JPS6022724B2 - Direction detection device for mobile objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an azimuth detection device for a moving body used for remotely monitoring the azimuth of a ship, an underwater television camera, or the like.

SUMMARY OF THE INVENTION An object of the present invention is to provide a device for detecting the orientation of a moving object, which has a simple circuit configuration, requires fewer wire cores in the transmitting section and the receiving section, and has less error even when the speed of the rotating section changes. . An embodiment of the present invention will be described in detail below with reference to the drawings.

1 is a magnetic compass, which has a magnet 2 and is supported by a rattan 3.

Reference numeral 4 denotes a fixed overhanging edge plate fixedly overhanging the main body 5 side around the magnetic compass 1.

A, B, and C are reference point drilling, front point drilling aligned with the front direction of the moving body, and magnetic north point drilling, respectively, and are located on different radii of 1, m of the overhanging edge plate 4 and have different radius lengths. Holes are drilled at the two positions and at the magnetic north point of the magnetic compass 1 in the order described above. One side of these perforated sheep A, B, C,
That is, a light beam (not shown) is provided on the perforation of the magnetic needle 1 and the overhanging edge plate 4, and the other side, that is, the magnetic needle 1 and the overhanging edge plate 4, is provided with a light beam (not shown).
A rotary plate 7 is provided at the lower part of the rotary plate 7, which is aligned with the magnetic compass 1 and rotated at a constant speed by a motor 6 in the forward drilling direction. a, b, and c' are photoelectric elements such as phototransistors and photodiodes provided on the rotary plate 7 at the same radial distance as the perforations A, B, and C, and aligned on the same radius. . When the optical axes of these a, b, and c' coincide with the corresponding perforations, electrical signals flow. Reference numeral 9 denotes a slip ring provided on the shaft 8 of the rotating plate. Through this slip ring, the photoelectric element a is connected to the set input terminal of the RS flip-flop 10, and the photoelectric element b is connected to the reset input terminal of the RS flip-flop 10 and the RS flip-flop. P1
The optical element c' is connected to the reset input terminal of the RS flip-flop 11 to the set input terminal of the RS flip-flop 11.

Reference numeral 12 denotes a transmitting section consisting of the above flip-flop group, which belongs to the mobile body side.

13 is an oscillator consisting of an astable multi/disable breaker;
While transmitting standard frequency f, center 0 and reference point drilling A
The reference angle created by the normal line connecting the and the normal line passing through the front point drilling B■
Divided (or multiplied) frequency K divided by a coefficient K equal to
Send f.

For example, the reference horn turtle.

If is 10 degrees, then "K=10, and the frequency is divided by 1 degree (
or multiplication) frequency. The above standard frequency f line is connected to the counter 15 via the AND circuit 14 together with the output terminal of the RS flip-flop 10, and the output of the counter 15 is coupled via the latch circuit 16 to be supplied to the preset counter 17. Ru. The line of the divided frequency Kf is connected to the output terminal of the RS flip-flop 11 and to a preset counter via an AND circuit 18. A display 19 receives the output of the preset counter 17 and displays the azimuth (■) of the moving body.

13 to 19 constitute a receiving section 20, which is installed at a location apart from the transmitting section 12.

In the figure, 21' is a transparent plate, and 22 is a cylindrical light shielding plate. 2
3 is a driving mechanism fixed to the upper end of the driving shaft of the motor 6, which is inscribed in the cylindrical edge of the rotary plate 7 and rotates the rotary plate.

In the above device, assume that the azimuth angle of the bow of a moving object, such as a ship, becomes ■. In this state, when the motor 6 is operated and the rotating plate 7 is rotated in the sequential direction of the drilling groups A, B, and C (counterclockwise when viewed from the top in the figure), the photoelectric element a is first activated at the reference point drilling A. After reaching the bottom and detecting the light coming from A, converting it into an electric signal and amplifying it, this signal is applied to the set terminal of the RS flip-flop 10, and the output of the flip-flop amount 0 is set to "1". Next, the photoelectric element b reaches below the front point perforation B in the direction of the bow and applies its detection signal to the set terminal of the RS flip-flop 11, setting the output of the flip-flop 11 to "1", and the photoelectric element b The same detection signal is applied to the reset terminal of the RS flip-flop 10, making the output of this flip-flop 10 ``0''.When the output of this flip-flop 10 is ``1'', the rotating plate T reaches the reference angle ■. This is the time required to displace o. Then, the output "1" of the RS flip-flop 10 at time (2) is applied to the AND circuit 14 together with the signal of the standard frequency f from the oscillator 13, and the AND circuit outputs a pulse during the time "to" to the counter 15 reset in advance. Supplied and counted. counter 5
The output of
Added to preset counter 17. At the same time as this operation ends, R
The output of the S flip-flop 1 becomes ``1'', but when the photoelectric element c' comes under the magnetic north point perforation C, its detection signal is applied to the reset terminal of the flip-flop 11.As a result, the output of the RS flip-flop 1 becomes ``1''. output is “0”
”.The output of this RS flip-flop 11 becomes “1”.
” is the time required for the rotary plate 7 to displace the azimuth angle (■) of the moving body.The output “1” of the RS flip-flop 11 at time t is the divided frequency K
It is applied to the AND circuit 18 together with the signal f, causing the AND circuit 18 to generate a pulse during time t. When this pulse is applied to the preset counter 17, the output of the counter 7 becomes X:Kft/f et al.=Kt/to.

This is a pulse corresponding to the azimuth angle ■ of the moving object. That is, if the circumferential speed of the rotary plate 7 is summed up, ■. =Avto ■=
Avt However, A is a constant of proportionality, so t/d■/■.

Substituting this into ×=Kt/to, we get X=K■/■.

So K=■.

Therefore, X=■ becomes.

For example, assume that the rotational speed of the rotary plate 7 is 3.6 seconds per rotation and the azimuth angle of the moving body is 80 degrees. The operation of the preset counter IT is, for example, f = 1000Hz, me = 0.1
seconds, t=0.8 seconds, and K=10, the preset counter 17 has fto counter 15 and latch 16.
=1000×0.1=100 is set. On the other hand, t
= 0.8, so Kfte 10 x 1000 x 0.8; 8000 is input to the preset counter 17, but since the set value is 100, it counts 1 for each input pulse, and the output from the preset counter is 8000
'100=80. This 80 is displayed as the azimuth angle. The output x=■ of the preset counter 17 is not related to the rotational speed of the rotating plate. When this output is input to the display 19 which has been reset in advance and latched, the current azimuth (2) of the moving object is displayed on an appropriate display panel. Since the rotary plate 7 rotates continuously, the azimuth ■ of the moving object is captured every rotation, and as the above operation is repeated, it is displayed on the display 19.
displayed by. The present invention is as described above, and since the azimuth angle detection section 0 is configured digitally using a perforation reader using a photoelectric line output device, the configuration is simpler and cheaper than the conventional servo type, and the transmitting section In the end, only two types of signals, time and t, are sent from the transmitter to the receiver, which has the advantage that the number of core wires of the transmitting cable is reduced.

[Brief explanation of the drawing]

FIG. 1 is a front sectional view of a main part of an embodiment of the present invention combined with a block diagram, and FIG. 2 is a simplified top view of the same main part. 0 In the figure, 1...Magnetic needle, 2...Magnet, 3
...Shaft, 4...Fixed overhanging edge plate, 5...
...Main body, 6...Motor, 7...Rotating plate, 8...Rotating plate shaft, 9...Slip ring,
10, 11...RS flip-flop, 12...
...Transmitter, i3...Oscillator, 15...5...Counter, 16...Latch circuit, 17...Preset counter, 19...Display, 20...Receiver , A...
...Reference point drilling, B...Front point drilling of the moving object, C...Shikihoku point drilling "a, b, c'...each A
, B, C. O2 work? figure

Claims (1)

[Claims] 1. A fixed overhanging edge plate is provided around the magnetic needle, and two points on different radii of the overhanging edge plate and at different radial lengths and at the magnetic north point of the magnetic needle are sequentially placed A reference point perforation, a front point perforation for the moving object, and a magnetic north point perforation are provided, and a light source is placed on one side of the group of perforations, and a rotary plate that rotates with the axis aligned with the magnetic needle is placed below the magnetic needle on the other side. photoelectric elements a, b, and c' are provided on the same radius of the rotary plate in correspondence with each of the aforementioned perforation groups, and optically detect the perforation states and convert them into electrical signals, and photoelectric element a is used as a reference. "1" is output during the time to from when the point drilling detection signal is issued until the photoelectric element b issues the front point drilling detection signal, and after the photoelectric element b issues the front point drilling detection signal, the photoelectric element c outputs "1". ’ at time t until it issues a magnetic north point perforation detection signal.
A transmitter that sequentially outputs "1" is provided, and the standard frequency f of the oscillator is divided by a coefficient K that is equivalent to the reference angle φ between the reference point drilling and the front point drilling, and the output "1" at the time to Input the sending pulse of the standard frequency f whose sending is limited to the preset counter, then input the sending pulse of the divided frequency kf whose sending is limited by the output "1" at time t to the same preset counter, and then The azimuth angle φ of the moving body formed between the front point drilling and the magnetic north point drilling is determined by the output of the counter.
A device for detecting the direction of a moving object, which includes a receiving section capable of reading the information. 2. The photoelectric elements a, b, c' on the rotating plate are composed of phototransistors or photodiodes,
2. The apparatus for detecting the orientation of a moving body according to claim 1, wherein the detection signals of these photoelectric elements are extracted through a slip ring provided on the shaft of the rotary plate. 3. Add the detection signal of photoelectric element a to the set terminal of the RS flip-flop, apply the detection signal of photoelectric element b to the reset terminal of the same RS flip-flop, and add it to the set terminal of another RS flip-flop.
2. The azimuth detecting device for a moving body according to claim 1, wherein the transmitting section is configured to apply the detection signal of the photoelectric element c' to the reset terminal of the S flip-flop. 4. An oscillator that transmits the standard frequency f and the divided frequency Kf, a counter connected to an AND circuit that receives the signal of the standard frequency f generated by this oscillator and the to time signal "1" generated by the transmitter, and the output of the counter. is received through the latch circuit, and also receives the signal of the divided frequency Kf generated by the oscillator and the output "1" of time t generated by the transmitter.
An azimuth detecting device for a moving body according to claim 1, comprising a preset counter connected to a circuit, and a display that displays an azimuth angle φ based on the output of the preset counter.