operation command again. On the other hand, when it is determined that the signal is addressed to itself (here, the moving body 10
Suppose it is addressed to a. ), Effectively recognizes the subsequent command signal portion, interprets the instruction, and performs processing in accordance with the instruction. For example, based on a command signal, a pulse for motor control is generated and sent to a drive circuit, or a predetermined LED is turned on. Further, the moving body 10a, which recognizes that the signal is addressed to itself, in parallel with such processing, applies an alternating current to the oscillation coil 24a provided at the center for a certain period of time, and then the oscillation coil 24b provided at the rear. Alternating current is applied for a certain period. As a result, an induced current sequentially flows through the loop coil group 34 of the tablet board 30. After that, the mobile unit 10a returns to the reception state in which it receives a new operation signal.

On the other hand, the communication controller 50 detects the positions of the two oscillating coils 24a and 24b by specifying the positions of the two loop coils in which these induced currents flow. Specifically, as shown in FIG. 7, the transmission and position detection control unit 54 first sets x during the period in which the AC signal is flowing in the oscillation coil 24a at the center of the moving body 10a.
The control signal S is sent to the direction analog switch group 36a and the y direction analog switch group 36b, and the respective analog switches are sequentially turned on from the 1st to the 200th.
Then, when the analog switch corresponding to the loop coil located where the central oscillation coil 24a is located is turned on, an induced voltage is generated in the loop coil, so that the signal from the central oscillation coil 24a is transmitted. An AC signal is taken out from each of the analog switch groups 36a and 36b. These AC signals are amplified by the first amplifier circuit 72a and the second amplifier circuit 72b, respectively,
First A / D converter 74a, second A / D converter 74b
At, only those above the threshold V _TH are selected and converted into pulse signals. The first latch circuit 76a and the second latch circuit 76b respectively capture the value of the count information from the counter 78 at the timing when the pulse signal is input. These count values are sent to the transmission and position detection control unit 54 as the xy coordinate position (position information) of the central oscillation coil 24a, and the transmission and position detection control unit 54
This position information is written in the DPRAM 52. Next, the transmission and position detection control unit 54 operates the analog switch groups 36a and 36b in a similar manner by operating the analog switch groups 36a and 36b within a period in which an AC signal is flowing in the oscillation coil 24b behind the moving body 10a, The xy coordinate position of the rear oscillation coil 24b is detected.

After that, the controller 82 of the controller 80
Determines the position of the moving body 10a based on the position of the oscillating coil 24a and calculates the direction from the position of the oscillating coil 24b to the position of the oscillating coil 24a to calculate the moving body 10a.
Ask for the direction. In addition, the control unit 82 is based on the position of the moving body 10a calculated last time stored in the RAM 86, the position of the moving body 10a calculated this time, and the time interval from the time when the previous position is calculated to the time when the current position is calculated. Then, the speed of the moving body 10a is obtained.

In the position detecting device for a moving body of this embodiment,
The threshold value V _TH used for detecting the induced voltage in the position detection circuit is set within the range of the voltage level V _{L or} more and the voltage level V _U or less, and each of the x-direction loop coil group and the y-direction loop coil group is set. (3), the loop coil is sequentially scanned, and one or two loop coils in which an induced voltage of a threshold value V _TH or more is induced are detected,
In each of the x and y directions, when one loop coil is detected, the position of the moving body is determined to be the center position of that one loop coil, while when two loop coils are detected, the moving body moves. Since it can be determined that the position of the body is an intermediate position between the two loop coils, it is necessary to detect the position of the moving body with high accuracy in units of the area defined by the section narrower than the width of the loop coil in the arrangement direction. You can

Further, when the center of the oscillation coil is located at a position where the width of the one loop coil in the arrangement direction is divided into 3: 1, the threshold value V _TH of two loop coils adjacent to the one loop coil is set. By setting the induced voltage value that is generated in the loop coil closer to the oscillation coil, the unit area for detecting the position of the moving body can be made into a square with one side having the same length. Compared to,
It is possible to accurately double the position detection accuracy of the moving body in each of the x and y directions.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the gist thereof.

[0041]

As described above, according to the first aspect of the invention, when the center of the oscillation coil is located at the center of one loop coil, the two loop coils are arranged on both sides of the loop coil. It is set in a range that is larger than the induced voltage value generated in one loop coil and equal to or less than the induced voltage value generated in two adjacent loop coils when the center of the oscillation coil is located between the two adjacent loop coils. The loop coil of the first coil group is sequentially scanned using the threshold value, and one or two loop coils in the first coil group in which the induced voltage of the threshold value or more is generated are detected. If there is one, the position of the moving body is determined to be approximately the central position of that one loop coil, while if there are two detected loop coils, the moving body moves. Since it can be determined that the position of is the intermediate position of the two loop coils, it is possible to detect the position of the moving body with high accuracy in units of a section narrower than the width in the arrangement direction of the loop coils. A body position detecting device can be provided.

[Brief description of drawings]

FIG. 1 is a schematic block diagram of a remote control device for a mobile body to which a position detection device for a mobile body according to an embodiment of the present invention is applied.

FIG. 2 is a schematic diagram of a game machine to which the remote control device for a mobile body is applied.

FIG. 3 is a diagram for explaining a tablet board of the remote control device for the mobile body.

FIG. 4 is a diagram for explaining a flat plate of a tablet board of the remote control device for the moving body.

FIG. 5 is a schematic block diagram of a position detection circuit of a communication controller of the remote control device for the mobile body.

FIG. 6 is a schematic view of a moving body in the remote control device for the moving body.

FIG. 7 is a diagram showing a state in which a moving body moves across a loop coil of an x-direction loop coil group.

FIG. 8 is a diagram showing the relationship between the position of the loop coil and the induced voltage induced in the loop coil when the moving body is located at a predetermined position.

FIG. 9 is a diagram showing the relationship between the position of the loop coil and the induced voltage induced in the loop coil when the moving body moves along the x-axis direction.

FIG. 10: Oscillation coil 24a of the moving body from grid G _i
To the center of the loop coil and the loop coils L _i-1 , L _i , L _{i + 1}
It is a figure which shows the relationship with the induced voltage induced by.

FIG. 11 is a diagram for explaining a method of determining an xy coordinate position of a moving body.

FIG. 12 is a diagram showing the relationship between the distance from the center of one loop coil to the center of the oscillation coil and the induced voltage induced in the loop coil.

[Explanation of symbols]

10, 10a, 10b, 10c, 10d, 10e Moving body 12 Mechanism part 13a, 13b Wheel 14 Battery part 16 Receiving antenna 18 Receiving part 22 Control part 24a, 24b Oscillating coil 26 Oscillator 30 Tablet board 32 Flat plate 34 Loop coil group 34a x direction loop coil group 34b y direction loop coil group 36 analog switch group 36a x direction analog switch group 36b y direction analog switch group 50 communication controller 52 DPRAM 54 transmission and position detection control unit 56 transmission unit 58 transmission antenna 62 position Detection circuit 72a First amplification circuit 72b Second amplification circuit 74a First A / D conversion circuit 74b Second A / D conversion circuit 76a First latch circuit 76b Second latch circuit 78 Counter 80 Controller 82 Control unit 84 OM 86 RAM 90,90a, 90b, 90c, 90d operation panel 92 joystick 94a, 94b button type switch 110 display

Claims (3)

[Claims] 1. A substrate body having a first coil group in which a plurality of loop coils are arranged adjacent to each other, and an oscillating coil for electromagnetically coupling with a loop coil provided on the substrate body by passing an alternating current to generate a magnetic field. A moving body that moves along the surface of the substrate body, and two moving bodies that are arranged on both sides of the loop coil when the center of the oscillation coil is located at the center of the loop coil. It is set in a range which is larger than the induced voltage value generated in the loop coil and is equal to or less than the induced voltage value generated in the two adjacent loop coils when the center of the oscillation coil is located between the two adjacent loop coils. The loop coil of the first coil group is sequentially scanned using the threshold value, and one or two loop coils in the first coil group in which the induced voltage of the threshold value or more is generated are detected. If the number of detected loop coils is one, it is determined that the position of the moving body is substantially the central position of the one loop coil, while if the number of detected loop coils is two, A position detecting means for determining that the position of the moving body is a substantially intermediate position between the two loop coils, and a position detecting device for the moving body. 2. The threshold value of two loop coils adjacent to one loop coil when the center of the oscillation coil is located at a position where the width of one loop coil in the arrangement direction is divided into 3: 1. 2. The position detecting device for a moving body according to claim 1, wherein the value is an induced voltage value generated in a loop coil closer to the oscillation coil. 3. The substrate body has a second coil group in which a plurality of loop coils are arranged adjacent to each other, the second coil group being orthogonal to the first coil group, and the position detecting means includes the first coil group. Sequentially scan the loop coil of the group, while detecting one or two loop coils in the first coil group in which the induced voltage of the threshold value or more, sequentially scan the loop coil of the second coil group, By detecting one or two loop coils in the second coil group in which the induced voltage of the threshold value or more is generated, the position of the moving body on the substrate body is obtained. The position detecting device for a moving body according to claim 1.