JPS5922962B2 - transportation system - Google Patents

Description

[Detailed description of the invention] The present invention relates to transportation systems.

Conventionally, in this type of transportation system, when a moving object is transferred from a first station to a second station, several detectors are placed along the way to simply detect the passage of the moving object.

However, in this case, no individual identification signal was attached to the moving object, which caused problems in the transportation system, security, etc. of the moving object. The present invention has been proposed in view of the above points, and aims to provide a transportation system that not only detects the passage of moving objects but also identifies individual moving objects and can perform more flexible control. The purpose is to

That is, the present invention provides a moving path that connects stations, a moving body that moves between the stations 5 along the moving path and is loaded with a detected device, and a moving body that is arranged along the moving path and that moves between the stations 5 and 5, and a moving body that is arranged along the moving path and is a detector that detects individual signals of the detected object when the body passes; and a central control device that selects the moving path or controls the speed of the moving body in accordance with the signal detected by the detector. In the transportation system, the detector includes a clock pulse generation circuit that generates a pulse signal omitted every predetermined number, a laser diode that emits light in response to an output signal of the clock pulse generation circuit, and a first transmitter/receiver. A first oscillation detection circuit that transmits and receives a high-frequency signal via the first oscillation detection circuit, a first waveform shaping circuit that inputs the reception detection signal of the first oscillation detection circuit, and a second transceiver that transmits the high-frequency signal. A second oscillation detection circuit that transmits and receives a second oscillation detection circuit, a second waveform shaping circuit that inputs the received detection signal of the second oscillation detection circuit, and a logical product of both output signals of the first drawing and the second waveform shaping circuit. and a confirmation circuit that performs a logical operation on the pulse signal of the clock pulse generation circuit and the output signal of the AND circuit and sends a detection signal to the central control device. comprises a photodiode that receives the pulsed light from the laser diode, another waveform shaping circuit that receives the output signal of this photodiode, and a preset individual signal from a setting circuit according to the output signal of this waveform shaping circuit. a readout circuit that performs a logical product of the output signal of the other waveform shaping circuit and the output signal of the setting circuit and outputs the same; and a readout circuit that starts and stops oscillation depending on the level of the output signal of the readout circuit. It consists of an oscillation circuit that performs the oscillation, and an intermittent circuit that couples and separates the two antenna halves using the output signal of this oscillation circuit. Modulation is applied to the reflected wave of the signal according to the individual signal of the moving object on which the detected device is mounted,
The system is characterized in that the individual moving object is identified by reproducing the individual signal from this reflected wave.

Next, the transportation system of the present invention will be explained with reference to the drawings.

In FIG. 1, A, B, C, and D are first, second, third, and fourth stations, respectively, and are connected by a pipe network.

Crl and cr2 are intersection points in the pipe network, respectively,
The connectors joined at the crossing points Cr, Cr2 can be opened and closed by an appropriate device. Det(Al,l),
Det(Al, 2)..., Det(Al, iAl),
. . , Det(Al, nAl) are detectors, which are sequentially arranged between the station A and the intersection point Cr. Det(B2,l), Det(B2,2),...
, Det(B2,iB2),..., Det(B2,n
B2) are detectors, respectively, at the station B and the intersection point Cr2.
and qji are arranged in sequence. Det(C2,l),D
et (C2 Fu2) Tsu0I2Det (C2 La Ic2) La1
pDet(C2, nc2) are detectors, which are sequentially arranged between the station C and the crossing point Cr2. De
t(Dl,l), Det(Dl,2),..., Det
(Dl, iDl) . Det(12,1), Det(12
,2),Det(12,3),...,Det(12,
f12), . . . , Det(12, n12) are detectors, which are sequentially arranged between the intersection point Crl and the intersection point Cr2. Veh is a moving body that is moved through the pipes of the pipe network from one station to another, and is loaded with devices to be detected having individual signals.
2 and 3 show the detector Det(Al, iAl)
, Det(B2, iB2), Det(C2, ic2),
〒Threat'. ,"Chiyorou; Shinjyuuchi 2?, Hibiki P
A clock pulse generation circuit manufactured by Manufacturer 1 supplies a first output pulse to a laser diode drive circuit P2, and the laser diode drive circuit P2 causes the laser diode P3 to emit light.

P4 is a first oscillation detection circuit, which sends a high frequency signal with a wavelength λ to the first transceiver P5, radiates it into space, and detects the reflection from the identifier Si (1=1, 2, . . . n). The waves are received through the first transceiver P5 and detected. P6 is a first waveform shaping circuit that integrates and amplifies the signal detected by the first oscillation detection circuit P4. P7 is a second oscillation detection circuit, which sends a high frequency signal with a wavelength λ to a second transceiver P8 which is shifted in position by more than O and less than λ/4 compared to the first transceiver P, and further radiates into space,
P, which receives and detects the reflected wave from the identifier device Si via the second transceiver P8, is a second waveform shaping circuit, which receives the signal detected by the second oscillation detection circuit P, Integrate and amplify. PlO is an AND circuit that connects the output of the first waveform shaping circuit P6 and the second waveform shaping circuit P,
Perform a logical AND with the output of . Pll is a confirmation circuit which confirms the pulses contained in the output signals of the AND circuits P and O with the second output pulse of the clock pulse generation circuit P, and sends them to the subsequent central control unit. In the central controller, the detectors Det(Al, iAl), Det(B2,
iB2), Det(C2, ic2), Det(Dl, i
Dl) and Det(12, 112) and performs appropriate processing. 4 and 5 show the moving body Ve.
FIG. S1
is a photodiode, and the detector Det(Al, iAl)
FDet(B2'IB2), Det(C2yic2), Det(Dl, iDl), and Det(12, i12) receive the light emitted by the laser diode P3. S2 is a waveform shaping circuit that shapes and amplifies the signal received by the photodiode S1. S3 is a setting circuit in which an individual signal is set, which reads out the individual signal according to the output signal of the waveform shaping circuit S2 and gives it to the readout circuit S4, and outputs the output signal of the waveform shaping circuit S2 and the read individual signal. Performs logical AND with the signal. S5 is an oscillation circuit that oscillates during the high level period of the output signal of the readout circuit S4. S6 is a first intermittent circuit which, depending on the oscillation output of the oscillation circuit S, connects a first antenna half S7 with a length of approximately λ/4 and a second antenna half with a length of approximately λ/4. S8, thereby coupling and separating the detector Det(Al,iA,)Det(B2,
iB2), Det(C2, ic2), Det(Dl, i
D,), Det(12,i12) first transceiver P5
Alternatively, it reflects the high frequency signal of wavelength λ emitted from the second transceiver P8. S9 is a second intermittent circuit, which connects the third antenna half Sll having a length of approximately λ/4 and the third antenna half Sll having a length of approximately λ/4 according to a signal obtained by appropriately delaying the phase of the oscillation output of the oscillation circuit S5 using a phase shift circuit SlO. The fourth antenna half Sl2 with a length of 4
, thereby coupling and separating the detector Det(Al,
iA, ), Det(B2,iB2), Det(C2,i
c2), Det(Dl, iDl), Det(12,i,
2) first transceiver P5 or second transceiver P8
reflects the high frequency signal of wavelength λ emitted from the Furthermore, the operation of the transportation system of the present invention will be explained in detail.

Station AVC. When the mobile object Veh is sent out, a command to the effect that the mobile object Veh should be transferred to the station B is sent from the terminal located at the station A to the central control device. The moving body Eh has a detector Det(Al,l), Det(A1)2)Yl42De
t(A1TSIAl)91? The detector 'Det(Al7l) la Det(A1 la 2)''' while passing near Det(Al,nAl).

TSDet(Al7lAl)゛3゛raDet(Al7nA
1), the central controller receives the signal from the intersection point Cr.
The moving direction of the moving body Veh is determined by controlling the moving body Veh.
Similarly, after passing the intersection point Crl, the moving body Eh detects detectors Det(12,1), Det(12,2),..., D
et(12,i12)・ra...raDet(12,n1
2), the detector Det(12,1
), Det(12?2)? ″″″FDet (12 la Il
2) Upon receiving the signals from 9..., Det(12, n12), the central control unit controls the intersection point Cr2 and determines the moving direction of the mobile body Veh. After passing through the intersection Cr2, the moving body Veh passes the detector Det(B2, nB2
),...,Det(B2,iB2),...,Det
(B2, 2), Det (B2, l) while the detector Det (B2, nB2), ..., Det
(B2tsu IB2) La 11) Det (B2 La 2) > Det
In response to the signal from (B2 La 1), the central control device informs the station B terminal that the mobile body Eh will arrive soon. As described above, the moving body Eh is transferred from station A to station B. Next, the operation of the detector will be explained in detail.

Detector Det(Al, iA,), Det(B2, iB2
), Det(C2, ic2), Det(Dl, iDl)
, Det (12, i12) clock pulse generation circuit P
, the output of the oscillation circuit 1 is divided by the frequency divider circuit 2, and the output α1 of the oscillation circuit 1 and the output α2 of the frequency divider circuit 2 at a predetermined position shown in FIG. α6, α7
is applied to the logic circuit 3, and a signal α3 is generated by removing one pulse every 40 pulses from the output α1 of the oscillation circuit 1,
It is applied to a monostable multivibrator to generate a narrow pulse signal α.

In the laser diode drive circuit P2, the output α of the clock pulse generation circuit P is sequentially amplified by a plurality of stages of amplifier circuits to generate a signal α10, which is then applied to the subsequent laser diode P.
Give to 3.

This causes the laser diode P3 to emit light and emit a signal α11 which is similar to the signal α10. The first oscillation detection circuit P4 radiates the oscillation output β1 of the oscillation circuit 4 shown in FIG. 7 into the air via the first transceiver P5.

The signal β2 radiated from the first transceiver P5 is reflected by the first and second antenna halves S7 and S8 to the third and fourth antenna halves Sll and Sl2 of the identifier S1, and the signal The signal is received by the first transceiver P5 as β3, and then detected by the detection circuit 5 of the first oscillation detection circuit P4. β detected in the detection circuit 5
4 is shaped into a sufficiently rectangular signal β5 by the differential amplifier circuit 6 of the first waveform shaping circuit P6, and is applied to the integral amplifier circuit 7. The output β6 of the integral amplifier circuit r is transmitted to the moving body E.
It is similar to the individual signal α4 of the detected device of h. The second oscillation detection circuit P7 radiates the oscillation output γ1 of the oscillation circuit 8 shown in FIG. 8 into the air via the second transceiver P8.

The signal γ2 radiated from the second transceiver P8 is transmitted to the first and second antenna halves S7, S8 to the third antenna halves of the detected device.
reflected by the fourth antenna half S,l,Sl2,
The signal γ3 is detected by the detection circuit 9 of the second transceiver P8. The signal γ4 detected by the detection circuit 9 is shaped into a sufficiently rectangular signal γ by the differential amplifier circuit 10 of the second waveform shaping circuit P, and is applied to the integral amplifier circuit 11. The output of the integral amplifier circuit 11 is γ6
is similar to the individual signal of the detected device. Logical integration circuit Pl
If OK, an AND is performed between the output β6 of the first waveform shaping circuit P6 and the output γ6 of the second waveform shaping circuit P9.

Thereby, noise or interference can be eliminated, which in turn can improve reliability. The ninth of the AND circuits P and O
The output δ1 shown in the figure is appropriately delayed by the delay circuit 12 of the confirmation circuit Pl, and is applied to the logic circuit 13.

On the other hand, the output of the clock pulse generation circuit P1, α3, is applied to two monostable multivibrators to generate signals δ2, δ.
Create 3. A signal δ4 is generated from the delayed output δ and the signals δ2 and δ3 in the logic circuit 13, and is applied to the subsequent signal processing circuits P and 2. The signal processing circuit Pl
In step 2, the fact that the detected device has passed through the detection area of the detector is displayed or recorded as appropriate. The detected device is the detector Det (Al, iAl), Det (B2 IB2) 9D
et(C2iC2) ツDet(DLlOl), Det(
When entering or existing in the detection area of 12, i, 2),
The photodiode S1 is connected to the detector Det(Al, iA
, ), Det(B2, iB2), Det(C2, ic2
), Det(Dl, iDl), Det(12, i12)
The signal α11 emitted from the laser diode P3 is received. received by the photodiode S1, and the tenth
The signal ε shown in the figure is appropriately shaped by a waveform shaping circuit S2 to become signals ε2 and ε3. The signal ε2 is used to read individual signals from the setting circuit S3.

The read individual signal ε4 consists of 40 bits, and is logically ANDed with the signal ε2 in the reading circuit S4 to produce a signal ε5. When the signal ε5 is applied to the oscillation circuit S5, it oscillates only during the period when the signal ε is at a high level, and the signal ε6 is output.

In response to the signal ε6, the first disconnection circuit S6 disconnects the first antenna half S7 and the second antenna half S8.
Further, the phase of the signal ε6 is suitably delayed by the phase shift circuit SlO, and therefore the second disconnection circuit S9 is configured so that the third antenna half Sll and the fourth antenna half Sl2 are
Compared to the intermittent operation of the second antenna halves S7 and S8, the intermittent operation is delayed in phase as appropriate. In the detected device, the first and second antenna halves S7, S8 and the third and fourth antenna halves Sl, Sl2 are connected to each other, so that the detectors Det(Al, iA,), Det (B2, iB2),
Det (C2, ic2) La Det (Dl9lDl) 2D
et (129112) first and second transceivers P,,P
The signals β2 and γ2 respectively radiated from the first and second
When reflected at the antenna halves S7, S8 and the third and fourth antenna halves Sll, S, 2, the reflected wave β
3. Strength and weakness occur in γ3.

As a result, the individual signal ε4 is transmitted to the detector Det(Al, iAl
), Det(B2, iB2), Det(C2, ic2)
, Det (Dl, iD,), Det (12, 112). A first set, that is, the first and second antenna halves S7 and S8, and a second set, that is, the third and fourth antenna halves, are attached to the detected device.
Since the antenna halves Sll, S, 2 are arranged in different directions on the same plane, the direction of the detected device is the same as that of the first to fourth antenna halves S7, S8, Sl, , S.
There is no problem even if it is in a rotated position within a plane parallel to the plane on which l2 is placed.

However, if the detected device cannot be in the above-mentioned rotated position, that is, if it can be steadily placed in a predetermined position, the third and fourth antenna halves S, l, Sl2 may be removed. Setting an individual signal in the setting circuit S3 of the detected device is preferably achieved by inserting and arranging a card incorporating a diode matrix or the like into a predetermined position of the detected device. That is, this makes it possible to change the individual signals of the detected device very simply and in a short time. Detector Det(A
l, iAl), Det(B2, iB2), Det(C2
,,Ic2),Det(Dl,iD,),Detl2,
il2), the first oscillation detection circuit P4 to the first waveform shaping circuit P6 and the second oscillation detection circuit P7 to the second waveform shaping circuit P9 are arranged in parallel, and the first waveform shaping circuit P6 is arranged in parallel. Since the output is logically ANDed with the output of the second waveform shaping circuit P, it is possible to eliminate noise and interference waves, thereby increasing reliability.

In addition, the positions of the first transceiver P5 and the second transceiver P8 are set to be O or more λ/4 with respect to the passing or existing position of the detected device.
Since the front and back, that is, the difference is made by the following, the dead zone can be largely eliminated, and the reliability can be improved. Of course, the frequency of the oscillation output of the first oscillation detection circuit P4 and the frequency of the oscillation output of the second oscillation detection circuit P7 may be made different as appropriate. In addition, the detectors Det(Al, iA,), Det(B
2, iB2), Det(C2, iC2), Det(Dl
, iD, ), Det (12, i, 2), the laser diode P3 emits a laser beam, and the detected device of the moving body Veh receives the laser beam, so the detection area can be made extremely narrow. It is possible to detect a large number of consecutive moving objects at extremely narrow intervals.

In the above description, it is assumed that the moving object moves in the pipe, but the moving object may move on a road track, or furthermore, it may move in space along a certain predetermined route. It's okay to be hot.

As described above, in the present invention, there is provided a moving path that connects stations, a moving body that moves between the stations along the moving path and is loaded with a device to be detected, and a moving body that moves between the stations along the moving path and is loaded with a device to be detected. a detector that is arranged along the moving body and detects an individual signal of the detected device when the moving body passes; and a detector that controls the selection of the moving path or the speed of the moving body in accordance with the signal detected by the detector. In a transportation system comprising a central control device, the detector includes a clock pulse generation circuit that generates a pulse signal omitted every predetermined number of pulses, and a laser diode that emits light in response to an output signal of the clock pulse generation circuit. , a first oscillation detection circuit that transmits and receives a high-frequency signal via the first transceiver, a first waveform shaping circuit that inputs the received detection signal of the first oscillation detection circuit, and a second
a second oscillation detection circuit that transmits and receives high-frequency signals via the transmitter/receiver; a second waveform shaping circuit that inputs the reception detection signal of the second oscillation detection circuit; and the first and second waveform shaping circuits. an AND circuit that ANDs both output signals of the circuit;
and a confirmation circuit that performs a logical operation on the pulse signal of the clock pulse generation circuit and the output signal of the AND circuit and sends a detection signal to the central control device, and the detected device detects the pulsed light of the laser diode. A photodiode that receives light, another waveform shaping circuit that inputs the output signal of this photodiode, and reads a preset individual signal from a setting circuit according to the output signal of this waveform shaping circuit, and a readout circuit that ANDs the output signal of the waveform shaping circuit and the output signal of the setting circuit and outputs the result; an oscillation circuit that starts and stops oscillation depending on the level of the output signal of the readout circuit; It is composed of an intermittent circuit that connects and separates the two antenna halves using the output signal of the circuit, and the timing between the detector and the detected device is determined by an optical signal, and the detected object is detected by the reflected wave of the high frequency signal emitted from the detector. The device is modulated according to the individual signal of the moving object on which the device is mounted, and the individual signal is reproduced from this reflected wave to identify the individual moving object, making it possible to perform fine-grained and flexible control. There is.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of the transportation system of the present invention, FIGS. 2 to 5 are detailed views of the same, and FIGS. 6 to 10 are explanatory diagrams of the same operation. A, B, C, D...Station, Cr,,c
r2...Cross point, Det (Al, l), Det
(Al, 2), Det(Al, iAl), Det(Al
, nAl), Det(B2,l), Det(B2,2)
, Det(B2, iB2), Det(B2, nB2),
Det(C2,l), Det(C2,2), Det(C
2, ic2), Det(C2, nc2), Det(Dl
,l),Det(Dl,2),Det(Dl,iD,)
, Det(Dl, nDl), Det(12,1), De
t(12,2), Det(12,i12), Det(1
2, n12)...Detector, P1...Clock pulse generation circuit, P2...Laser diode,
Drive circuit, P3... Laser diode, P4.
...First oscillation detection circuit, P5...First
Transmitter/receiver, P6...First waveform shaping circuit, P
7...Second oscillation detection circuit, P8...
Second transceiver, P9... Second waveform shaping circuit, PlO... AND circuit, Pl,...
Confirmation circuit, S1...Photodiode, S2...
... Waveform shaping circuit, S3 ... Setting circuit,
S4...readout circuit, S,...oscillation circuit, S6...first intermittent circuit, S,...
First antenna half, S8... Second antenna half, S,... Second intermittent circuit, SlO...
...Phase shift circuit, Sll...Third antenna half, Sl2...Fourth antenna half, 1...
...Oscillation circuit, 2...Divide circuit, 3...
...Logic circuit, 4...Oscillation circuit, 5...
・Detection circuit, 6... Differential amplifier circuit, 7...
... Integral amplifier circuit, 8... Oscillation circuit, 9...
...Detection circuit, 10...Differential amplifier circuit, 11
... Integral amplifier circuit, 12 ... Delay circuit, 13 ... Logic circuit, Eh ... Mobile object.

Claims (1)

[Claims] 1. When a moving path connecting stations, a moving body moving between the stations along the moving path and loaded with a detected device, and the moving body disposed along the moving path pass. A transportation system comprising: a detector that detects individual signals of the detected objects; and a central control device that controls the selection of the travel route, the speed of the moving body, etc. in accordance with the signals detected by the detector. In the detector, the detector includes a clock pulse generation circuit that generates a pulse signal omitted every predetermined number of pulses, a laser diode that emits light according to the output signal of the clock pulse generation circuit, and a first transmitter/receiver. A first oscillation detection circuit that transmits and receives high-frequency signals, a first waveform shaping circuit that inputs the reception detection signal of the first oscillation detection circuit, and a second waveform shaping circuit that transmits and receives high-frequency signals via a second transceiver. an oscillation detection circuit, a second waveform shaping circuit that inputs the received detection signal of the second oscillation detection circuit, and an AND circuit that takes the logical product of both output signals of the first and second waveform shaping circuits. and a confirmation circuit that performs a logical operation on the pulse signal of the clock pulse generation circuit and the output signal of the AND circuit and sends a detection signal to the central control device, and the device to be detected is configured to detect a detection signal of the laser diode. A photodiode that receives pulsed light, another waveform shaping circuit that inputs the output signal of this photodiode, and reading out preset individual signals from a setting circuit according to the output signal of this waveform shaping circuit, and a readout circuit that ANDs the output signal of another waveform shaping circuit and the output signal of the setting circuit and outputs the result; an oscillation circuit that starts and stops oscillation depending on the level of the output signal of the readout circuit; It is composed of an intermittent circuit that couples and separates the two antenna halves using the output signal of this oscillation circuit, and the timing between the detector and the detected device is determined by an optical signal, and the reflected wave of the high frequency signal emitted from the detector is A transportation system characterized by applying modulation according to the individual signal of the moving object on which the detected device is mounted, and reproducing the individual signal from the reflected wave to individually identify the moving object.