JPS60118913A - Stop position detector of unattended track - Google Patents

Abstract

PURPOSE:To detect a correct stop position by detecting the position based on a point of time when two stop line (position) detecting outputs are coincident in detecting the stop position of an unattened track. CONSTITUTION:Coils 1, 2 apply respectively an output corresponding to a magnetic field from a stop line 4 to detection rectifier circuits 10, 11. The detection rectifier circuits 10, 11 detect and rectify the output of the coils 1, 2 and apply it to each input of a differential type comparator 12 and input of a summing point 13. The comparator 14 compares the added output of the summing point 13 with a preset level Vref, and when the summing output exceeds the level Vref, an enable signal is outputted to a comparator 12, which is activated. When the unattended track goes forward and reaches the stop position, an output of the comparator 12 goes from an L level to an H level, and when the unattended track goes back and comes to the stop position, the output of the comparator 12 goes from an H level to an L level. A differentiation circuit 15 outputs a pulse signal to an output terminal 17 at the leading of the input signal and a differentiation circuit 16 outputs (18) to a pulse signal at the trailing of the input signal.

Description

[Detailed description of the invention] The present invention applies to a stop position detection device for an unmanned vehicle.

Generally, an unmanned vehicle needs to be stopped at a fixed position for cargo handling work or the like. In the case of a trolley-type unmanned vehicle, it is necessary to use a VC parallel to the running path. stomach? However, it is necessary for the city to develop a technology that can effectively detect the fixed position.

The conventional detection of the stopping position of this Yuzu is 1 ("
First, a guide line (stop line) is laid, and the current flowing through the stop line is detected, or the magnetic field is detected on the running path. Create one unique point, detect that singular point, and create a detected magnetic field j7. (The trap was set to detect the stopping position depending on the time when the trap was delayed by more than one tweet.

Therefore, v18 situation, 'current fluctuation, j・□, (
The detection position 1 [[] fluctuated due to the 1 value and 6 equal pressures, making it impossible to accurately detect the stop position 1.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an unmanned vehicle stop position detection device IIt that can accurately detect the 1JZ stop position of an unmanned vehicle.
target

In this @January, two stopping position 1α detection means are installed to detect the magnetic field β from the guide line (stop axis) perpendicular to the direction of travel, which is spaced a distance tti & apart from each other in the AiJ k direction of the unmanned vehicle. , is 14.2 close to the stop axis, and the two positions are ゛・Seisei■? -(Detection) By detecting the point in time when the output outputs of the valleys 4rj of the steps become equal, the correct position is outputted to the stop 11=.

Hereinafter, the present invention will be described in detail in the accompanying drawings 81i (i).
Explain.

First, as shown in FIG. 1, two coils 1z and 2 of 11 are simultaneously arranged in the longitudinal direction of the two-prefecture vehicle.

These coils I J=; J2 and 2 are each expressed as 2
As shown in the figure, the coils are located in the path 1IIi3 to hl17)11-, and are arranged so that the distance between the coil centers is 2×Δχ. These coils 1 and 2 are installed perpendicularly to the direction in which the unmanned vehicle is carried, and are connected to an inductor (stop line) through which current flows (when detecting the rise). It has become so.

Now, an unmanned vehicle is moving towards zero along the direction of the arrow 5.
In base 11, the outputs of the coils 1 and 2 when they contact the upper He stopper 44 as shown in the second section IK are V and V, respectively. However, μ is the magnetic permeability, K is the current flowing through the stop wire 4, and K1 and N are the windings of the coils 1 and 2, respectively, or the amplification factor of the amplifier that amplifies No. It is easy to set 11 to K1-.

Now, let K,, =, and let χ-0, then the above (1)
Equation and Equation (2) are exactly -3X'f. Conversely, if we detect a point in time when equation (1) and equation (2) match, then e
This value χ is 0, that is, the unmanned vehicle has arrived at the 11th violet in the main position.

FIG. 3 shows a device C for detecting the stop position of an unmanned vehicle according to the present invention.
FIG. 2 is a block diagram showing an embodiment of the present invention. In the figure, coils 1 and 2 apply outputs corresponding to the magnetic gates from stop line 4 to detection rectifier circuits 10 and 11, respectively, as described above. The detection rectifier circuit 10 detects and rectifies the output of the coil 1 and adds it to the negative input of the differential comparator 12 and the summing point 13.
The output of the filter is detected and rectified and applied to the positive input of the comparator 12 and the other input of the summing point 13.

The comparator 14 detects that the unmanned vehicle approaches the stop line 4, that is, that it enters the 13Ir constant σ area with stop @ 4 as the reference,
The output is compared with a preset level Vrθf, and when the added output exceeds the level Vrθf, an enable signal is output to the comparator 12.

The comparator 12 inverts the output polarity when the level b'' of the two-manpower matches and the magnitude relationship of the two-manpower becomes liquefied, and an enable signal is applied from the ratio 4 blower 14 to the enable signal input terminal EN. When i does, it becomes WJb's work, and the first
As shown in the figure, when the unmanned vehicle b advances one step and reaches the stop position, the output G' of the comparator 12! When the level changes from the L level to the H level, and when the m-person freight car moves backward and reaches the stop position 16, the output of the comparator 12 changes from the H level to the L level tonal.

The differentiating circuit 15 takes the differentiation of the rising edge of the signal applied from the comparator 12, and outputs a pulse (Q) to the output terminal 17 at the rising edge point II of the input signal.

Further, the differentiating circuit 16 takes the rising edge differential of the signal applied from the comparator 12, and outputs the input (busy pulse (i8) at the falling edge of the i signal to the output terminal 18).

Therefore, when a pulse signal is output from the output terminal 17, it is possible to detect that the unmanned vehicle has reached the stop position while moving forward, and when a pulse signal is output from the output terminal 18, At that point, it can be detected that the unmanned vehicle has reached the reverse intermediate pressure stop position 11't.

/Yo, in this implementation 51J, it is busy when detecting the stop position, 2
Although the detection is performed from the time when the difference between the two stop line detection outputs becomes 0, the present invention is not limited to this, and the detection may be performed from the time when the ratio of the two stop line detection outputs becomes 1, for example.

As explained above, according to the present invention, the stop position of an unmanned vehicle is detected based on the point in time when two stop line (position) detection outputs match. 6ii; Changes in detection position due to K movement, influence of disturbance of magnetic flux +8j degrees based on external purchase near stop line (-1), and detection f due to fluctuation of threshold value for finding stop position
There is no difference in t', and the detection of the correct stopping position for the package is 1J.
'It's f pond.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the relationship between an unmanned vehicle equipped with a magnetic field detection coil according to the present invention and a stop line, FIG. 2 is a diagram showing the positional relationship between the coil and the stop line, and FIG. The figure is a block diagram showing an embodiment of a stop position detection device for an unmanned vehicle according to the present invention. 1.2...Coil, 4...Stop line, 10.11...
・Detection rectifier circuit, 12.14... Comparator, 15.16
... Differential circuit.

Claims (1)

[Scope of Claims] +1) The position 1d of the guide wire laid directly in the direction of movement of the unmanned vehicle is detected as the stop position of the unmanned vehicle. ((a stop position detection device for a human-driven freight car, comprising first and second devices arranged at a predetermined distance apart from each other in the longitudinal direction of the unmanned vehicle, and outputting a signal corresponding to a magnetic field from the guide wire); a stop position detection means for detecting that the unmanned vehicle has entered a certain area based on the I/M, and an area detection output of the AiJ area detection means. According to 1, when the detection outputs of the eighteenth and second stop position detection means are equal to each other, the detection means detects the point in time when the detection outputs of the eighteenth and second stop position detection means are equal.
[One-branch stop position detection device for freight cars. (2) The first and second stop position 11 detection means include:
A stop position detection device for an unmanned vehicle according to claim 1, each comprising a coil that detects a magnetic field from the guide wire, and a detection and rectification circuit that detects and rectifies the output of the coil. . (3) The area detecting means is configured to
The stop position of the unmanned vehicle described in item (1) is a comparator that detects when each phase of the 41 outputs of the stop position detection means exceeds a predetermined value. 1? )゛Detection device. (4) The stop position point detection means takes the difference between the valley detection outputs of the first and second stop position detection means described in MiJ, and detects the point in time when this difference becomes 0. ￥f
The stopping position 1α detection device according to the range (1) of the HY4 search. (5) The stop position time point detecting means is configured to detect the first stop position point.
and the detection output of the second stop position detection means,
Claim No. +1) which detects the point in time when this ratio becomes 1) *Stop position II4. Detector Detector