JPS5938809A - Guiding device of moving body - Google Patents

Abstract

PURPOSE:To make the maintenance of labellings unnecessary and to prolong the life of them, by using radioactive nuclides as labellings and discriminating them to guide the running direction. CONSTITUTION:Labellings consisting of radioactive nuclides such as 60Co and 54Mn are laid on the running path of a moving body. These labellings are detected by a detector 3 mounted on the moving body, and a running and steering control circuit 18 is driven to guide the moving body. Right-turning, left-turning, and straight-going are distinguished from one another by these labellings in accordance with classifications of radioactive nuclides. The detector 3 is constituted by storing an NaI sensor 9 and a radiation-electric converter 10 in a lead shielding body 8, and a detected radiation intensity is amplified by an amplifier 12 and is discriminated by discriminators 13a-13c and is measured by scalers 14a-14c. This result passes through an operator 15, and the direction of left-turning, right-turning, or straight-going is discriminated in accordance with the promissory condition of each labelling by a labelling discriminator 16.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a guiding device for a moving body using a radiation source as a marker.

[Technical background of the invention and its problems]

When driving a moving body automatically or manually, problem 1 is how to guide the moving body. Conventional guidance methods for this yuzu include a guide wire method and an optical line method. In the former guide line method, a C conductor is laid in advance on the travel route of the moving object and a current is passed through it. The moving object travels on the guide wire while detecting the magnetic field generated around the wire. In addition, in the optical line method, a tape with a light reflectance different from that of the road surface is pasted or paint is applied on the travel route in advance. A moving object illuminates its travel path with a light, receives reflected light with a light receiver, and travels while detecting areas with different reflectances.

However, the guide wire method requires constant maintenance of the guide wire. In the event of a power loss accident or a failure of the electronics attached to the guide wire, the wire will become completely unusable. With the optical line method, the reflective surface must be kept clean at all times, and it cannot be used in areas where there is a possibility of water or oil leaks. Furthermore, when driving over obstacles such as stairs or weirs, the light receiver moves away from the optical line, making it difficult to distinguish differences in reflectance, which limits the range of application.

Recently, guidance methods using pattern recognition have also been considered.

This method draws marks on the road surface.

It guides moving objects by recognizing the shape, color, etc. of marks. However, this method also requires marks to be always ready for pattern recognition. Furthermore, it requires a large computer for pattern recognition, which poses a practical problem.

[Purpose of the invention]

An object of the present invention is to obtain a guidance device using a radionuclide as a label.

[Narrowness of the invention]

The present invention involves laying various types of radionuclides on the road surface of the moving body C2, and detecting and identifying the source intensity of these radionuclides with a detector mounted on the moving body C2 (from the second point, the traveling direction of the moving body This invention relates to a guiding device configured to guide.

[Embodiments of the invention]

The present invention will be described below with reference to the embodiments shown in the drawings. In FIG. It is equipped with a detector 3 that detects the type of radionuclide and the source strength, which will be described later.The traveling route L is equipped with a detector 3 that detects different radionuclides at the corresponding position when the moving body 2 travels. The markers 1 in each row are laid out to form a hole in the running surface of the traveling route L, as shown in FIG.
Inside this container 5 (constructed by inserting two radionuclides 4).

This sign 1 needs to have predetermined combinations of radionuclides 4 that indicate whether the moving vehicle 2 should go straight, turn left or right, etc. at a straight course of the traveling route L, at a bend, or at an intersection. For example, in the case of Figure 1, the following arrangement is made. Radionuclide 4 of label 1a is 60CO9 Radionuclide 4 of label 1b is 1B? OB, I to radionuclide 4 of label 1c
Using i4Mn, each radioactive nucleus s4 is arranged as shown in FIG. 1, and the combination of each of these nuclides 4 is as follows.

Therefore, the moving body 2 goes straight at arrow y1, turns left at arrow Y2, goes straight at arrow Y8, turns right at arrow Y4, and turns left at arrow Y1.
C2 guidance to go straight at s.

In addition, at the intersection, sign 1 is placed in a hole made in the surface of route L as shown in Figure 3.
, so that the actuator 7I opens and closes the lead valve 6. By changing the type of radionuclide detected by the moving object 2, the moving object 2 can be guided to turn right, left, or go straight. At intersection C2 in Figure 1, 1b 1870s and lc 64Mn are on the right side.
On the left side, 1a of 6000 and lc of It4Mn are placed in a shielding container 5 and buried. Then, the next opening/closing of the lid 6 guides the driver to turn right, turn left, and go straight.

The position of the moving object 2 is detected by the detector 3 along the traveling route L.
This is possible by measuring the radiation source intensity of marker 1 above. The intensity of the radiation source becomes stronger the closer you get to marker 1, the stronger it is when the two Cs are directly above each other, and the weaker it becomes as you move away from it. In general, there are two radiation sources as shown in Figure 5, so if the source intensity is known, the intensity is equal to I! It can be seen that the moving object is located above 19.

Moreover, the difference in the radionuclides 4 can be distinguished from the fact that the emitted energy is determined by each nucleus 11i4I. Therefore, by taking the ratio of the source intensities of each energy band and ζ2, it can be determined where the source is located on the isointensity line 19. At this time, since the same ratio of source intensities appears twice, before and after exceeding marker 1, it is necessary to use the marker discriminator 16 to determine whether the source intensity is rising or falling. If the results show that the position has shifted, the moving direction and speed of the moving body 2 are controlled through the travel and steering control circuit 18 to guide the moving body 2.

Controlling the movement of the moving body 2 after detecting the radiation source intensity of the marker 1 is performed by a control circuit g2 shown in FIG. 4 f2. That is, the detector 3 houses a lead shield 81: an l-Na mini-sensor and a radiation-to-electrical converter 10, detects the radiation source intensity of the sign 1 on the traveling route L with the sensor 9, and converts it into electricity with the converter 10. Signal 52 is converted. This electric signal is amplified by an amplifier 12, and discriminators 13α, 13'b,
13c and each scaler 14α, 14b, 14
It is measured in c. Furthermore, the electric signal passes through the calculator 15 and then the sign discriminator 16 determines the conditions of each sign 1 (left turn, right turn, straight direction), and instructs the travel and steering control circuit 18 through the interface 17. to guide the moving object 2 (second step).

Although the use of radionuclides poses risks to the human body, it is possible to reduce the intensity of the source to a level of, say, a few microcuries, which does not affect humans or other equipment. However, it is sufficient to be able to detect it by using a No. 1 detector, for example (it can be implemented as a safe guidance method).

〔Effect of the invention〕

As described above, the second aspect of the present invention is to place radiation source markers on the travel path of a moving object and detect them with a detector on the moving object.
2, the direction of travel can be determined by identifying the nuclide, and the maintenance of the sign is almost unfavorable, the service life is long, and guidance does not require measures such as backup security in case of power loss. You can get the equipment.

[Brief explanation of drawings]

Fig. 1 is a travel route and sign distribution diagram for explaining the guidance device according to the present invention, Fig. 2 is a perspective view showing a moving body used in the present invention, and Fig. 3 a and b are respectively FIG. 4 is a control block diagram of the guidance device of the present invention, and FIG. 5 is an isointensity diagram of the radiation source in the marker of the present invention.

Claims (2)

[Claims] (1) A moving object f is equipped with a detector that detects the intensity of rays, a marker made of a radionuclide is placed on the path of this moving object, and the detector identifies the radionuclide and determines the direction of movement. Yoc: A guiding device for a moving object characterized by comprising: (2) A guiding device (8) for a moving object according to claim 1, which is configured to determine the traveling direction by identifying the nuclide of the radiation source and detect the traveling position by the intensity of the radiation source. The radionuclide is contained in a lead-shielded container having an opening and is buried in a traveling road surface l.