JPS594645B2 - Pulse heat warmer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an output correction circuit for a pulse generator for a vehicle, and is particularly applicable to a moving object such as a car, a forklift, an airplane, etc., in which the left and right wheels are rotated independently. The present invention relates to an output correction circuit for a pulse generator for a vehicle, which is used in a path recording method for a moving object to record the path of a moving object.

For example, if it were possible to automatically record the route traveled (traveled) by an automobile, such route records would be effectively used as various materials. That is,
It can be stored and used by taxi companies, transportation companies, etc. as operation records of each vehicle. An interesting form of such path recording method is based on the pulse output from a pulse generator that derives a number of pulses depending on the rotational speed of the wheels, but is not possible when the vehicle is traveling on a gravel road or the like. When driving on a rough road, when the wheels are spinning, or when the wheels are locked and slipping, the pulses obtained from the pulse generator as described above have a significantly large error. Therefore, the above-mentioned route recording method, velocity calculation, distance calculation, etc. using such a pulse generator also encounters the problem of causing significant errors. Therefore, the main object of the present invention is to provide an output correction circuit for a pulse generator for a vehicle that can eliminate the above-mentioned problems. This invention, for example, counts the number of pulses from a pulse generator every unit time, and on the other hand, a setting value that outputs a predetermined setting value (the maximum allowable difference in the number of pulses per unit time that can be a phase). established,
Compare the number of pulses per unit time that can become a phase, and if a pulse difference (data) greater than the set value is obtained from the pulse generator, the number of pulses per unit time (data) that can become a phase.
This circuit has a correction means that uses data obtained in the past unit time.

However, here, the unit time that can be used as a phase includes not only a single unit time but also a case where there is a considerable time difference. The above objects and other objects and features of the invention will become more apparent from the following detailed description with reference to the drawings.

FIG. 1 is a schematic plan view of a vehicle in which the present invention can be implemented.

At the bottom of the car body CAR are a pair of front wheels FWI, FW2 and 1.
A pair of rear wheels RWI and RW2 are provided. These wheels are of a rear wheel drive type, for example, and each rear wheel RWl and R
W2 is rotationally driven independently. In this embodiment, a pulse generator P generates pulses on the respective rotating shafts of the independently rotated rear wheels RWl and RW2 by the rotation of the wheels.
Gl and PG2 are provided. Here, it is assumed that the pulse generators PGl and PG2 each generate, for example, 100 pulses per rotation of the wheels, and that the vehicle body (vehicle) advances, for example, 2 m for each rotation of the wheels RWl and RW2. FIG. 2 is a functional program diagram of one embodiment of the present invention. In the configuration, a system related to pulse generator PGl on the one hand and a pulse generator P on the other hand
The systems related to G2 have the same configuration and perform similar operations. Therefore, the following description is based on the pulse generator PG.
The system related to 1 pulse generator PG2 is shown below.
The related system is simply shown in parentheses, and its explanation will be omitted. The output of the pulse generator PGl, which sequentially generates pulses in response to the sequential rotation of the wheels, is applied to a counter CTl and counted.

This counter CTl is cleared by a clock pulse derived from the Σ timing circuit TMl every unit time. The counter CTl output is given as one input of the arithmetic circuit 0P1, and the AND gate Gll
It is given as one input to the register R1 and is further loaded into the register R1. The count value loaded into the register R1 is given as the other input of the arithmetic circuit 0P1, and is also given as one input of the AND gate Gl2. This arithmetic circuit 0P1 runs a counter C every unit time.
Value input from Tl (number of pulses) and past (previous)
The value from register R1 loaded per unit time (
(number of pulses). The difference output of the arithmetic circuit 0P1 is given as the other input of the comparator circuit COM1, which receives the set value from the setter PS1 as one input. ．． −
The comparator circuit COMl compares the absolute values of the two inputs, and determines that the output of the arithmetic circuit 0P1 (the difference in the number of pulses in that unit time from the previous unit time) is within the tolerance preset by the setting device PSl. If the difference is within the tolerance, a high level signal is derived, and if it exceeds the tolerance, a low level signal is derived. The output of this comparison circuit COM1 is the output of the AND gate G1.
is given as the other input of the inverter I.
It is inverted by Vl and provided as the other input of the AND gate Gl2. These two AND gates Gll
, Gl2 are both given as respective inputs of the 0R gate Gl3. Therefore, the 0R gate Gl3 output becomes a pulse number output. In operation, first, in the comparator circuit COM1, if the difference is within the set difference value, a high level signal from the comparator circuit COM1 is used to
D gate Gll is opened and AND gate Gl2 is closed.

Therefore, the number of pulses generated in that unit time (from counter CTl) is output from AND gate Gll, and is output via 0R gate Gl3. That is, if it is within the tolerance, the count value of the counter CTl in that unit time is outputted as the output of the pulse generator by the 0R gate Gl.
Output from 3. Next, in the comparator circuit COMl, when the set difference value is exceeded (in both positive and negative cases), the AND gate Gll is closed by the low level signal from the comparator circuit COMl, and the inverter IVl AND gate Gl2 is opened by the high level signal.

Therefore, the number of pulses (from the register R1) generated in the past (in this case, immediately previous) unit time is output from the AND gate Gl2, and is outputted via the 0R gate Gl3.
That is, if there is a large variation exceeding the tolerance, the count value of the register R1 in the past unit time is output from the 0R gate Gl3 as the output of this pulse generator.
That is, in FIG. 2, when the vehicle CAR is running and the pulse generator outputs a pulse signal greater than the set value (for example, when the wheels are spinning), the pulse of the previous unit time stored in the register R1 is I am trying to output a signal.

As described above, according to this embodiment, assuming that extreme speed changes cannot occur in the vehicle, when abnormal data is obtained from the pulse generator, the abnormal data obtained in the previous (past) unit time is Since almost normal data is output, data errors due to wheels spinning, etc. can be kept to a minimum.

Note that in the above embodiment, the count data (number of pulses) is output as the output of the pulse generator, but in this case, the pulse train sequentially obtained as the output is sequentially compared to see if it is within the tolerance. It may also be output.

At this time, if there is an abnormality, a sequential pulse train is output from a separately provided delay circuit or holding circuit (which delays or holds the pulses from the pulse generator by a certain time). In addition, if data determined to be abnormal is not loaded into register R1, even if abnormal data occurs many times,
Almost normal data is obtained. Further, in the above-described embodiment, the number of pulses from the pulse generator PGl was used to determine whether or not there was an abnormality, but this may also be determined using an ordinary analog angular accelerometer. If the output correction circuit of the pulse generator as described above is used, even more accurate vehicle passing route method, speed calculation, and mileage calculation will be achieved.

FIG. 3 is a block diagram of a path recording method according to a preferred embodiment of the present invention.

In the configuration, the pulse number data output from one 0R gate Gl3 is given as one input to each of the average value circuit AV and the arithmetic circuit SB. Other 0R gate G
The pulse number data output from 23 is sent to the average value circuit A.
V and is given as the other input of each of the arithmetic circuits SB. That is, this average value circuit AV calculates the average value of the number of pulses output in accordance with the respective rotations of the two wheels RWl and RW2 of the vehicle CAR shown in FIG.

The 0R gate Gl3 counts the pulse output from the pulse generator PGl every certain unit time, corrects it if necessary, and uses the counted output as an element for calculating the moving distance for each unit time in a multiplier described later. Enter into M1 and M2.

The average value circuit AV receives the pulse number data output from the two 0R gates Gl3 and G23, derives the average value, and provides it as one input to an AND gate G3l, which will be described later, and also to the counter CT4. The counter CT4 derives an output signal every time the vehicle CAR travels a unit distance and outputs an output signal A.
It is applied to one input of ND gate G33. Further, the arithmetic circuit SB receives the pulse number data output from the two 0R gates Gl3 and G23, derives the difference, and corrects the correction circuit CRTl.
and inputs to latch circuit RCH. Here, details of the arithmetic circuit SB are shown in FIG. 3A. That is, the number of pulses per unit time applied via the 0R gates Gl3 and G23 are respectively input to the accumulators ACSl and ACS2 and accumulated in sequence, and are loaded into the registers RSl and RS2. The outputs of the registers RSl and RS2 are given as two inputs to a subtracter SBl, and this subtracter SB calculates the difference SBtn between the number of pulses of both wheels RWl and RW2 per current unit time (Tn), and calculates the difference SBtn between the numbers of pulses of both wheels RWl and RW2 for each current unit time (Tn), Load to RS3. Furthermore, the difference SBtn-1 between the previous number of pulses per unit time (Tn-1) is further loaded into the register RS4. Therefore, the subtracter SB2 is connected to each of the registers R.
Subtraction of contents SBtn and SBtn-1 of S3 and RS4 (S
Btn-SBtn-1=ΔSB). That is,
This subtracter SB2 calculates the difference Δ between the difference in the number of pulses of both wheels RWl and RW2 in the current unit time and the difference in the number of pulses of both wheels RWl and RW2 in the previous unit time.
Calculate SB. This subtracter SB2 output ΔSB is given to the subsequent divider DIV for division (ΔSB/2), and its output ΔSB is given as one input of the adder ADD. The outputs of the accumulators ACS1 and ACS2 are given as two inputs to a subtracter SB3.

This subtracter SB3 is connected to each accumulator ACSl, AC
Contents of S2 (accumulation of pulses generated by wheels RWl and RW2)
is received as two inputs, and the difference SBn between the number of pulses of both wheels RWl and RW2 up to now is calculated. This subtractor SB3 output S
Bn is loaded into the subsequent register RS5. Therefore, this register RS5 stores the current unit time (Tn).
In SBn., the difference in the cumulative number of pulses up to the previous unit time (Tn-1) is SBn. , l will be loaded.
The output of this register RS5 is given as the other input of the adder ADD. Therefore, the adder ADD adds the two inputs (SBnl-1 and ΔSB) (SBn-
1+7ΔSB). That is, this adder ADD is
The subsequent correction circuit CRT in the current unit time (Tn)
The difference output of the subtraction circuit SB given to l is calculated. In this way, configuring the subtraction circuit SB is performed using the sine circuit S, which will be described later.
The vehicle traveling direction (angle) calculation element input to IN and cosine circuit COS is calculated not as an angular element at the trough unit time, but as an angular element at the midpoint between a certain unit time and the next unit time. That's true. It is easy to understand that the purpose of using the element at the midpoint of each unit time as the vehicle traveling direction element is to reduce the error. That is, it is generally known that the slope of a curve connecting one point to another has less error when determined using the slope at the midpoint as a reference. Also, in the average value circuit AV,
Although not shown, similarly to the above-described arithmetic circuit SB, the pulse outputs are received from the 0R gates Gl3 and G23 for each trough unit time and accumulated by the accumulator.

In this way, it can be understood as a matter of course that the arithmetic circuit SB and the average value circuit AV sequentially accumulate the pulse output for each trough unit time because the vehicle is continuously moving from a certain point. It will be. Correction circuit CRTl
corrects the difference output based on the output of the AND gate G33, and the correction circuit CR, which will be described in detail later, corrects the difference output.
It is applied to the sine circuit SIN and the cosine circuit COS via T2. The correction circuit CRT2 receives a direction signal from a direction signal generator SG, which will be described in detail later, and forces the output of the subtraction circuit SB (correction circuit CRTl), that is, the movement direction element, to the direction (direction) based on the direction signal. This is to correct the situation. Further, the difference output from the correction circuit CRTl is the rotation difference (traveling distance difference) between the wheels RWl and RW2.
This rotation difference is the angle (
It is predetermined to correlate with the case where the moving direction is a straight line). The sine circuit SIN obtains a sine value (Sine) at an angle correlated to the moving direction, and inputs the sine value to one multiplier circuit M1 as an XYROY axis element of an XY recorder, which will be described later.

Further, the cosine circuit COS obtains a cosine value (COsine) at the movement direction angle, and inputs the cosine value as the XY recorder XYROX axis element to the other multiplier circuit M2. In the sine circuit SIN and the cosine circuit COS, it is a matter of course that the moving direction angle of the vehicle is determined by multiplying the difference in the number of pulses by a coefficient (constant) that is set in advance in correlation. This is determined by the dimensions (wheel diameter,
It is easy to understand that this is because the relationship between the number of pulses and the actual angle (azimuth) changes depending on this dimension. The multiplication circuit M1 is an XY recorder
The purpose is to obtain the Y-axis component plotted in YR for each unit time, by multiplying the count output for each unit time from the 0R gate Gl3 (correlated with the moving distance) by the sine value from the sine circuit SIN. The output is transferred to the accumulator AC
Enter in l.

The other multiplication circuit M2 is for obtaining the X-axis component plotted on the XY recorder XYR for each unit time.
The count output from the R gate Gl3 is multiplied by the cosine value from the cosine circuit COS, and the output is sent to the accumulator AC2.
Enter. It is also necessary to multiply the distance inputs correlated to the multiplier circuits M1 and M2 by a preset coefficient (constant) in correlation to the above-mentioned number of pulses. this is,
This is easily understood from the fact that the number of pulses generated per rotation of the wheel (accordingly, the distance traveled) changes depending on the diameter of the wheel. Accumulator ACl output is XY recorder
Digital-to-analog converter (hereinafter referred to as D/A) for the Y axis of R
The output of the accumulator AC2 is applied to the X-axis D/A converter DA2 of the XY recorder XYR. The Y-axis D/A converter DAl converts the coded signal (digital value) input from the accumulator ACl into an analog value, energizes the Y-axis direction drive motor (not shown), and drives the pen (not shown). (not shown) in the Y-axis direction. The X-axis D/A converter DA2 is an accumulator A.
Converts the coded signal (digital value) input from C2 into an analog value and drives the X-axis direction drive motor (not shown).
is energized to move the pen in the X-axis direction. The moved pen plots a position defined by specific numerical information on a specially prepared map M attached to the XY recorder XYR. A specially prepared map M is used as the recording paper for the XY recorder XYR.

Maps M are prepared in advance at various scales for each region, and machine-readable records SCD representing such scales are attached. Such a scale display record SCD is provided at a relatively corner of the map M, and a scale display near the XY recorder XYR is used for mechanically reading out the scale display record SCD when the map M is attached to the recorder XYR. A record reader SCR is provided. The output of the reader SCR is the amplifier S
It is given to the valley D/A converters DAl, DA2 via CA,
The data processing in the D/A converters DAl and DA2 is controlled so that the recording operation of the XY recorder XYR and the scale of the map used there have a predetermined correlation, so that when the map M is attached, the data processing is automatically performed. XY recorder XYR
The recorded scale of is adapted to the map scale. The accumulators ACl and AC2 each include a manual setting device M for manually setting a point (starting point, etc.) to be plotted on the map.
Setting inputs are given from ISl and MIS2.

Further, correction circuit COM outputs, which will be described in detail later, are applied to the accumulators ACl and AC2 in relation to the X-axis and the X-axis, respectively. Also, the accumulator ACl, AC
The second output may be transmitted as a coded signal (digital value) to, for example, a central monitoring device (not shown) by the transmitter TR. For example, a check circuit for supplying a correction signal to the correction circuit CRTl in accordance with the state of the moving body during straight travel (movement) is constructed as follows.

The press output of the check mode setting key CHK for manually setting the check mode is output from the flip-flop FF.
is given as a set input to the latch circuit R.
It is given as a CH clear signal. This flip-flop FF output is given as the other input of the AND gate G3l. The AND gate G3l output (average value circuit AV output) is given to the counter CT3, and this counter CT3 calculates the amount of movement for a predetermined distance (for example, 200 m).
The average value from the average value circuit AV is counted. When the counter CT3 completes counting for the predetermined distance, the counter CT3 transfers the count up output to the flip-flop FF.
In addition to providing it as a set input, the delay circuit DLY
and is given as a starting signal for latch circuit RCH. The latch circuit RCH reads and holds the difference output of the subtraction circuit SB at this time in response to the activation signal. Latch circuit R
The difference output from CH is applied to a parallel-to-serial converter CON to be converted into a serial bit coded signal and applied to a frequency divider FD. This frequency divider FD divides the frequency of the difference input and outputs an output from an AND gate G3 which is activated by receiving the output of the delay circuit DLY as one input.
It is given as the other input of 2. The delay circuit DLY converts the outputs from the parallel-to-serial converter CON and the frequency divider FD into
It is for synchronously inputting to the correction circuit CRTl via AND gate G32 and AND gate G33. The frequency divider FC inputs the difference input signal for each rotation of the wheel, so that 100 pulses are generated per rotation, and the number of rotations required to further travel 200 m is set. is 100 revolutions, so the frequency of the difference signal is divided into ±.The output of the AND gate G32 is 100.
The circumferential force signal is given as a correction signal to the correction circuit CRTl via an AND gate G33.

Here, the correction operation by the correction circuit CRTl will be briefly explained. Normally, when a vehicle is traveling on a straight course, the rotational speed of the left and right wheels should be equal.
However, for example, if the load is applied to either the left or right wheels, the number of revolutions of the wheel to which the load is applied will naturally increase. In this embodiment, since the direction and distance are determined based on the number of rotations of the wheels, it is necessary to correct the difference in the number of rotations of the left and right wheels as described above.
The correction circuit is provided for this purpose. That is, when the check mode setting key CHK is pressed, the flip-flop FF is set and the latch circuit RCH is also reset.

When the flip-flop FF is set, the AND gate G
3l is opened. On the other hand, the average value circuit AV calculates the average value of the number of pulse signals output according to the rotation of the left and right wheels of the vehicle CAR. The output signal of this average value circuit AV is counted by a counter CT3. When the counter CT3 counts a number of pulse signals corresponding to a unit distance (for example, 200 m), it provides a start signal to the latch circuit RCH. The latch circuit RCH stores a pulse signal (this signal is not averaged) corresponding to the rotation speed of the left and right wheels output from the arithmetic circuit SB. The number of stored pulse signals becomes the difference in the number of rotations of the left and right wheels per unit distance. The signal stored in the latch circuit RCH is converted into a serial bit coded signal by the parallel-to-serial converter CON, and further divided by the frequency divider circuit FD. That is, in order to input the difference signal for each rotation of the wheel,
For example, the frequency is divided by 1/100. This frequency-divided signal is applied to AND gate G33 via AND gate G32. This AND gate G33 is connected to the counter CT
4 is opened every time the output signal of the average value circuit AV is counted by a unit distance. Therefore, the frequency-divided signal is applied to the correction circuit CRTl every time the vehicle travels a unit distance. The correction circuit CRTl subtracts the frequency-divided signal from the pulse difference signal output from the arithmetic circuit SB every time the vehicle travels a unit distance. Thereby, the difference in rotational speed between the left and right wheels is corrected. That is, in this FIG. 3, the check mode setting key CHK
When is operated, the value to be corrected every time the vehicle travels a unit distance is stored in the latch circuit RCH, and the correction circuit CRTl corrects the output signal of the arithmetic circuit SB based on this value. Furthermore, the configuration of the correction circuit COM will be explained.

FIG. 4a schematically shows a portion of the road for the correction circuit according to an embodiment of the present invention. FIG. 4b is an enlarged diagram of one area of FIG. 4a. At predetermined points such as intersections of valley roads, transmitting stations TRS1O, TRS2O,
TRS3O, TRS4O, . . . are arranged, and each transmitting station TRSlO, TRS2O, . . . has its own service area ARl, AR2, . The service areas ARl, AR2, etc. are the transmitting station TR.
It may be narrow enough to allow reception only in the very vicinity where SlO, TRS2O, ... separated so that they can be identified. Therefore, the transmission power of the transmitting station used in this embodiment may be weak, and therefore the installation is not subject to any restrictions such as the Radio Law. Preferably, a plurality of the transmitting stations are arranged within one area (for example, ARl), as shown in FIG. 4b.

The plurality of transmitting stations are provided to ensure direction determination in the direction determination circuit ADC, which will be described later. FIG. 5 is a block diagram of a preferred embodiment of the correction circuit, with FIG. 5a showing the transmitting station TRS (not shown in FIG. 3) divided into FIG. (i.e. the correction circuit COM).

The transmitting station TRS will be explained below with reference to FIG. 5a.

The output of the signal generator PG, which constantly generates a very high frequency signal, is input to the modulator MOD. Although not shown, the modulator MOD is composed of an n-bit shift register and a gate circuit. On the other hand, the input section 1N supplies specific numerical information such as the latitude and longitude unique to the transmitting section setting point, and uses this output to digitally set the n-bit shift register. The output of the very high frequency signal generator PG is logically ANDed with the output of the shift register to perform modulation with digitized numerical information and to form a coded pulse train. The input section 1N may be incorporated from the beginning to constitute the transmitting section, but for economic reasons when manufacturing a large number of transmitting stations, the input section is created separately and is portable and has its own set point in the communication section. It is best to temporarily install it as a device to provide numerical information. The modulated and coded pulse train signal is input to the transmitter TM. This output is transmitted as radio waves via the transmitting antenna ANT as shown in FIG. FIG. 6 is a waveform example diagram of one cycle of radio waves from the transmitting station TRS shown in FIG. 5a.

This transmission radio wave is basically one in which three types of signal generation are carried in a time-division manner by the same carrier (the above-mentioned pulse). Latitude (XY recorder The signal that predicts that the signal is longitude information is different depending on the combination of pulses. Following the latitude setting signal 10, the geography (map) of the installation point of the transmitting station
A latitude information signal 11 representing the unique latitude information above is transmitted. Following the longitude setting creed 20, a longitude information signal 21 representing the longitude information specific to the geographical area of the installation point of the transmitting station is transmitted. Each of the information signals 11 and 21 has specific numerical information (decimal number) subjected to appropriate processing, for example, unnecessary pulses are suppressed, etc.
It is converted into a base number (digital signal). Further, when the transmission of the valley information signals 11 and 21 is completed, a number or code signal 30 uniquely assigned to the transmitting station is transmitted, which serves as a pen drive signal for instructing the start of pen drive (of a recorder to be described later). That is, one cycle of transmission radio waves includes signals 10, 11, 20, 21, and 30, and these signals are transmitted in a time-division manner by the same carrier (channel). The receiving station (correction circuit COM) will be explained below with reference to FIG. 5b.

Radio waves from the transmitting station received via the receiving antenna ANTl are input to the demodulator DEM via the receiving section RC (including an appropriate amplifier, etc.). Among the output signals from the demodulator DEM, the latitude information signal (X-axis component of the XY recorder Stored in On the other hand, among the output signals from the demodulator DEM, the longitude information signal (XY recorder XYR (7)
X-axis component) is stored in the longitude information digital memory ME2 via the longitude setting signal detector SD2 activated by the longitude setting signal 20. Memory ME1, M
Each digital information signal loaded into E2 is applied to accumulators AC2 and ACl, respectively. Further, a number signal uniquely assigned to each transmitting station (which also serves as a pen drive signal) from the demodulator DEM is given to an azimuth determination circuit ADC, which will be described later. The orientation determining circuit ADC in FIG. 3 is a demodulator DE included in the correction circuit COM.
Upon receiving each transmitting station unique number signal from M, it is determined in which direction (azimuth) the vehicle is moving.

For example, in the area ARl shown in FIG. 4b, if the transmitting stations are received in the order of TRSlO → TRSll, it is determined that the station is moving north, and the north N switch of setting switch SSW, which will be explained in detail later, is activated. Outputs a direction signal to turn on. Furthermore, if the receiving order is from transmitting station TRSll → TRSlO, the moving direction is south, and transmitting station TRSl4 → TR
If it is the reception order of SlO, the moving direction is east, and the transmitting station TRS
If the reception order is 13→TRS1O, it is determined that the direction of movement is west, and the direction signals corresponding to each direction are output.

Setting switch SS in Fig. 3, in which the corresponding azimuth switch is turned on in response to the azimuth signal from the azimuth determining circuit ADC.
As shown in FIG. 7, W consists of, for example, a push button switch, and is configured so that it can be switched on manually.

The setting switch SSW is 8 from north N to northwest NW.
It consists of two switches and a variable switch VR (for continuously setting the orientation). This setting switch SSW
The O-valley switch outputs are individually applied to the signal generators of the corresponding heading signal generators SG to activate them. That is, when the north N switch is turned on, the direction signal generator SG
The corresponding signal generator derives a coded signal representing north, for example "0 shot". Furthermore, if it is Northeast NE, "45", if it is East E, "90N", if it is Southeast SE, [135], if it is South S, [180E], if it is Southwest SW, "225S", or if it is West If it is W, “270”
, in the case of northwest NW, coded signals representing [315re] are respectively applied to the correction circuit CRT2. Further, when the variable switch VR is turned on, a desired direction signal ranging from 00 to 360 can be derived. The operation of the above configuration will be explained below. FIG. 8 is a locus showing an example of the movement path drawn by this preferred embodiment.

The operation will be explained below with reference to FIGS. 3 and 8. The pulse number data per unit time (1 second) from the normal mode 0R gate G.13 is input to multipliers M1 and M2.

On the other hand, the subtraction circuit SB continuously calculates the difference and inputs it to the correction circuit CRTl. At this time, if there is a correction signal output from the AND gate G32, the correction circuit CRTl subtracts this correction signal from the difference from the subtraction circuit SB, thereby correlating it with the corrected moving direction angle of the vehicle. Output the difference. The sine circuit SIN is a correction circuit C
The correction circuit CRTl output (difference) is received via RT2 and converted into a moving direction angle, and the sine value at this angle is determined and input to the multiplier M1. The cosine circuit COS receives the output (difference) of the correction circuit CRTl via the correction circuit CRT2, converts it into a moving direction angle, and inputs the cosine value at this angle to the multiplier M2. The multiplier M1 calculates the moving distance per unit time based on the number of pulses of the pulse generator PGl per unit time input as described above, that is, the data from the 0R gate 13, and calculates the moving distance per unit time and the sine. A coded signal is derived from the XY recorder's XYROY axis component (Y1 in FIG. 7).

Multiplier M2 similarly calculates the moving distance per unit time,
The obtained moving distance is multiplied by the cosine value to derive a coded signal representing the XY recorder's XYROX axis component (X1 in FIG. 8). The accumulator ACl, which receives the Y-axis component coded signal from the multiplier M1, accumulates the sequentially input Y-axis components, and the accumulator AC2
Accumulate axis components.

Now, if X, Yl in FIG. 8 are input first, then these Xl and Yl are respectively D/
It is input to A converters DA2 and DAl. Therefore, the valley axis pen driving motor (not shown) is connected to the D/A converter DAl.
, DA2 outputs, and each axis pen (not shown) is driven appropriately to match the scale based on the input from the amplifier SCA of the signal that determines the scale. Therefore, X
Y recorder XYR plots point P1 (in FIG. 8) on map M. Below, X2, Y2, X3, Y
3... are calculated and accumulated by the accumulators ACl, AC2, points P2, P3... are plotted sequentially, and the movement path thereof is drawn as a broken line approximation. Here, the difference in the intervals between Pl, P2, etc. is correlated with the moving speed of the vehicle; if the speed is fast, the intervals are large (coarse), and if the speed is slow, the intervals are recorded small (densely). can be easily understood from the fact that pulses generated per unit time are counted. Check mode: For example, even though the vehicle is moving linearly, the difference (moving direction error) of the subtraction circuit SB caused by the unbalanced state of the vehicle or the air condition of the vehicle's tires is compensated for by the vehicle moving linearly. If so, press the check mode setting key CHK to check and correct the difference.

Therefore, the flip-flop FF is set and the held state of the latch circuit RCH held during the previous check mode is cleared. Since the AND gate G3l is activated by the set output of the flip-flop FF, the average value output (element of moving distance) from the average value circuit AV is inputted to the counter CT3 via this AND gate G3l. The counter CT3 derives a count-up output in response to receiving the output from the average value circuit AV and counting pulses (20,000 pulses) for 200 m (predetermined moving distance), for example. By the count-up output from counter CT3, flip-flop FF is reset, latch circuit RCH is activated, and delay circuit DLY is activated, so that AND gate G32 is activated. Therefore, the latch circuit RCH reads and holds the difference from the subtraction circuit SB at this time. The parallel-to-serial converter CON receiving the output of the latch circuit RCH supplies this difference to the frequency divider FD as a pit series coded signal. The frequency divider FD is here, for example. , and is applied to the AND gate G32. Therefore, the correction circuit CRTl is given the frequency divider FD output via the AND gate G32, and the correction circuit CRTl calculates the difference in correlation to the moving direction angle for each rotation of the wheel based on the frequency divider FD output. to correct. Correction Mode 1 Now, in the correction circuit COM, when the absolute geographical position as a correction signal is inputted to the accumulators ACl and AC2 from the receiving side shown in FIG. It is converted into an analog value by DAl and DA2.

Therefore, the absolute position is forcibly plotted on the map M. Correction mode 2 When the setting switch SSW is manually set when the direction of movement of the vehicle is known in advance regarding the road, etc. on which the vehicle is traveling, or when a unique number signal is received from the above-mentioned transmitting station TRS. The aforementioned azimuth angle signal from the azimuth signal generator SG when the setting switch SSW is automatically set by the azimuth signal from the azimuth determining circuit ADC is given to the correction circuit CRT2.

Therefore, the correction circuit CRT2 receives the input angle signal, and compulsorily initializes and corrects the difference correlated to the moving direction angle from the subtraction circuit SB and the correction circuit CRTl based on the angle signal. For example, when the north N switch is turned on and a coded signal of "0" is input from the direction signal generator SG, even if a difference indicating some angle is input from the correction circuit CRTl, this difference will be forced. The difference is corrected to represent "0". Therefore, North N
When the switch is turned on, the sine circuit SIN and the cosine circuit COS calculate a sine value and a cosine value, respectively, based on the difference representing the corrected "ON". This [correction mode 2] may be particularly effective when there are relatively few direction changes, such as on a highway. Further, the coded signals from the accumulators ACl and AC2 are sent via the transmitter TR and the antenna ANT2 as necessary to, for example, an aircraft (airport) control tower as a central monitoring device, a demand bus center, police traffic information. If the information is transmitted to a center or the like, it is possible to control each vehicle and aircraft at an airport, for example.

As described above, this embodiment provides the following unique effects.

(1) Since a certain number of pulses are generated in response to one rotation of the vehicle, in other words, the rotation of the vehicle is detected based on the number of generated pulses, so a very precise and accurate passage path can be achieved. can be recorded.

(b) Since a check circuit is provided for correction based on the rotational error of both the left and right wheels when traveling in a straight line, the moving direction angle is sequentially corrected, thereby achieving more accurate recording.

(3) Since a correction circuit is provided for forcibly plotting based on the absolute geographical position, the absolute position of the vehicle can be known and erroneous movement can be prevented.

(4) Since a correction circuit, an azimuth signal generator, a setting switch, an azimuth determining circuit, etc. are provided to forcibly correct the moving direction (azimuth), the moving direction can be forcibly corrected depending on the road, etc. more accurate recording is achieved.

(6) Automatic control of vehicle movement can be achieved by transmitting coded signals to a central monitoring device.

Furthermore, since the data is transmitted to the central monitoring device using a coded signal, it can be transmitted in a narrow frequency band. (6) Since a correction circuit is used in the pulse generator, abnormal components in the number of pulses caused by driving on rough roads such as gravel roads, slips due to slipping or locking are removed, and a more accurate route recording method can be obtained. .

Furthermore, "the left and right wheels are rotated independently" mentioned in this specification means that, for example, as in an aircraft or a rear car, the axles of the left and right wheels are completely independent, and the left and right wheels do not rotate in any way. In addition to cases where the wheels are rotated without any correlation, for example, there are cases where the drive wheels of a car are linked by differential gears, etc., and although they rotate at the same time in principle, due to differences in rotation radius, load, etc. This also includes cases where there is a difference in left and right rotation.

As described above, according to the present invention, a correction circuit for a pulse generator with few errors can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a schematic plan view of a vehicle in which the present invention can be implemented. FIG. 2 is a functional block diagram of one embodiment of the present invention. FIG. 3 is a block diagram of a preferred embodiment of the invention. FIG. 3A is a more detailed block diagram of the arithmetic circuit SB of FIG. FIG. 4a is an illustrative view showing a part of a road for a correction circuit according to an embodiment of the present invention, and FIG. 4b is a partially enlarged illustrative view of FIG. 4a. FIG. 5 is a block diagram of a preferred embodiment of the correction circuit, with FIG. 5a showing the transmitting station and FIG. 5b showing the receiving station. FIG. 6 is a waveform example diagram of one cycle of radio waves from a transmitting station. FIG. 7 is a detailed program diagram showing the main parts of FIG. 3. FIG. 8 shows an example of a moving route drawn by the passing route recording method as a preferred embodiment of the present invention. In the figures, the same reference numerals indicate the same parts, PGl, PG2 are pulse generators, CTl, C
T2 is a counter, TMl, TM2 are timing circuits, R
l, R2 are registers, 0P1, 0P2 are arithmetic circuits, PS
l, PS2 are setting devices, COMl, COM2 are comparison circuits,
Gll and Gl2 are AND gates, and Gl3 is an 0R gate.

Claims (1)

[Scope of Claims] 1. Wheels provided on a vehicle; pulse generating means for generating a pulse signal in accordance with the rotation of the vehicle; storage means for storing the pulse signal from the pulse generating means for a predetermined period; and the predetermined period. calculation means for calculating the difference between the pulse signal output during the same period as the predetermined period and the pulse signal stored in the storage means after the elapse of time; and a value and setting of the difference calculated by the calculation means. If the difference value is within the set value, a pulse signal is output from the pulse generating means, and if the difference value exceeds the set value, it is stored in the storage means. An output correction circuit for a pulse generator for a vehicle, comprising a switching means for switching to output a pulse signal.