JPS6023306B2 - Moving object forward and backward detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a system for controlling the forward or backward movement of moving objects such as cranes, trolleys, trains, etc., which travels on a fixed running path, in order to ensure the running safety of the moving objects, such as automatic operation or operation control. This relates to remounting in which detection is performed on the moving body side or the ground station side.

Conventionally, when controlling the operation of a mobile object as described above, the driving control section of the mobile object is controlled by a command signal sent from the command side, and the operation result is returned to the command side as controlled information, or this method is used. However, the purpose of the present invention and the control side is to improve the reliability and detection function by eliminating the drawbacks of the above-mentioned subordinate devices, and to improve the reliability and detection function of a moving object even when moving over short distances. This provides a device that quickly detects data on the body side or on the ground station side, and has a significant effect on ensuring the safety of traveling control of moving objects. In addition, the device of the present invention can share guidance lines, transmitting/receiving equipment, and operating frequencies used for data transmission between ground stations and mobile objects, point information transmission, and position detection in mobile objects, so it is said to have a large economic effect. It has its features. Hereinafter, the present invention will be explained in detail with reference to examples thereof. First, a method for detecting the position of a moving body using a guide line will be explained.

Figure 1 shows an example of the configuration of a counterfeit (29-point information) detection device.
) is only one. In the figure, 1 is a two-frequency (frequency end and frequency end 2) transmitter, 4 is a coupler, and 5 is a terminating resistor. In the event of a failure in the control system, including the communication system of the controlled side, reliability in terms of safety will be insufficient, especially if the moving object backs up when stopped, for example, if it stops on a slope, the control system may be in normal condition. Conventionally, detection of forward or backward movement of a moving object is obtained from the rotation of the moving object's wheels or axles, or from a position sensing device on the moving path of the moving object. Since this is done based on data, when the wheels rotate gradually, the number of revolutions per second is too low and it is difficult to detect, and in the latter case, it is detected only after the distance traveled has increased, resulting in unforeseen setbacks in practical use. The disadvantage is that it is not useful for detection. This ground-side transmitter 1 uses phase shift keying (
The two signal currents, the final wave (referred to as MK) and the unmodulated final wave at a frequency different from 8, are connected to the dielectric 6 through the coupler 4.
Output to.

However, the final wave has nothing to do with position detection, and only the two final waves should be considered. 2 and 3 are attached to the moving object, 3 is an antenna, 2 is a fixed #9 point or a position detector, but antenna 3 moves while being connected to the guide wire, and detector 2 is attached to the running road. A fixed point, that is, a point where the concession line 6 intersects is detected.

This shows that the phase of the two-wave signal induced in antenna 3 is different when the moving object is in section a or c in Figure 1 and when it is in section b or d.
There is a 180 degree difference between intersections A, B, and C.
This is because when the antenna 3 passes through the antenna 3, the signal phase changes by 180 degrees, so the fixed point position can be detected by detecting the phase change. Note that the intervals between the intersections are arbitrary, but if they are set at equal intervals, it is convenient for detecting the speed and relative position of the moving object from counting the phase change points. FIG. 2 is a diagram showing an example of the basic configuration of a fixed-mobile communication device embodying the present invention.

In this figure, 7 is a signal transmitter for data and position detection on the ground fixed side (hereinafter referred to as a ground station), 8 and 9 are couplers with guide lines 10 and 11, respectively, and the required length section of the running line. Parallel two-wire guide wire for data transmission installed in 11
is also a cross-type parallel 2 for position detection installed in the required section.
Wire type conductor, 12.13 is the terminating resistor of the induction wire, 14~
Reference numeral 16 denotes a part that connects to the mobile body, 14 and 15 are antennas that connect to the transfer line, and 16 is a receiver that has the functions of data reception, position detection, and traveling direction detection. Also, L is the intersection interval of the guide line 11, and L2 is the antenna I4 of the mobile object.
The interval along the traveling line of and 15 is taken as L2 ni L/2. D
, n is data input, Dmt is data output, s is forward/backward detection output, and p is forgery detection output. Now, the signal transmitter 7 includes a two-frequency oscillator of 〆,, 〆2, its amplifier, and a modulator that MKs 〆, using data (binary code). The second wave, which has a relationship of 2=m/(m-1) (m is an integer of 2 or more) with respect to n, is sent to the communication line 11 without modulation.
In the following, to simplify the explanation, a case will be explained in which m is selected to be 2, but a similar operation can be obtained when m is selected to be other than 2. If m=2, then 〆,=na2/2. FIG. 3 is a detailed configuration example 7 lock diagram of the receiver 16 in FIG.
7 and 18 are band filter filters (BPFs) that extract the two-wave components from the antennas 15 and 14, respectively; 19 is the antenna 1;
BPF extracts the wave from the output of 4, 20, 21, 2
2 is an amplifier/amplitude limiter (A/L), 23 is a PSK demodulator, 24 is a frequency doubler (when m=2), 25, 26
is a phase discriminator (PD), 27 is a position detection output device, 28,
29 is a square wave converter W, 3 including a low-pass filter (LPF);
0,31 is the rising transition point (from low level to high level, L
→H) and the rising conversion point (H→L) are respectively divided into conversion point pulse generators P, 32 to 35 are ungated,
36 and 37 are OR gates, and 38 is a running direction signal output device including a flip-flop.

FIG. 4 is a waveform example diagram of each part of FIG. 3. Using this diagram, the operation of FIG. 3 will be explained below. In Fig. 3, the wave component extracted by the BPFI 9 is amplified in the A/L 22 and limited in amplitude to a constant level, then doubled in frequency in the A/L 24, and the output of 2 is output to the phase discriminator. This becomes one input for each of PD25 and PD26.

``The wave is PSKed as described above (in this example, m = 2 and 2-phase PSK), but when it is multiplied by 2, it becomes clear that the m-phase modulated wave becomes a continuous phase wave with a shift amount of zero. Na2
Therefore, this is inputted to each PD as a reference phase signal as described above. In addition, in the case of ". = Na2/2, the wave is doubled by the multiplier 24 as described above, but if Na2 = m〆,
/(m - 1) In the general case, if you take the frequency of the difference between Na2 and Na, and multiply it by m times the frequency, you can obtain a continuous phase 2 wave with a shift amount of zero, so this may be used as the reference phase signal. Furthermore, when the data signal was demodulated, the wave reached a certain level, and the wave was from A/L22 to DTC2.
The data output D sent to 3 and demodulated by this PSK demodulator
. You will get mountains. Next, the N2 wave component from the same antenna 14 is extracted by the BPF 18, passes through A/L 21, and the final N2 wave, which has a constant amplitude, becomes another input to the PD 26.

The PD 26 discriminates whether the two inputs are in phase or out of phase and outputs it, and the square wave converter 29 in the next stage converts it into a backward wave through a reduction wave generator. Waveform a in FIG. 4 shows this, and assumes that the guide lines are crossed as shown in the upper part of the figure. Note that there is generally a phase rotation amount from the antenna input to the BPF, A/L outputs, but these cannot be predicted, so a phase shift circuit is inserted in the PD input to create an ideal phase difference to correct it. It is necessary. In addition, the interval between the antennas 14 and 15 is set to 1/2 of the crossing interval of the guide wires, and the BPF is calculated from the outputs of antennas 1 to 5.
The final two waves are extracted at 17, amplified at A/L 20, and then limited to a constant amplitude to be input to one of the PDs 25. The PD 25 performs phase discrimination between this input and the reference phase signal shown earlier, and the signal is square-converted in the next stage 28, resulting in a waveform b in FIG. It can be seen from the waveforms a and b that these waveforms are inverted every time the antennas 14 and 15 pass oppositely through the intersection of the guide lines. Now, the position detection output p is as shown in FIG.
A waveform as shown in FIG. 4 is obtained from an exclusive OR circuit 27 which inputs two waveforms a and b from each side.

The p waveform has a crossing interval of L. With a waveform that inverts regularly, the position of each intersection can be determined from this conversion point, and by counting the conversion points, the relative position of the moving object from a predetermined reference point on the driving route and the relative position of the moving object can be determined by counting the conversion points. It can detect speed, etc. Next, detection of forward movement and backward movement of a moving object, which is the main focus of the present invention, will be explained.

First, as shown in FIG. 4, the moving direction of the moving body is represented by Sr if it is to the right and S if it is to the left. Then the third
In the figure, 30 and 31 generate divided pulses at the rising and falling conversion points of the a and b waveforms, respectively.
Then, in 30, input the a waveform from W29 and au
and ad pulses, and the waveform from W28 is input at 31 to generate bu and M pulses. Therefore, in Fig. 4, in the Sr direction, au and ad pulses are output from the a waveform, and bu and bd pulses are output from the b waveform, but in the opposite S direction, the rising edge in the Sr direction becomes a falling edge,
Since the falling edge becomes the rising edge, it occurs at a position opposite to that of Sr, as shown in the S-group in FIG. Then, in the next-stage AND gate, for example 32, when the au pulse is gated out at the high H level of the b waveform, the moving object moves in the Sr direction, and the ad
When the pulse is gated out, it will proceed in the SI direction. In addition, during AND gate, 2
Assume that an input AND circuit is included. In this way, a, a, b, b, a in the AND gates 32 to 35
The output from the combination of ad, bu, and W (a and b are the inverted outputs of a and b, respectively) is as follows. However, r and 1 are pulse outputs representing the Sr direction and the S direction, respectively. Therefore, if the moving direction of the moving body is Sr, the r waveform is output from the OR gate 36, and if the moving direction is the SI direction, one waveform is output from the OR gate 37 to drive the next stage flip-flop circuit 38, and its output s shows "
1", "0", or "H", "L" level is output.

To show this as a numerical example, L,=500 ribs, L2=L/2=
If the distance is 25 degrees, the direction of movement will be output if the distance is at least 25 degrees. Note that the antenna spacing - may also be set to L2=(n+2/1)L. However, n is an integer such as 0, 1, 2, 3, etc., and if there is interference between the antennas 14 and 15, the interference can be reduced by selecting n to be 1 or more. Detection of this direction of movement is used for data transmission from the ground station and for detection of the position of the mobile object.
It is economical because it uses two frequencies, a guide line, the transmitter and receiver antennas, and the pulse generators 28 and 29 in common, and only requires a small addition of a direction detection circuit.
Even when the moving body moves slowly, a remarkable effect can be obtained in that the moving direction can be detected using the minimum moving distance.

Furthermore, if an attempt is made to use this s output to detect, for example, the movement of a moving object in an unexpected direction from a stopped state, it will be detected that the polarity (high/low level) of the s output matches the polarity of the direction to be prevented. It is clear that a matching circuit can be provided. As described above, in the device of the present invention, the data transmission signal wave from the ground station is transmitted through the guide line 101, and the non-modulated wave for position detection is transmitted through the transfer line 11, which is crossed at each fixed point or at regular intervals. By sending the data to the respective locations, the moving object can simultaneously perform data reception, fixed point detection (moving object position detection), and running direction detection (forward/reverse movement detection).

Furthermore, if a mobile object is equipped with a transmitter for transmitting a data signal and a position detection signal, the data transmission signal wave is transmitted to only one antenna and combined with the guide wire, and this antenna is connected to another antenna. The position detection signal wave 2 is sent out alternately in a time-division manner and is coupled to the guide line for travel, and at the ground station, the signal wave 2 is taken out from the non-crossing transfer line 10 and used as a reference phase signal wave for data demodulation and position detection. In addition, the two waves are taken out from the cross-shaped guide wire 11, and the phase difference between the reference phase signal and each output due to the combination of the two antennas and the guide wire 11 is detected, and the a and b waves are obtained. output,
That is, FIG. 5 is a block diagram of an example of the circuit configuration of the ground station receiver in this case. (Those with the same symbols as in FIG. 3 have the same functions.) DST) 40 and distribution control synchronization circuit (SYC) 4
1 is given. The SYC41 synchronizes the distribution control timing signal corresponding to the above-mentioned time division, and uses the output of this SYC39 as the gate signal of the DST40 to time-divide the input signal (phase discrimination output) from the W39 and output the flip-flop (
F・F) Output to 42 and 43. The outputs from 42 and 43 are exactly the same as the outputs from W28 and W29 in Fig. 3 (therefore, the waveforms are the same as those in Fig. 4 a and b), and the phase detection outputs of the antennas that match the cross phase of the guide wire 11 are generated. do.

These outputs a, a, b, and b cause the next-stage running direction discrimination circuit 44 to output a signal s representing the running direction. The details of the running direction discrimination circuit 44 are omitted from illustration, but are shown at 30 to 30 in FIG.
It is composed of 38 circuits, and the waveform diagram in FIG. 4 also holds true. In this way, data reception from the moving object, fixed point detection, and traveling direction detection can be performed simultaneously on the ground side. Note that in the above explanation, only the practical case where waves are used for data transmission is discussed, but this is not a necessary condition for detecting the running direction. As shown in Figures 3 and 5, it is sufficient to satisfy the condition m'',/(m-1), and the presence or absence of modulation does not matter.
It is clear from the figure.

Furthermore, since the present invention uses a phase discrimination method as a method for detecting intersections, it is possible to use an amplitude controller, and as the moving object moves, the distance between the guide wire and the antenna changes, resulting in large fluctuations in coupling loss. It is a remarkable feature that it is possible to accurately detect the intersection position even if the vehicle is moving slowly, and that it is possible to detect the traveling direction and backward movement even if the vehicle is moving slowly.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a configuration example of a position detection device, FIG. 2 is a diagram showing a basic configuration example of a communication device implementing the present invention, FIG. 3 is a diagram showing a configuration example of a receiver in FIG. 2, and FIG. Waveform diagram of each part in Fig. 3, 5th
The figure is a diagram showing an example of the configuration of a ground-fixed receiver. 1,7...2-frequency transmitter, 2...Failure detector, 3,14,15...Antenna, 4,8,9...
Coupler, 5, 12, 13...Terminal resistor, 6, 1
0,11...Guiding wire, 16...Receiver, 17,18,19...Obijo reactor, 20,2
1, 22...Amplification and amplitude limiter (A/L), 2
3... Phase shift signal demodulator, 24...
Frequency multiplier, 25, 26...・・Phase discriminator (PD)
, 27... exclusive OR circuit, 28, 29, 39...
...Square waveform converter W, 30, 31...
Conversion point pulse generator P, 32, 33, 34, 35...AND circuit, 36, 37...OR circuit, 38, 42,
43...Flip-flop, 40...Output distributor, 41...Distribution control synchronous circuit, 44...
・・Travel direction discrimination circuit, Din・Dout・・・・
7 data signal input, output, P...Failure detection output,
s...Travel direction signal. Power 18 Juice 24 Juice 54 figure m Outside the rudder 4 evil

Claims (1)

[Scope of Claims] 1. A first guide wire of a parallel two-wire system, which is laid along a fixed travel path of a moving body and carries a signal current having a first carrier frequency ■ from one end thereof, and in parallel with this guide wire. It is laid and crossed at regular intervals, and from one end of the same as above, the first frequency f is
_1 and f_2 = mf_1/(m-1), [where m is 2
An unmodulated second carrier frequency with a relationship of
a cross-type parallel two-wire second guide wire through which a signal current flows, and a transmitter that supplies signal currents of each of the first and second frequencies to the first and second guide wires, respectively. The distance between the antennas L_2 is set equal to L_1/2 along the running path mounted on the ground fixed side equipment and the moving body, and both the first and second frequencies are transmitted from the first and second guiding wires. Two antennas, a first and a second, extract the induced voltage, and the first and second frequency components are extracted from the output of the first antenna, and the second frequency component is extracted from the output of the second antenna, and amplified separately. After performing a certain amplitude limitation, the difference frequency between the first and second frequencies is multiplied by m to make the frequency equal to f_2, and the output is used as a reference phase signal to perform phase discrimination from the two second frequency components, respectively. The intersection position of the second guiding line is detected and output for each of the first and second antennas, and the driving direction is identified by a combination of each of these detection outputs and a pulse generated at the conversion point of each intersection. What is claimed is: 1. A forward and backward motion detection device for a moving object, comprising: moving side equipment consisting of a receiver that generates an output; 2. The first parallel two-wire guide line laid along the fixed travel route of the moving object, and the second parallel two-wire cross-type guide line laid parallel to this guide line with intersections at equal intervals. two antennas, a first and second antenna, mounted on a moving body and coupled to each of the guide lines along the travel path, and having an antenna spacing L_2 equal to L_1/2; 1
A signal current with a carrier frequency of f_1 is outputted to this antenna and other antennas with respect to the first carrier frequency f_1.
_2=mf_1/(m-1), [where m is an integer of 2 or more] mobile body side equipment comprising a two-frequency transmitter that time-divisionally outputs a signal current of an unmodulated second carrier frequency; A first carrier wave ■ component is extracted from one end of the first guiding wire and set to a constant amplitude, and a second carrier wave ■ component is extracted from one end of the second guiding wire and set to a constant amplitude, and then the first carrier wave
A reference phase signal of frequency f_2 obtained by extracting the difference frequency of both second carrier waves and multiplying it by m, and the second carrier wave f of the above-mentioned constant amplitude.
From the output obtained by performing phase discrimination with the two components, a distribution timing signal synchronized with the time division timing on the moving object side is extracted, and this timing signal is used as a gate pulse to connect the two antennas and the second component from the phase discrimination output. A circuit that alternately generates each output by coupling with a guide wire and generates an output for identifying the traveling direction of a moving object by combining each output with a pulse generated at a conversion point at each intersection of each output. What is claimed is: 1. A forward and backward movement detection device for a mobile object, comprising: a ground station facility equipped with the equipment;