JPH10255200A - Mobile object guiding method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide the vehicles on a highway, etc., the painting job of a center line on a paved road, etc., a snow removal vehicle, a tractor in a paddy field, etc. SOLUTION: This guiding method uses an electromagnetic wave generation means which is mounted on a mobile object and generates an electromagnetic wave having the directivity in the direction vertical to the ground surface, a guide line consisting of an information display producing a signal having directivity which is continuously buried in the ground and responds by the electromagnetic induction of the electromagnetic wave that is generated by the electromagnetic wave generation means, and a recognition means which is mounted on the mobile object to detect the signal produced by the display and to recognize each output signal. Then the guide line or the shift from the guide line is recognized based on the signal output value generated by the information display, and the mobile object is guided based on the information on the traveling direction of the mobile object.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method (system) for guiding a moving object, such as guiding a vehicle such as a highway, painting a center line on a paved road, guiding a snowplow, and guiding a tractor in a paddy field. ) Can be used.

[0002]

2. Description of the Related Art As a method for guiding a vehicle, a method using a GPS receiver, a method in which a current is caused to flow through an induction cable, a magnetic field generated by the induced current is detected, and a moving body is guided, and a permanent magnet is mounted on a road guiding line. A method has been proposed in which a mobile body is guided by detecting the magnetic field by continuously burying the same.

[0003]

In the case of a method using a GPS receiver, the price increases as the accuracy of the position of a moving object is increased, and when a radio wave from a GPS satellite cannot be received due to weather or the like. The GPS position detecting and measuring device has a problem that it does not operate. The method of inducing a current through an induction cable and detecting the magnetic field generated by the induction current, or detecting the magnetic field of a continuously buried permanent magnet to guide a moving object depends on the sensitivity of the magnetic sensor, but the detection distance is short. In addition, there is a problem in that when preparing a magnet that generates a strong magnetic field in order to extend the detection distance, the magnet becomes considerably expensive. Also, since the detection is only for the presence or absence of magnetism, information such as the position cannot be obtained.

The present invention has been made in view of the above points, and the present invention stores and displays position information of a moving object on an underground information display device such as a road, and transmits the information by a transceiver of the moving object. It is an object of the present invention to provide a method for guiding a moving body by detecting the position accuracy and position accuracy.

[0005]

Means for Solving the Problems In order to achieve the above-mentioned object, attention is paid to the fact that the electromagnetic wave generated from the antenna of the transmitter has directionality and the electromagnetic wave generated from the information display device has directionality. As a result of intensive studies on high-precision position detection of a moving body, the present invention has been achieved.

That is, the present invention provides an electromagnetic wave generating means (1) mounted on a moving body for generating electromagnetic waves having directivity in the vertical direction on the ground surface, and a response by electromagnetic induction of the electromagnetic waves from the means (1). Detecting a guide line formed by an information display (2) continuously buried in the ground and generating a signal having directivity, and a signal generated from the display (2), respectively. And a recognition means (3) mounted on the moving body for recognizing the signal output of the moving body, and recognizing the guide line or the deviation from the guide line from the signal output value transmitted from the information display (2), The present invention provides a method for guiding a moving object, which provides information on the traveling direction of a moving object.

Alternatively, in the guidance method, an information display (2) for generating a signal having at least two directivities may be arranged such that one of the directivities of the signals transmitted from the display (2) is a means (1). ) Is buried in the ground so that it is parallel to the directivity of the electromagnetic wave generated from the means and the other directivity is perpendicular to the directivity of the electromagnetic wave generated from the means (1). In each position of the body, the signal output value in the same vertical direction as the vertical direction on the ground surface is obtained, and the guidance of the mobile object is specified when the ratio of the signal output value in each position becomes the maximum value. Provide a way.

Alternatively, in the guidance method, an information display (2) for generating a signal having at least two directivities may be arranged such that one of the directivities of the signals transmitted from the display (2) is a means (1). ) And + α
(Α = 0 to 90 °), and the other directivity is equal to the directivity of the electromagnetic wave generated from the means (1).
and embedded in the ground at an angle of α (α = 0 to 90 °).
A moving body for determining a guide line of the moving body when a signal output value between the indicator in the angle direction of α and the indicator in the angle direction of −α is obtained and the ratio of the signal output values at the respective positions becomes 1 To provide a guidance method.

Specifically, the signal output of the electromagnetic wave generated from the information display is obtained from any one of the following information displays. Further, the information display for improving the detection accuracy has at least two directivities, any one information display selected from the following, or selected from the following information display having only one directivity, It is obtained by a combination of at least two information indicators, which may be the same or different.

(A) LC resonance circuit marker. (B) An electromagnetic induction type marker composed of a semiconductor memory element, a communication / memory control element, and a frequency transmission / reception element and recorded with position information and the like. (C) A magnetic pattern corresponding to a bias magnetic field mechanically resonates with a magnetized bias magnetic field generating element at a specific frequency in an incident alternating magnetic field of a fluctuating frequency to change a magnetic flux density or a magnetic permeability. A marker in which a specific frequency at which a magnetic flux density or a magnetic permeability changes is generated as position information or the like, wherein the highly permeable metal is laminated so as to be able to resonate mechanically.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The operation of the present invention will be described below with reference to FIGS. 1 to 4
Is a diagram showing a basic concept of performing position detection of a moving object using two information displays having only one directivity. In the figure, reference numeral 1 is a traveling line, reference numeral 2 is the ground surface, and reference numeral 3
Indicates a transmitting antenna coil as an example of the electromagnetic wave generating means. Reference numeral 4 denotes a moving body, and reference numeral 5 denotes its tire.

Here, the information display is buried under the ground so that the electromagnetic waves generated by the electromagnetic generation means can reach. The range of the electromagnetic wave can be adjusted by the depth of the embedded information display from the ground surface and the height of the electromagnetic wave generating means on the mobile body from the ground surface.

The traveling line 1 is for convenience of explanation of the concept and is not always necessary. That is, the trajectory itself, which is formed by connecting a group of two or more continuous information display devices embedded by virtual lines, is a guidance line. The traveling line 1 is a line obtained by projecting the guidance line onto the ground surface. It is preferable that the guide line and the traveling line 1 provided on the ground surface be parallel at any position on the trajectory when viewed in the ground surface sectional view. The moving body is an example in which the moving body moves from the back of the paper to the front.

The shape of the transmitting antenna coil for generating a directional electromagnetic wave is preferably a loop antenna, and particularly preferably a copper wire or the like wound one or more turns in a circular or rectangular shape. The electromagnetic wave generated from the transmitting antenna coil is
In the near field, the impedance is low, the magnetic vector is dominant, and the energy is composed of a magnetic field component and a slight electric field component. The directivity of electromagnetic waves is particularly high at frequencies higher than the microwave range, but when penetrating deep into soil containing moisture, long-wave electromagnetic waves are preferred.

Here, the operation will be specifically described with respect to the magnetic field component of the electromagnetic wave, that is, the case of an AC magnetic field. A magnetic flux line of an AC magnetic field, which is an example of an electromagnetic wave having a directivity in the vertical direction on the surface of the earth and emitted from the electromagnetic wave generating means, is represented by a solid line arrow, and is indicated by reference numeral 6. X indicates when the directivity of the information display 10 is perpendicular to the ground, and Y indicates when it is parallel to the ground. Alternatively, angles with the vertical direction are indicated by + α and −α.

In FIG. 2, reference numerals 7 and 7 'denote magnetic flux lines generated by the information display in response to the electromagnetic waves emitted from the transmitting antenna coil, and are indicated by dotted arrows. Code 8
Indicates a receiving antenna coil as an example of recognition means for detecting a signal emitted from the information display device 10 and recognizing the signal as a signal output. The shape of the receiving antenna coil for receiving a directional electromagnetic wave has a loop antenna shape. Preferred
Further, a coil or a center feed loop coil in which a copper wire or the like is wound in a circular or rectangular shape for one or more turns is preferable.

In FIGS. 1 and 2, the electromagnetic wave generating means (1) and the recognizing means (3) are shown at the same position, but this is an example in which they are concentric. . Either of these means may be closer to the ground surface.

FIG. 1 shows an information display 2 having a single directivity.
One is buried with directivity X vertically on the ground, the other is buried with directivity Y parallel to the ground,
This shows a state in which a transmission coil serving as an electromagnetic wave generation unit and a reception coil serving as a signal output recognition unit mounted on a moving body are displaced horizontally with respect to a traveling line, that is, parallel to the ground.

In FIG. 1, a vector component of a magnetic flux line generated from a transmission coil in the ground and in a vertical direction gives magnetic energy to an information display 11 having a directivity X, and information of the directivity X is provided at a center position of the transmission coil. Magnetic energy is applied most strongly when the positions of the indicators match, and the applied magnetic energy becomes weaker as the position of the information indicator shifts away from the center position of the transmitting coil.

In FIG. 2, an information display 11 for directivity X is shown.
Generates a magnetic flux line 7 having a vertical directivity on the ground in accordance with the applied magnetic energy, and is detected by the receiving coil. The current generated when the magnetic flux lines are cut by the receiving coil from the directional X information display 11 is strongest when the position of the directional X information display 11 coincides with the center position of the receiving coil. As the position of the information indicator 11 shifts away from the center of the coil and moves away, the current flowing decreases.

The position can be detected near the maximum value of the current flowing through the receiving coil.

In FIG. 1, a vector component of a magnetic flux line generated from the transmission coil in a direction parallel to the ground is represented by a directivity Y.
Magnetic energy is applied to the information display 12 of the directivity, and when the position of the information display 12 of directivity Y coincides with the position of the center of the transmission coil, the weakest magnetic energy is added, and the information is displayed at the position of the center of the transmission coil. As the position of vessel 12 shifts away, the applied magnetic energy increases, increases most near the line of the transmitting coil, and then decreases gradually.

The information display 12 of the directivity Y generates a magnetic flux line 7 'having a directivity parallel to the ground in accordance with the applied magnetic energy, and as shown in FIG. Is detected. The current generated when the magnetic flux line 7 'from the information display 12 of the directivity Y is cut by the receiving coil indicates that the value of the current flowing when the position of the information display 12 coincides with the center position of the receiving coil is minimal. The current flowing increases as the position of the information indicator shifts away from the center position of the receiving coil, increases to a maximum value near the line of the transmitting coil, and then gradually decreases. The guide line is specified near the minimum value of the magnitude of the current flowing through the receiving coil. When the current flows through the receiving coil, it is understood that the current is deviated from the guide line.

Therefore, the signal output value emitted from the information display in the vertical direction on the ground surface at the position where the moving body on which the receiving coil is mounted is present, Thus, the signal output value emitted from the direction information display can be obtained. Therefore, the electromagnetic wave generating means (1) and the signal output recognizing means (3) can obtain a set of signal output values at one measurement position near the traveling line where the information display is embedded.

In the present invention, the signal output value of the information indicator in the vertical direction on the ground surface and the signal output value of the information indicator in the horizontal direction on the ground surface at the measurement position obtained from the receiving coil are then calculated. The ratio of the two, that is, "the signal output value of the information display in the vertical direction on the ground / the signal output value of the information display in the horizontal direction on the ground" is obtained.

In this way, if the signal output recognizing means (3) measures each of the above signal output values at several positions of the moving body, the ratio at each measurement position can be obtained. .

When the ratio between the information display 11 and the information display 12 is taken, the local minimum appears near the line of the transmitting coil, and theoretically the ratio becomes infinite at the center of the receiving coil. The ratio increases toward the center and shows a maximum value at the center of the coil.

In particular, since the rate of increase of the ratio near the center of the coil is large, the position of the information display can be specified with extremely high accuracy.

The identification of the running line or its deviation can be detected by the ratio and the signal output based on each of the above signal output values.

Next, a case where an information display device having directivity of + α and −α with respect to the vertical direction of the ground is buried in the ground will be described. FIGS. 1 and 2 have described the basic concept of recognizing only a shift of a moving body from a traveling line. The reason why the information without deviation is given is that the information display is insensitive at all when the directivity of the magnetic flux lines generated from the transmission coil is perpendicular to the directivity of the information display. Therefore, it is not known whether the vehicle has shifted to the right or left with respect to the traveling line.

In FIG. 3, when it is considered that the moving body is moving from the back of the paper to the near side, it means that the moving body is shifted to the right from the traveling line. Attention is paid to the magnetic flux lines 6 generated from the transmission coil added to the information display 10 when the moving body is shifted to the right from the traveling line. The vector component of the magnetic flux line 6 generated from the transmitting coil in the direction perpendicular to the ground and the angle of -α is the information display 1 having the directivity of -α.
3 and the vector component of an angle of + α with the vertical direction on the ground of the magnetic flux line 6 generated from the transmitting coil has a directivity of +
It is orthogonal to the information display 14 having an angle of α.

A vector component of an angle of -α with the vertical direction of the ground of the magnetic flux line 6 generated from the transmission coil gives magnetic energy to the information display 13 having a directivity of -α,
When the direction of the magnetic flux line matches the directivity of the information display 13, the strongest magnetic energy is applied. Therefore, the magnetic energy applied to the information display 13 becomes weaker as it further shifts to the right or shifts in the traveling line direction.

A vector component having an angle of + α with the vertical direction of the ground of the magnetic flux line 6 generated from the transmitting coil is given magnetic energy to the information display 14 having an angle of directivity of + α. The directivity of the detector 14 is orthogonal, and substantially no magnetic energy is applied. In this case, the magnetic energy applied to the information display 14 increases as the vehicle moves in the traveling line direction.

In FIG. 4, an information display 13 having a directivity having an angle of -α generates a magnetic flux line 7 having a vertical vector on the ground in accordance with the applied magnetic energy. Is detected. The current generated when the magnetic flux lines are cut by the receiving coil from the information display 13 having the directivity having an angle of -α has a directivity of -α from the position of the receiving coil.
The current flows most strongly at a point where the position of the information display 10 having the angle of ず れ is shifted to the left, and as the receiving coil mounted on the moving body further shifts to the right or shifts in the direction of the running line, the flowing current decreases. It is becoming.

The information display 14 having a directivity of + α has substantially no magnetic energy applied thereto, and thus hardly generates the magnetic flux lines 7 ′.

Although not shown, the moving body is shifted to the left from the traveling line, and the vector component of the angle of + α with the vertical direction of the ground of the magnetic flux lines generated from the transmitting coil is represented by the directivity + α.
Magnetic energy is applied to the information display 14 having the above angle, and the magnetic energy is applied most strongly when the direction of the magnetic flux line from the transmission coil matches the directivity of the information display 14. Therefore, as it further shifts to the right or shifts in the direction of the running line, the applied magnetic energy becomes weaker.

Information display 1 having directivity of + α
4 generates a magnetic flux line 7 'having a vertical vector on the ground corresponding to the applied magnetic energy, and is detected by the receiving coil. The current generated when the magnetic flux line 7 'is cut off by the receiving coil from the information display 14 having a directivity of + α angle is such that the position of the information display 10 having the directivity angle of α is more to the left than the position of the receiving coil. The current flows most strongly at a certain point shifted, and the flowing current becomes weaker as the receiving coil mounted on the moving body further shifts to the left or shifts in the direction of the traveling line.

The point where the magnitudes of the currents of the information display 13 having directivity flowing through the receiving coil having an angle of -α and the information display 14 having directivity having an angle of + α coincides with the traveling line, and When the current of the information indicator 13 having a directivity flowing through the receiving coil having an angle of -α is larger than the current 14 of the information indicator having the directivity having an angle of + α, the current shifts to the right, and the directivity flowing through the receiving coil is shifted. When the current of the information display 14 having the angle of + α is larger than the current of the information display 13 having the directivity having the angle of −α, it is understood that the current is shifted to the left. Therefore, the deviation from the guide line can be detected from the information from the two information displays.

The angle α may be in the range of 0 to 90 °, and is more preferably in the range of 45 to 75 °.

As described later, it is preferable that at least two electromagnetic waves having different directivities generated by the information display can be received without interfering with each other. More specifically, for example, the frequency and the modulation method may be different, and another method may be used as long as there is a means for identification.

Therefore, the receiving coil, which is the recognition means for recognizing the signal output, has a directivity in the vertical direction on the ground surface at the position where the receiving coil is mounted on the moving body.
The signal output values of the information display device having an angle of α and the information display device having an angle of directivity of + α can be obtained. Therefore, the electromagnetic wave generating means (1) and the signal output recognizing means (3) can obtain a set of signal output values at one measurement position near the traveling line where the information display is embedded.

According to the present invention, an information display having a directivity of -α and a directivity of + α with respect to the vertical direction on the ground surface at the measurement position obtained from the receiving coil. By using the signal output value in the vertical direction on the surface of the signal output value of (2), the magnitude relationship between the two is obtained.

In this way, when the signal output recognizing means (3) measures each of the above-mentioned signal output values at several positions of the moving body, the deviation from the running line at each measurement position is obtained. And size can be obtained.

Particularly, since the right and left and the magnitude of the deviation with respect to the traveling line are known, the position of the traveling line can be specified with extremely high accuracy.

According to the information display embedding method of the embodiment shown in FIGS. 1 and 2, it is possible to specify the presence of an underground guidance line. On the other hand, the information display embedding method of the embodiment shown in FIGS. According to this, it is possible to specify the amplitude deviation from the underground guidance line (displacement to the left and right around the traveling line from the back of the paper toward the front). Therefore, the latter method is more suitable for a more accurate guidance method.

The distance between the information indicators on the traveling line is determined by the diameters of the transmitting coil and the receiving coil, the traveling speed of the moving body, and the reading time of the reader. It is preferable that at least one information indicator continuously buried in the detection range is always included. For example, when the information display is embedded continuously at intervals of 50 cm, the diameter of the transmitting and receiving coil is 50 to
The range of 150 cm is preferable, and it is not preferable that the distance that can be moved within the reading time exceeds the diameter of the transmitting / receiving coil.

The detection of the signal generated from the information display is performed by the recognition means (3). Then, the output value of the signal detected there is usually processed according to the embedding form of the information display, and processed into information on the position of the guide line itself or the deviation from the guide line.

The information on the traveling direction of the moving body obtained in this manner is replaced with information that can be perceived and recognized by a human, such as a voice or an image, and the moving body is successively moved in the intended direction along the guide line. Available to guide you.

When the moving body is a manned powered vehicle, the driver in the vehicle can directly and artificially determine the necessary amount and the running direction of the moving body, such as the steering wheel, based on the information on the running direction of the moving body. By moving and controlling the direction, or by making the traveling direction defining means and the means for moving it coexist, even if manned, especially without humans controlling the direction, without replacing the above information with something that can be perceived and recognized The information can be given to the moving means as it is, and the direction can be controlled by moving the required amount of traveling direction defining means.

On the other hand, in the case of an unmanned power vehicle, based on the information on the traveling direction of the moving body, the direction is controlled by remotely and artificially moving means for defining the traveling direction of the moving body, such as a necessary amount of a steering wheel. Alternatively, the traveling direction defining means and the means for moving the same coexist, and the information is given to the moving means as it is without replacing the information with a perceptually recognizable one, and the necessary amount of traveling direction defining means is provided. To control the direction.

Although a powered vehicle has been described as an example here, it is needless to say that a powered vehicle requires additional power to move it.

Next, the information display (3) used in the present invention will be described. As this indicator (3),
As described above, as described above, a marker having only one directivity and a marker having two or more directivities can be used.

(A) LC resonance circuit marker. (B) An electromagnetic induction type marker composed of a semiconductor memory element, a communication / memory control element, and a frequency transmission / reception element and recorded with position information and the like. (C) A magnetic pattern corresponding to a bias magnetic field mechanically resonates with a magnetized bias magnetic field generating element at a specific frequency in an incident alternating magnetic field of a fluctuating frequency to change a magnetic flux density or a magnetic permeability. A marker in which a specific frequency at which a magnetic flux density or a magnetic permeability changes is generated as position information or the like, wherein the highly permeable metal is laminated so as to be able to resonate mechanically.

As the information display, a marker constituted by an electric resonance circuit such as an LC resonance circuit or a crystal resonance circuit can be used. The LC resonance circuit is a circuit system including a coil and a capacitor, and the direction perpendicular to the coil surface becomes directivity. Therefore, the information display device of the present invention may be provided by combining markers of LC resonance circuits having different resonance frequencies.

Alternatively, a marker using an electromagnetic induction type non-contact communication medium can be used. That is, a marker having a non-contact transmission and reception function and including a semiconductor memory element, a communication control unit, and a memory control unit can be used. The communication medium is an induction electromagnetic field of several hundred KHz or less, and coils are used for transmission and reception functions. The information display of the present invention may be made by combining markers of different information that can be identified by the direction perpendicular to the coil surface being directional.

Alternatively, the magnetic pattern corresponding to the bias magnetic field mechanically resonates with the magnetized bias magnetic field generating element at a specific frequency in the incident alternating magnetic field having a variable frequency,
Magnetic flux density or magnetic permeability changes, high magnetic permeability metal having magnetostriction is laminated so that it can resonate mechanically, and a specific frequency at which magnetic flux density or magnetic permeability changes is generated as position information or the like. Magnetic markers can be used. In particular, the highly permeable metal having magnetostriction is preferably in a strip shape, and when the magnetic pattern is magnetized in the long side direction of the strip, the long side direction becomes directivity. Therefore, the information display of the present invention may be formed by combining magnetic markers having different mechanical resonance frequencies.

As described above, the information display can combine the same type of markers. Although the magnetic marker is electrically equivalent to the LC resonance circuit, the frequency band of the resonance frequency is low for most of the markers of the LC resonance circuit, from the long wave to the medium wave, and the frequency of the magnetic marker is lower than the microwave. Considering that electromagnetic waves penetrate through water-containing layers such as puddles and fallen leaves when soil is assumed, long waves to medium waves are preferable, and magnetic markers are excellent.

Although a marker using a non-contact communication medium of the electromagnetic induction type uses a long wave to a medium wave, a marker having a power source such as a battery lacks permanence when buried in the soil. Have a problem. Those that do not have a power supply have a shorter reading distance than a magnetic marker that is identified by the presence or absence of a resonance frequency because the carrier is modulated to carry information, and are also more expensive than a magnetic marker.

Further, the information display may combine different types of markers. For example, a magnetic marker and a marker of an LC resonance circuit can be combined. In order to add an information amount, a marker of an LC resonance circuit and a marker using a non-contact communication medium of an electromagnetic induction type can be combined. Alternatively, a magnetic marker and a marker using a non-contact communication medium of an electromagnetic induction type can be combined.

In any case of the LC resonance circuit and the non-contact communication medium of the electromagnetic induction type, when a coil having different directivity is brought close to the transmission / reception coil, unnecessary electromagnetic induction between the coils is caused, which causes noise. Combinations with magnetic markers that are not required are preferred.

The above (A) having only one directivity
In practicing the present invention using two markers (C) to (C), the directivity of one of the signals transmitted from the markers is parallel to the directivity of the electromagnetic wave generated from the means (1) in the following combinations. Yes, the information display can be configured by combining the other directivity with the directivity of the electromagnetic wave generated from the means (1). Alternatively, the information display device can be configured by combining an information display device having an angle of -α with a directivity with respect to the vertical direction on the ground surface and an information display device having an angle of α with a directivity. The information display is
Conventionally, markers having only one directivity may be separately formed as in the related art, and then they may be integrated so as to have the above-mentioned arrangement, or one casing which is previously formed into the above-mentioned arrangement. The marker component may be operably embedded therein. In the combinations below the markers (A) to (C), the combination of the indicators shown as the indicator 6 is most preferable.

[0062]

[Table 1]

Here, the most preferred magnetic marker (C)
The description of the information display body using is described below.

The characteristic of this magnetic marker is that, with respect to a fluctuating incident AC magnetic field, the frequency for forming a magnetic field is gradually changed from a low frequency to a high frequency or from a high frequency to a low frequency. Alternatively, in a state where a magnetic pattern corresponding to a bias magnetic field is magnetized in a magnetic field generating element with respect to an alternating magnetic field having a burst frequency of all frequencies, for example, a pulse magnetic field, at least one predetermined magnetic flux density or magnetic permeability changes. The point is that a frequency is generated as an identification signal and a response is made.

Since no bias magnetic field is generated when the magnetic field generating element is not magnetized, an output signal based on a predetermined frequency at which the magnetic flux density or magnetic permeability changes with respect to the fluctuating incident AC magnetic field is based on the magnetostriction. It does not occur from highly magnetically permeable metals having properties.

The structure of the magnetic marker will be described with reference to FIG. 5, which is an example. A magnetic pattern corresponding to a bias magnetic field mechanically resonates with a magnetized bias magnetic field generating element 21 at a specific frequency in an incident alternating magnetic field of a fluctuating frequency to change a magnetic flux density or a magnetic permeability. The magnetically permeable metal 22 is laminated so that it can resonate mechanically.

As the bias magnetic field generating element 21, a flat hard magnetic material strip having a higher coercive force than the highly permeable metal 22 can be used. In particular,
A thin body of a ferromagnetic material such as SAE1095 steel, baicaloy, anochrome, stainless steel, nickel, ferrite, and soft iron can be used. Alternatively, a housing made of a molded product into which iron oxide-based magnetic powder such as barium ferrite is kneaded can be used.

Alternatively, the saturation magnetic flux density in the binder is 70 em
A dried coating film formed by dispersing magnetic powder of u / g or more may be used. Alternatively, even if a material other than the above is used, a material in which a bias magnetic field intensity generated when a magnetic pattern is magnetized on the bias magnetic element 21 causes magnetostriction of the highly permeable metal 22 having magnetostriction can be used. .

As the non-magnetic housing 23, any of those made of known and commonly used synthetic resins can be used. For example, polystyrene, polymethyl methacrylate, ABS, vinyl chloride, polyethylene, polypropylene, polycarbonate, PET, PBT, PPS, etc. Is raised.

The predetermined frequency at which the magnetically permeable high-permeability metal 22 having a magnetostrictive property mechanically resonates and the magnetic flux density and the magnetic permeability rapidly change is specific to the length of the metal. Defined

[0071]

[Equation 1] fn = n / 2L√ (D / ρ)

Where n is an integer, L is the length of the metal 22, D is the Young's modulus of the metal, and ρ is the density of the metal.

As the metal 22 which receives a bias magnetic field and responds to an alternating magnetic field of a predetermined frequency among the fluctuating frequencies applied from the outside, a highly permeable metal material having magnetostriction may be used. Can be used, and magnetostriction is 1
A ferromagnetic metal having a content of 5 ppm or more is preferable, and a material having the above-mentioned magnetic permeability of 100 or more is more preferable. Specifically, for example, when the maximum magnetic field strength is 0.25 Oe at 1 KHz, it is particularly preferable that the strength be 1000 or more.

As such a metal 22, an amorphous metal manufactured by Allied Signal Co., Ltd., for example, metgrass "2605"
SC "," 2605CO "," 2826MB ", amorphous metal" VITROVAC4 "manufactured by Vacuum Schmelz
040 "and the like.

The shape of the metal 22 is not particularly limited, and may be, for example, a deformed plate such as a trapezoid, a parallelogram, or a hexagon.
There are long and narrow strips such as strips and wires.
The latter strip shape is preferred.

In order to reduce the influence of the demagnetizing field and the non-linear vibration caused by the shape, a rectangular shape is preferable.
In order to obtain the vibration direction of only the long side, it is preferable that the ratio of the long side to the short side is 15 or more.

Further, by combining metals 22 having long sides having different lengths, the capacity for marker identification is greatly improved. Incidentally, the shape of the metal shown in the figure is a strip shape. The thickness is 15 to 35 μm
It is preferred that

In actually using the marker,
As described above, a bias magnetic field is applied to the metal 22 from the magnetic field generating element 21. When the magnetic field generating element 21 is a permanent magnet that is magnetized in advance, the magnetic field generating element 21 may be used as it is. However, when the magnetic field generating element 21 is not magnetized, the magnetic field generating element 21 is magnetized so as to be divided at equal intervals. And a bias magnetic field is generated. Note that it is preferable to select a bias magnetic field having an optimum intensity so that the mechanical resonance of the metal 22 becomes as large as possible.

The information display device is prepared by using one display device in which the directivity of the magnetic marker (C) having one directivity with respect to the vertical direction on the ground surface on a predetermined traveling line is matched. Is also good. Alternatively, one indicator may be used in which the directivity of the magnetic marker (C) is matched with the direction of the predetermined traveling line so as to be parallel to the ground surface and perpendicular to the traveling line.

Alternatively, the directivity of the magnetic marker (C) having one directivity with respect to the vertical direction coincides with the predetermined ground surface, and the traveling line is parallel to the ground surface with respect to the predetermined traveling line direction. It is preferable to use a display in which the markers having at least two different signal elements are combined so that the magnetic markers (C) have the same directivity so as to be perpendicular to.

Alternatively, in a plane perpendicular to the predetermined traveling line direction, one of the magnetic markers (C) having one directivity has an angle of + α with respect to the vertical direction on the ground surface. In addition, it is preferable to use an indicator that combines markers having at least two different signal elements such that the directivity of the magnetic marker (C) having one directivity has an angle of -α. α is 0
Although any angle between 90 ° and 90 ° can be selected, it is desirable because the signal output of the marker is particularly high when the angle is deviated from 45 ° to 75 °.

Specifically, as shown in FIGS. 6 and 7,
The number of the magnetic markers is preferably at least two and resonate at different frequencies, and the assembling form may be any of T-shaped, cross-shaped, L-shaped, V-shaped, and X-shaped. Regardless, when burying underground, in the plane perpendicular to the traveling line direction, in the former case, it is preferable that any one of the magnetic markers coincides in parallel with the surface of the ground, and in the latter case, any one of the magnetic markers It is preferable to have an angle of + α and an angle of −α with respect to the vertical direction on the ground surface.

FIG. 8 shows an example in which the guide lines are embedded at regular intervals. In FIG. 8, the guide line 1 is provided for convenience, and need not always be visible. The distance between the magnetic markers is smaller than the size of the transmitting coil and the receiving coil, and the burial depth 9 from the ground is sufficient if the distance between the transmitting coil and the magnetic marker satisfies the size of 5 cm to 100 cm. At height of 0
It may be buried to a depth of ~ 95 cm. In particular, 5c from the surface
It is preferred to fill to a depth of m to 40 cm.

When assembling the magnetic marker, the magnetic marker may be buried in the ground so that the assembling form can be maintained. However, in order to maintain the assembling form, the magnetic marker is fixed with a known or common adhesive or pressure-sensitive adhesive. Is also good.

Examples of the adhesive include a vinyl chloride-propionic acid copolymer, a rubber resin, a cyanoacrylate resin, a cellulose resin, an ionomer resin, a polyolefin resin, and a polyurethane resin. Examples of the material include vinyl chloride resin, vinyl acetate resin, vinyl chloride / vinyl acetate copolymer, ethylene / vinyl acetate copolymer, vinyl chloride / propionic acid copolymer, rubber resin, acrylic copolymer resin, cyano resin Examples include acrylate resin, cellulose resin, ionomer resin, polyolefin resin, polyurethane resin, polyester resin, polyamide resin, acrylonitrile butadiene resin, natural rubber, rosin and the like.

Alternatively, a housing that can maintain the built-in form may be formed. For example, after incorporating a magnetic marker into a shallow draw forming material having a predetermined form of a known and commonly used resin film and a lid material, it may be fused by impulse sealing, ultrasonic welding, or high-frequency welding.

Materials usable as the resin film include, for example, polyethylene film, polypropylene film, polyvinyl chloride film, polyvinylidene chloride film, polyethylene naphthalate film, polyvinyl alcohol film, polyethylene terephthalate (P
ET) plastic films or sheets comprising films, polycarbonate films, nylon films, polystyrene films, ethylene vinyl acetate copolymer films, ethylene vinyl copolymer films, etc .; or non-magnetic metals such as aluminum; paper, impregnated paper; A composite made of each material can be mentioned, and other materials can be used without particular limitation as long as they have the necessary strength, configuration, and the like.

Alternatively, a housing may be formed by molding in a predetermined form using a known and commonly used resin, and a magnetic marker may be incorporated. An existing plastic stake or the like can be used as the appearance of the housing. As the resin, for example, polystyrene, polymethyl methacrylate, AB
S, vinyl chloride, polyethylene, polypropylene, polycarbonate, PET, PBT, PPS and the like can be used.

According to the mobile object guiding method of the present invention, an electromagnetic wave having directivity is generated from a transmitting antenna coil, which is an electromagnetic wave generating means mounted on the mobile object, and an electromagnetic wave having directivity generated from an information display is detected. If a known and conventional detection system including a receiving antenna coil, which is a signal output recognition means mounted on a moving body, can be used, the position of the information display device, that is, the guide line or its deviation can be detected.

At this time, the guidance line or its deviation may be detected by using an information display having one directivity in the vertical direction on the ground surface on a predetermined traveling line. Alternatively, the directivity is matched to a predetermined traveling line direction so as to be parallel to the ground surface and perpendicular to the traveling line.
The guidance line or its deviation may be detected using two information indicators.

Alternatively, the electromagnetic wave of the display device has at least two directivities, one of which is parallel to the directivity of the electromagnetic wave generated from the transmission coil, and the other has the directivity of the electromagnetic wave generated from the transmission coil. If the signal output of each information display device buried underground is measured so as to be perpendicular to the directivity of the ground, the maximum value of each of the corresponding ratios at a plurality of measurement positions will be the guiding line. Above, by detecting the signal output of the information display device that is parallel to the directivity of the electromagnetic wave generated from the transmission coil, the guidance line or its deviation may be specified.

Alternatively, the electromagnetic wave of the display has at least two directivities, one of which has an angle of -α with the directivity of the electromagnetic wave generated from the transmitting coil, and the other has a directivity of α. By measuring the signal output of each of the information indicators buried in the ground so as to have an angle, a guide line or What is necessary is just to specify the deviation.

As described above, the method for detecting the position of the information display device of the present invention is as follows. An electromagnetic wave generating means (1) mounted on a moving body for generating electromagnetic waves having directivity in the vertical direction on the surface of the earth, and responding by electromagnetic induction of electromagnetic waves from the means (1), continuously buried in the ground A moving body that detects a guide line formed by an information display (2) that generates a signal having directivity and a signal generated from the display (2) and recognizes each signal output. And a recognizing means (3) mounted on the vehicle. The recognizing means (3) recognizes a guide line or a deviation from the guide line from a signal output value transmitted from the information display (2), and gives information on a traveling direction of the moving body. How to guide the body.

Alternatively, the information display (2) for generating a signal having at least two directivities may be replaced by the display (2).
The directivity of one of the signals transmitted from the antenna is parallel to the directivity of the electromagnetic wave generated from the means (1), and the other is perpendicular to the directivity of the electromagnetic wave generated from the means (1). Buried therein, the means (3) obtains signal output values in the same vertical direction as the vertical direction on the ground surface at each position of the moving body, and when the ratio of the signal output values at each position becomes the maximum value, And a method of guiding a mobile object to specify a guide line of the mobile object.

An information display (2) for generating a signal having at least two directivities is formed by changing the directivity of one of the signals transmitted from the display (2) to the directivity of an electromagnetic wave generated from the means (1). An angle of + α (α = 0 to 90 °) is given, and the other directivity is set to an angle of −α (α = 0 to 90 °) with the directivity of the electromagnetic wave generated from the means (1). In the means (3), the signal output values of the indicator in the + α angle direction and the indicator in the −α angle direction at each position of the moving body are obtained by the means (3). A method for guiding a mobile object, wherein the guide line of the mobile object is specified when the ratio of the signal output values becomes 1.

The information display (2) is electrically resonating at a predetermined frequency in accordance with the respective directivities generated from the means (1), and the information display (A) B) has a carrier or an information indicator (C)
Responds by mechanically resonating and changing the magnetic flux density and magnetic permeability.

Further, the most preferable method of guiding the moving body using the most preferable information display as the magnetic marker (C) is as follows.

An incident AC magnetic field generating means (1 ') mounted on a moving body and having a directivity in the vertical direction on the ground surface for generating a fluctuating frequency by sweeping a frequency, and a frequency generated from the means (1') An information display that generates signals having directivity, which are continuously buried in the ground and change in magnetic flux density and magnetic permeability by mechanically resonating at a predetermined frequency corresponding to each of the directivities Recognition means (3 ') mounted on a moving body, which detects that the guidance line formed by (2') and the display (2 ') resonate at a predetermined frequency and recognizes respective signal outputs. A guide line for a moving body, which recognizes a guide line or a deviation from the guide line from a signal output value of a resonance frequency generated from the information display (2 ') and gives information on a traveling direction of the moving body.

Alternatively, it is mechanically resonated at a predetermined frequency corresponding to each directivity among the frequencies generated from the means (1 '), and the magnetic flux density and the magnetic permeability change, and the magnetic disk is buried in the ground. An information display (2 ') for generating at least two directional signals and a display (2') mounted on a moving body that detects resonance of the display at a predetermined frequency and recognizes each signal output. And the information display (2 ′) is connected to the display (2 ′).
The directivity of one of the resonance frequencies transmitted from the device is parallel to the directivity of the AC magnetic field generated from the means (1 ′),
The other is buried in the ground so that the directivity is perpendicular to the directivity of the AC magnetic field generated from the means (1 '), and the means (1') and means (3 ') mounted on the moving body In the means (3 '), at each position of the movement of the means (1'), a signal output value of a resonance frequency of each of the indicator in the vertical direction on the ground surface and the indicator in the same horizontal direction is obtained. A method of guiding a mobile object, which specifies a guide line of the mobile object when the ratio of the signal output values becomes a maximum value.

Alternatively, it is buried in the ground where the magnetic flux density and the magnetic permeability change by mechanically resonating at a predetermined frequency corresponding to each directivity among the frequencies generated from the means (1 ′). An information display (2 ') for generating at least two directional signals and a display (2') mounted on a moving body that detects resonance of the display at a predetermined frequency and recognizes each signal output. And the information display (2 ′) is connected to the display (2 ′).
Is one of the directivities of the resonance frequency transmitted from the means (1 ′) and the directivity of the AC magnetic field generated from the means (1 ′).
９０90 °), and the directivity of the other is −α with the directivity of the AC magnetic field generated from the means (1 ′).
(Α = 0 to 90 °), buried in the ground at an angle, and by means (3 ′) and (3 ′) mounted on a moving body, At each position of the movement of (1 ′), the indicator having the directivity of the alternating magnetic field generated from the means (1 ′) and the angle of + α, and the directivity of the alternating magnetic field generated by the means (1 ′) and −α A method of guiding a moving body, wherein a signal output value of each resonance frequency of an indicator having an angle is obtained, and a guide line of the moving body is specified when the ratio of the signal output values at the respective positions becomes 1.

As the detection device embodying the identification of the magnetic marker, including the above-mentioned means (1 '), means (3') and means for identifying a magnetic marker resonating at a predetermined frequency, a known and commonly used one is used. Although it is possible, for example, a fluctuating AC magnetic field is generated by an appropriate AC magnetic field generating means such as an incident AC magnetic field generating means (2 ′), for example, a magnetic field generating device including a normal coil and a power supply, and applied to the detection area. Things.

Such a device is disclosed in Japanese Unexamined Patent Publication No. Sho 62-67.
No. 485, JP-A-62-67486, JP-A-62-6
9183, JP-A-62-69184, JP-A-62-69184
No. 90039 and other publications.

In the present invention, the synchronization between the generated alternating magnetic field and the detection signal may be adjusted in order to increase the accuracy of detection and identification. The frequency can be varied from small to large, large to small, or
White noise including bursty broadband frequencies may be used.

FIG. 9 shows the maximum value of the ratio of the signal output resonating at a predetermined frequency whose directivity corresponds to the vertical direction and the horizontal direction on the ground surface, or the ratio of the signal output value in the + α angle direction and the −α angle direction. When "1" is set, the example of the detection device used for the method of guiding the mobile object, which specifies the guide line of the mobile object, is shown.

First, the device 100 mounted on the moving body is an example of the incident AC magnetic field generating means (1 '), and includes an oscillator 101 for generating a sine wave signal whose frequency can be swept.
An output amplifier 102 amplifies the sine wave signal, and an exciting coil 103 capable of applying an AC magnetic field to the metal of the magnetic marker in the information display device.

The device 200 mounted on the moving body is an example of the detecting means (3 '), and the detecting coil 201 arranged inside or outside the exciting coil 103 and the magnetic marker in the information display are mechanically combined. Apparatus 203 that can measure the amplitude of the response signal by detecting the frequency of resonance, such as a spectrum analyzer, and the ratio of the signal output of a predetermined resonance frequency corresponding to the vertical direction and the horizontal direction on the ground surface, that is, the ratio of the amplitude,
Alternatively, the detection device 203 is configured to calculate a ratio of a signal output value, that is, an amplitude at a predetermined resonance frequency in the + α angle direction and the −α angle direction, and to specify the guide line.

The magnetic field generating element of the magnetic marker is magnetized using, for example, a magnetic encoder or the like, and has a predetermined magnetic pattern corresponding to a target bias magnetic field. Among the fluctuating frequencies in the incident AC magnetic field, resonance occurs at the frequency of the above equation (1) according to the magnetic pattern.

Therefore, a characteristic signal is generated when the frequency of the incident alternating magnetic field is swept in the detection area where the marker whose magnetic pattern is magnetized is present. This is because when an alternating magnetic field and a bias magnetic field generated by a magnetic field generating element in which a magnetic pattern is magnetized are introduced into a metal exhibiting magnetostriction, energy is alternately stored in magnetic energy and mechanical energy according to the frequency of the alternating magnetic field. Because it is released. The stored and released magnetic energy is greatest at the material's mechanical resonance frequency.

Due to the accumulation and release of the energy, a current is induced in, for example, a detection coil, which is one component of the position detecting means (3 '), through a change in the magnetic permeability, ie, the magnetic flux density, of the magnetostrictive metal. Therefore, the directivity of the output signal induced in the detection coil 201 is the amplitude of a specific frequency component corresponding to the vertical direction and the horizontal direction on the ground surface, or the specific resonance frequency corresponding to the + α angle direction and the −α angle direction. The ratio of the guide line can be specified by examining the amplitude of the guidance line and calculating the ratio.

In the case of the device shown as an example, the excitation frequency of the oscillator 101 and the detection band of the detection coil 201 are desirably in the range of 10 KHz to 5 MHz. The intensity of the AC magnetic field generated in the exciting coil 103 is 1
The magnetic field of this level does not erase or attenuate the magnetic pattern magnetized by the bias magnetic field generating element.

It is to be noted that the information display (2) for generating a signal having at least two directivities may be arranged such that one of the directivities of the signals transmitted from the display (2) is the directivity of the electromagnetic wave generated from the means (1). And an angle of + α (α = 0 to 90 °), and the other directivity is equal to the directivity of the electromagnetic wave generated from the means (1) and the angle of −α (α = 0 to 90 °). Then, the indicator (+) and the display (−α) at each position of the moving body at each position of the moving body and a signal output value are obtained by the means (3). In the method of guiding a moving object according to the present invention, in which the guide line of the moving object is specified when the ratio of the signal output values becomes 1, an example of the method of guiding is shown in the flowchart of FIG. A machine that provides real-time feedback of the position information determination result It is possible to do it in a structure.

Further, an information display (2) for generating a signal having at least two directivities may be provided by using one of the directivities of signals transmitted from the display (2) for directing electromagnetic waves generated by the means (1). And buried in the ground so that the directivity of the other side is perpendicular to the directivity of the electromagnetic wave generated from the means (1). Determine the signal output value in the same horizontal direction as the vertical direction, where the ratio of the signal output value of each position is the maximum value, to specify the guide line of the moving body, in the method of guiding the moving body of the present invention, An example of the method of guidance can be performed by a mechanism for feeding back the determination result of the information on the current position of the moving moving body in real time, which is shown in a flowchart diagram described later.

According to the method for guiding a moving object of the present invention, not only can the guide line be specified by specifying the ground buried position corresponding to the information display device buried underground with high accuracy, but also the guide line can be specified. Information about the guidance line position can also be provided.

Example 1 Hereinafter, the present invention will be described in more detail with reference to Examples.
Fe-Ni-Mo-B-based "Metgrass 2826MB" (manufactured by Allied Signal Co., Ltd.) having a thickness of 30 µm and a width of 4 m
m, and cut into a rectangle having a length of 75 mm to form a strip of magnetostrictive metal.

Next, a non-magnetic casing 23 made of a polycarbonate material having the shape shown in FIG. 5 was prepared, and the strip of the magnetostrictive metal was stored in the groove of the non-magnetic casing.

Using a metal magnetic powder “HJ-8” (manufactured by Dowa Mining Co., Ltd.) having a coercive force of 1550 Oersted and a saturation magnetic flux density of 120 emu / g, a PET film having a thickness of 50 μm and having a magnetic coating film having a thickness of 25 μm was prepared. A non-magnetic support made of PET having a thickness of 24 μm having a non-magnetic support having a thickness of 15 μm and a magnetic coating having a thickness of 15 μm was bonded to the non-magnetic support having a magnetic coating having a thickness of 40 μm. Body width 1
0 mm, a strip of 85 mm in length is cut out along the orientation direction, and the PET film surface having a thickness of 50 μm faces the strip of the magnetostrictive metal, and the film surface is formed of the magnetostrictive metal using an adhesive. The magnetic pattern corresponding to the bias magnetic field was not magnetized yet, and ten magnetic markers were formed by bonding to the non-magnetic housing in which the strip was stored.

Five of the magnetic markers are provided with a rectangular encoder pattern at 75/4 mm intervals by a magnetic encoder so that a fourth harmonic is generated in the vertical direction on the ground surface when an excitation magnetic field is applied. The magnetization was performed so that the magnetization of the sample was saturated. On the remaining markers, a rectangular wave pattern is formed at intervals of 75/5 mm by a magnetic encoder so that the magnetization of the coating magnetic layer is saturated so that the fifth harmonic is generated in a direction parallel to the ground surface when receiving the exciting magnetic field. Magnetized as follows.

Next, as shown in FIG. 10, a T-shaped shallow-drawing 250 μm-thick Barex tray 24 (manufactured by Mitsui Toatsu Co., Ltd.) and a lid 25 were prepared. A magnetic marker that generates a fourth harmonic in a vertical groove on the ground surface of the tray and a magnetic marker that generates a fifth harmonic in a groove parallel to the ground surface of the tray are stored. Was fused with a high-frequency welder to obtain an information display.

The information display was buried at a depth of 15 cm from the surface of the ground at intervals of 30 cm on a guide line of a concrete surface having a thickness of 5 cm. At this time, the direction of the magnetic marker generating the fourth harmonic was perpendicular to the ground, and the direction of the magnetic marker generating the fifth harmonic was parallel to the ground and orthogonal to the guide line.

Next, as shown in FIG. 11, a position detecting system for specifying a guide line based on a maximum value of a ratio of signal outputs resonating at a predetermined frequency corresponding to a vertical direction and a horizontal direction on the ground surface is prepared. did.

The actual deviation from the guide line was measured by triangulation using a field tracer Models FDS301 (manufactured by Mitsui Construction Co., Ltd.) 30.

An exciting coil was prepared by winding a copper wire having a diameter of 2 mm twice around a circular core having an inner diameter of 580 mm. A detection coil was prepared by winding a copper wire having a diameter of 1 mm 20 times around a circular core having an inner diameter of 300 mm. An integrated transmission / reception coil was prepared such that the excitation coil and the detection coil were coaxially flush with each other.

Next, the frequency band is changed from 80 KHz to 160 KHz.
KHz, a pulse-shaped transmission current having an effective current of 5.4 A can be applied, and 89 KHz corresponding to the third harmonic can be added.
120 KHz corresponding to the fifth harmonic, 148 KHz corresponding to the fifth harmonic,... 290 corresponding to the tenth harmonic
At KHz, a detection device was obtained which, when an excitation magnetic field was applied to the magnetic marker, provided the signal output, ie, amplitude, of each harmonic of the magnetic marker.

In the signal processing, when the signal outputs of the sampling frequency are arranged in order of magnitude, the (number of sampling frequencies + 1) th signal output is treated as a noise level, and the ratio between the signal output of the sampling frequency and the noise level is determined. In the case of three or more, it is determined that the signal is recognized as a signal from a magnetic marker. Next, the ratio between the signal output at a predetermined frequency whose directivity is perpendicular to the ground surface and the signal output at a predetermined frequency whose directivity is parallel to the ground surface can be calculated. The above equipment was mounted on a cart as shown in FIGS. 8 and 11, and the target 31 of the field tracer 30 was installed at the center of the transmitting / receiving coil installed at a height of 5 cm from the ground.

In the case of the present embodiment, 1 corresponding to the fourth harmonic
The signal output of 20 KHz becomes a signal output of a predetermined frequency whose directivity is vertical to the surface of the earth, and corresponds to the fifth harmonic.
48 KHz is a signal output of a predetermined frequency whose directivity is parallel to the ground surface. The noise level is the third signal output when the signal output of the frequency to be sampled is arranged in order of magnitude.

Next, the information display device prepared in Example 1 was buried such that the upper end thereof was buried at a depth of 15 cm from the ground surface. The signal output and noise level of the fifth harmonic were measured. As a result, no signal was obtained when the distance was 0.5 m or more, and the measurement was performed within 0.5 m.

The ratio between the signal output at a predetermined frequency whose directivity is perpendicular to the ground surface and the noise level was measured, and the results are shown in FIG.

The ratio between the signal output at a predetermined frequency whose directivity is parallel to the ground and the noise level was measured, and the results are shown in FIG.

The ratio between the signal output at a predetermined frequency whose directivity is perpendicular to the ground surface and the signal output at a predetermined frequency whose directivity is parallel to the ground surface was measured. The result is shown in FIG.

Next, as shown in FIG. 8, the electric cart was driven along the guide line so that the displacement was around 0 cm, around 10 cm, and around 30 cm, and the fourth harmonic and fifth harmonic signals were driven. The output and noise level were measured.

The ratio between the signal output at a predetermined frequency and the noise level of the display device whose directivity is perpendicular to the ground surface was measured, and the results are shown in FIG.

The ratio between the signal output at a predetermined frequency of the display having directivity parallel to the ground and the noise level was measured, and the results are shown in FIG.

The ratio between the signal output at a predetermined frequency of a display device having directivity perpendicular to the ground surface and the signal output at a predetermined frequency of a display device having directivity parallel to the ground surface was measured. It was shown to.

Example 2 As shown in FIG. 18, an X-shaped shallow-drawn 250 μm-thick barex (manufactured by Mitsui Toatsu Co., Ltd.) tray 24 and lid 25 were prepared. A magnetic marker that generates a fourth harmonic in a groove at an angle of + 60 ° with respect to the vertical direction is stored on the ground surface of the tray, and a magnetic marker that generates a fifth harmonic in a groove with an angle of −60 ° with respect to the vertical direction is stored on the surface of the tray. Then, after covering with a lid material, the periphery of the tray was fused with a high-frequency welder to obtain an information display.

The information display was buried at a depth of 15 cm from the surface of the ground at intervals of 30 cm on a guide line of a concrete surface having a thickness of 5 cm. At this time, the surface formed by the two magnetic markers is orthogonal to the guide line, the magnetic marker generating the fourth harmonic is to the left of the guide line, and the magnetic marker generating the fifth harmonic is to the right of the guide line. To be in the direction.

Next, the directivity is + 60 ° with respect to the vertical direction on the ground surface.
The measurement was performed in the same manner as in Example 1 except that a mobile object guidance system for specifying a guidance line was created by setting the ratio of the signal output resonating at a predetermined frequency corresponding to the angle direction of −60 ° to the angle direction of −60 °. did.

The information display device prepared in Example 2 was buried such that the upper end thereof was buried at a depth of 15 cm from the ground surface. The signal output of the fifth harmonic was measured.

The ratio of the signal output of a predetermined frequency whose directivity corresponds to the vertical direction to the ground surface and the angular direction of + 60 °, and the ratio of the signal output of the predetermined frequency corresponding to the directivity and the angular direction of −60 ° to the ground surface ( (Fifth harmonic signal output / fourth harmonic signal output) was measured, and the results are shown in FIG.

Next, as shown in FIG. 8, the electric cart is driven so that the leftward and rightward deviations are about 0 cm, about 10 cm, and about 20 cm along the guide line, and the fourth harmonic is generated. The signal output ratio of the fifth harmonic was measured, and the result is shown in FIG.

From this result, in the case of this embodiment, the position of the information display corresponding to the ground surface of the buried object, that is, the guide line is:
Since it is detected with an accuracy within ± several centimeters and the size and direction of the deviation can be identified, it is understood that the line for guiding the moving body can be specified and the moving body can be guided.

[0141]

The guidance line using the information display device having a single directivity has information compared with the conventional method based on magnetic detection using a magnet or the like, and thus has information such as a running lane, an overtaking lane, an intersection, etc. Information can be provided.

Further, according to the information display device of the present invention, which has at least two sharp directivities and is kept in a specific arrangement, the position of the buried object can be detected with an accuracy within ± several centimeters. Then, the guidance line is specified, and the superiority that can be detected regardless of the noise level is shown.

Further, the directivity is in a direction parallel to the ground surface or ± α.
Since the signal output of the predetermined frequency, which is the direction having the angle of, shows a maximum near the coil wire position of the transmission coil, when the transmission coil approaches the ground surface position corresponding to the information display embedding position, that is, when it approaches the guidance line, its presence is present. There is an advantage that information for prompting detection can be shown.

Further, in the present embodiment, the predetermined frequency whose directivity is perpendicular to the surface of the ground is a single frequency. However, if a combination of a plurality of frequencies is used, discrimination can be given to the information display. .

Further, it has a contactless transmission and reception function,
If a marker composed of a semiconductor memory element, a communication control unit and a memory control unit is installed in a direction perpendicular to the surface of the earth, information on a position requiring a considerable data capacity,
For example, latitude, longitude, address, and the like can be incorporated.

[Brief description of the drawings]

FIG. 1 shows an information display in which two types of directivities of an information display are arranged such that one directivity is vertical to the ground (directivity X) and the other directivity is parallel to the ground (directivity Y). FIG. 2 is a schematic explanatory view showing a basic concept of the present invention showing a state in which a device is buried under a guide line and an electromagnetic wave having directivity perpendicular to the ground surface is generated from a transmission coil mounted on a moving body.

FIG. 2 receives electromagnetic waves having directivity perpendicular to the ground from a transmitting coil mounted on a moving body, and two types of directivities buried under a guide line, one of which is perpendicular to the ground ( FIG. 9 is a schematic explanatory view showing a basic concept of the present invention showing a state in which a signal is generated from an information display so that a directivity X) and the other directivity are parallel to the ground (directivity Y).

FIG. 3 shows two kinds of directivities of the information display device, one directivity having an angle of + α with the vertical direction on the ground, and the other directivity having an angle of -α with the vertical direction on the ground. A schematic description showing a basic concept of the present invention showing a state in which an information display is buried under a guide line and an electromagnetic wave having directivity perpendicular to the ground surface is generated from a transmission coil mounted on a moving body. FIG.

FIG. 4 shows two types of directivities buried under a guide line, receiving electromagnetic waves having directivity perpendicular to the ground from a transmitting coil mounted on a moving body, one of which is vertical to the ground. A schematic view showing a basic concept of the present invention showing a state in which a signal is generated from an information display so that the directivity has an angle of -α with respect to the vertical direction on the ground and the other has directivity. FIG.

FIG. 5 is a diagram illustrating an example of a configuration of a magnetic marker.

FIG. 6 is a diagram showing an example of creating an information display device in which one directivity is perpendicular to the ground (directivity X) and the other directivity is parallel to the ground (directivity Y).

FIG. 7 is a diagram showing an example of creating an information display device in which one directivity has an angle of + α with the vertical direction on the ground, and the other directivity has an angle of −α with the vertical direction on the ground. .

FIG. 8 is a schematic view showing a moving object of a moving object guiding method in which a guiding line is specified by a maximum value of a ratio of signal outputs resonating at a predetermined frequency corresponding to a vertical direction and a horizontal direction on the ground in the first embodiment. Explanatory diagram.

FIG. 9 is a schematic explanatory view showing an example of a detector having a transmission / reception coil mounted on a moving body for detecting and measuring a signal output resonating at a predetermined frequency.

FIG. 10 shows a T-shaped shallow aperture 250 created in Example 1.
FIG. 3 is a configuration diagram of a μm-thick Barex tray (manufactured by Mitsui Toatsu Co., Ltd.) and a cover material.

FIG. 11 shows a measurement system of a moving object guidance method for specifying a guidance line based on a maximum value of a ratio of signal outputs resonating at a predetermined frequency corresponding to a vertical direction and a horizontal direction on the ground in the first embodiment. FIG.

FIG. 12 is a diagram showing a result of measuring a ratio between a signal output at a predetermined frequency whose directivity is perpendicular to the ground surface and a noise level.

FIG. 13 is a diagram showing a result of measuring a ratio between a signal output at a predetermined frequency whose directivity is parallel to the ground surface and a noise level.

FIG. 14 is a diagram showing a result of measuring a ratio of a signal output of a predetermined frequency whose directivity is perpendicular to the ground surface and a signal output of a predetermined frequency whose directivity is parallel to the ground surface.

FIG. 15 is a diagram showing a result of measuring a ratio between a signal output of a predetermined frequency whose directivity is vertical to the surface of the ground and a noise level when the moving body runs off the guidance line.

FIG. 16 is a diagram showing a result of measuring a ratio between a signal output of a predetermined frequency whose directivity is in a direction parallel to the ground surface and a noise level when the moving body runs off the guidance line.

FIG. 17 shows a ratio between a signal output of a predetermined frequency whose directivity is perpendicular to the ground surface and a signal output of a predetermined frequency whose directivity is parallel to the ground surface when the moving body runs off the guidance line. The figure which showed the measurement result.

FIG. 18 illustrates a cross-shaped shallow aperture 250 formed in Example 2.
FIG. 3 is a configuration diagram of a μm-thick Barex tray (manufactured by Mitsui Toatsu Co., Ltd.) and a cover material.

FIG. 19 shows a signal output of a predetermined frequency of a display device having directivity having an angle of + α with the vertical direction on the ground and a signal output of a predetermined frequency of a display device having directivity having an angle of −α with the vertical direction on the ground. The figure which showed the result of having measured the ratio.

FIG. 20 is a diagram illustrating a signal output at a predetermined frequency of a display device having a directivity having an angle of + α with respect to the vertical direction on the ground and a directivity having a direction of −α with respect to the ground when the mobile body travels out of the guidance line. The figure which showed the result of having measured the ratio with the signal output of the predetermined frequency of the display device which has an angle of.

FIG. 21 shows an information display (2) for generating a signal having at least two directivities, wherein one directivity of a signal transmitted from the display (2) is the directivity of an electromagnetic wave generated from the means (1). And an angle of + α (α = 0 to 90 °), and the other directivity is an angle of −α (α = 0 to 90 °) with the directivity of the electromagnetic wave generated from the means (1). In this way, the mobile terminal is buried in the ground, and the means (3) obtains a display of the angle direction of + α, a display of the angle direction of −α, and a signal output value at each position of the moving body. FIG. 6 is a flowchart illustrating an example of a guidance method in the method for guiding a mobile object according to the present invention, in which a guide line of the mobile object is specified when the output value ratio is 1.

FIG. 22 shows an information display (2) for generating a signal having at least two directivities, wherein the directivity of one of the signals transmitted from the display (2) is the directivity of an electromagnetic wave generated from the means (1). Embedded in the ground so that the directivity of the other side is perpendicular to the directivity of the electromagnetic wave generated from the means (1).
Determine the signal output value in the vertical direction and the same horizontal direction on the ground surface, where the ratio of the signal output value of each position is the maximum value, specify the guide line of the moving body, in the method of guiding the moving body of the present invention FIG. 4 is a flowchart showing an example of a method of guidance.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Induction line 2 Ground surface 3 Transmitting antenna coil 4 Moving object 5 Tire 6 Magnetic flux line of AC magnetic field generated from transmitting antenna coil 7 Magnetic flux line generated from information display 7 'Magnetic flux line generated from information display 8 Receiving antenna coil 9 The distance of the information display buried from the ground surface 10 Information display 11 Information display of directivity X 12 Information display of directivity Y X The directivity of the information display indicates the state of being perpendicular to the ground. Y Indicates a state where the directivity of the information display is parallel to the ground. Reference Signs List 13 information display device having directivity having an angle of -α with the vertical direction on the ground 14 information display device having directivity having an angle of + α with the vertical direction on the ground 21 bias magnetic field generating element 22 highly permeable metal having magnetostrictive property 23 Non-magnetic housing 24 Tray 25 Lid 30 Field tracer Models FDS301
(Manufactured by Mitsui Construction Co., Ltd.) 31 target 100 an example of an apparatus of the AC magnetic field generating means (1) 101 an oscillator for generating a sine wave signal 102 an output amplifier 103 an exciting coil 200 an example of an apparatus of the detecting means (3) 201 detection Coil 201 202 Apparatus that detects resonance frequency and measures response signal amplitude 203 Induction line detection apparatus

Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI G05D 1/02 G05D 1/02 C G08G 1/09 G08G 1/09 D G09B 29/00 G09B 29/00 C (72) Inventor Tomonori Takada Saitama (237) Inventor, Tatsunori Sada 2-4-7-204, Shimizuguchi, Shirai-machi, Inba-gun, Chiba Prefecture, Japan (72) Inventor Shigeru Tonaki 1434-2, Matsudo, Matsudo-shi, Chiba Sun Heights B IGI 302

Claims (6)

[Claims] An electromagnetic wave generating means (1) mounted on a moving body for generating an electromagnetic wave having directivity in the vertical direction on the ground surface.
A guide line formed by an information indicator (2) for generating a directional signal continuously buried in the ground and responding by electromagnetic induction of electromagnetic waves from said means (1); A signal output value transmitted from the information display (2), comprising recognition means (3) mounted on a moving body for detecting a signal generated from the display (2) and recognizing each signal output; A method of guiding a moving body, which recognizes a guidance line or a deviation from the guidance line and provides information on a traveling direction of the moving body. 2. An information display (2) for generating a signal having at least two directivities, wherein the directivity of one of the signals transmitted from the display (2) is the directivity of an electromagnetic wave generated from the means (1). Parallel to the directivity, the other directivity is the means (1)
Buried in the ground so as to be perpendicular to the directivity of the electromagnetic wave generated from the above, and the means (3) obtains a signal output value in the same horizontal direction as the vertical direction on the ground surface at each position of the moving body,
The method of guiding a moving object according to claim 1, wherein the guide line of the moving object is specified when the ratio of the signal output value of each position becomes a maximum value. 3. An information display (2) for generating a signal having at least two directivities, wherein one of directivities of signals transmitted from the display (2) is directed to an electromagnetic wave generated from the means (1). And an angle of + α (α = 0 to 90 °), and the other directivity is equal to the directivity of the electromagnetic wave generated from the means (1) and the angle of −α (α = 0 to 90 °). Then, the indicator (+) and the display (−α) at each position of the moving body at each position of the moving body and a signal output value are obtained by the means (3). The method for guiding a mobile object according to claim 1, wherein the guide line of the mobile object is specified when the ratio of the signal output values becomes one. 4. The method according to claim 1, wherein the information display is based on one of the following functions. (A) LC resonance circuit marker. (B) An electromagnetic induction type marker composed of a semiconductor memory element, a communication / memory control element, and a frequency transmission / reception element and recorded with position information and the like. (C) A magnetic pattern corresponding to a bias magnetic field mechanically resonates with a magnetized bias magnetic field generating element at a specific frequency in an incident alternating magnetic field of a fluctuating frequency to change a magnetic flux density or a magnetic permeability. A marker in which a specific frequency at which a magnetic flux density or a magnetic permeability changes is generated as position information or the like, wherein the highly permeable metal is laminated so as to be able to resonate mechanically. 5. An information display (2), which generates only a single directional signal, may be the same or different, and is configured by selecting at least two of the following markers: 4. The method for guiding a moving object according to claim 1, wherein the moving body is used. (A) LC resonance circuit marker. (B) An electromagnetic induction type marker composed of a semiconductor memory element, a communication / memory control element, and a frequency transmission / reception element and recorded with position information and the like. (C) A magnetic pattern corresponding to a bias magnetic field mechanically resonates with a magnetized bias magnetic field generating element at a specific frequency in an incident alternating magnetic field of a fluctuating frequency to change a magnetic flux density or a magnetic permeability. A marker in which a specific frequency at which a magnetic flux density or a magnetic permeability changes is generated as position information or the like, wherein the highly permeable metal is laminated so as to be able to resonate mechanically. 6. An information display (2) mechanically resonates at a specific frequency in an incident alternating magnetic field of a variable frequency with a bias magnetic field generating element in which a magnetic pattern corresponding to a bias magnetic field is magnetized, and Alternatively, a specific frequency at which the magnetic permeability changes or a magnetic flux density or a magnetic permeability changes, which is laminated so that a highly permeable metal having magnetostriction can be mechanically resonated, is generated as position information or the like. 4. The method for guiding a moving object according to claim 1, wherein at least two of the markers generate only one directional signal.