JPS6133365B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a running position detection device installed in a moving body such as a vehicle, and detects the speed of the moving body expressed by the pulse repetition frequency and the angle between the reference standard and the running direction. The traveling position is expressed on the XY plane from an analog value proportional to the cosine and sine of .

Conventionally, this type of device, as shown in Figure 1, uses the speed expressed by the pulse frequency (scalar quantity).
The minute travel distance was obtained by gating υo from the reference signal source 1 at short reference time intervals with the gate circuit 2 and counting it with the counter 3, and converted this and the sine and cosine signals with AD converters 4 and 5. Generally, multipliers 6 and 7 multiply the digital values, and adders 8 and 9 sequentially add them. However, this method is complicated and expensive
Converters 4 and 5 and multipliers 6 and 7 are required, which is disadvantageous in terms of cost and system size.

The present invention eliminates these drawbacks and provides a device that satisfies the above functions inexpensively and easily.

A brief description of the functions is as follows.

Output sinθ or cos
If a gate with a duty proportional to θ is used, vo sinθdt or vo cosθdt can be directly determined by the number of pulses, so if a follow-up up-down counter is provided, the output X = ∫vo cosθdt or Y = ∫vo It is very convenient to find sinθdt.

Next, how to obtain vo cosθdt will be explained using FIGS. 2 and 3. FIG. 2 shows a device according to an embodiment of the present invention, and 11 is a signal generator which outputs a triangular wave with peak values of +1 and -1 shown in FIG. Output. Reference numeral 12 denotes an azimuth detector which outputs the sine sin θ and cosine cos θ of the angle formed by the traveling direction and the reference azimuth as values of +1 to −1. Comparators 13 and 14 compare the above output with the level of the triangular wave and output a logic "1" level when the level of the triangular wave is high.

Therefore, on the t-axis in Fig. 3, the areas from 0 to T/2, T to 3/2T..., that is, the positive and negative outputs are logic "0".
The total amount of time spent at the level is proportional to the value when cosθ and sinθ are positive. By the way, sinθ, or
If cosθ=1, the active state of logic “0” will continue to be maintained, and the ratio will be 1 in the above region. On the other hand, if sin θ, cos≦0, the inactive state of logic “1” is maintained, so the ratio becomes zero. That is, if cos θ and sin θ are positive, an active “0” signal with a duty equal to cos θ and sin θ is obtained in the above region.

Next, a case where cos θ is negative will be explained.
Here, on the t-axis of Fig. 3, if we focus on the regions T/2 to T, 3/2T to 2T, 5/2T to 3T, etc., that is, the region where the positive and negative outputs are logic "0", we can see the logic of the comparator output. The total time at the “1” level is cosθ, sin
It is proportional to the absolute value when θ is negative. It should be noted that in this region, the comparator output is in the active state of logic "1".

From the above explanation, the following things become clear.

When Γ cos θ or sin θ is positive, the state of positive/negative output: “1” and comparator output: “0” is the duty ratio for the entire region, which is 1/2 of cos θ or sin θ.

When Γ cosθ or sinθ is negative, the state of positive/negative output: “0” and comparator output: “1” is the duty ratio for the entire region, which is 1/2 of |cosθ| or |sinθ|.

Therefore, if the positive and negative outputs and the comparator output shown in FIG. 3C are gated by exclusive OR circuits 15 and 16, the duty ratio will be 1/2 of the absolute value of sinθ or cosθ, as shown in FIG. 3D. , positive and negative outputs represent its polarity.

Further, the output from the speed detector 21 is a pulse having a frequency corresponding to the speed, as shown in FIG. 3E. This speed pulse is applied to gate circuits 17 and 18 together with the outputs of exclusive OR circuits 15 and 16. That is, for example, the signals shown in FIG. 3D and H are applied to the gate circuit 17 to obtain the signals shown in FIG. 3F.
If the outputs of such gate circuits 17 and 18 are input to the clock input terminals of up-down counters 19 and 20 and up-down control is performed using positive and negative outputs, the contents of the counters 19 and 20 will be ∫vo sinθdt or ∫vo cosθdt You will get the value of

In the above embodiment, exclusive OR circuits 15 and 16
However, the gate circuit 50 including gate circuits 17 and 18 may be used as shown in FIG. Figure 5 shows counters 8, 9 or 19, 20.
Figure 6 shows the current position of the car based on the outputs X and Y of the counters 8, 9 or 19, 20.
The figure shows how the output of the vehicle is applied to the storage controller 51 to draw the travel trajectory.

As described above with reference to the embodiments, according to the present invention, the X and Y outputs are calculated by digital processing, so the configuration is simple and the calculations can be performed with high accuracy.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a conventional traveling position detecting device, FIG. 2 is a block diagram of a traveling position detecting device according to an embodiment of the present invention, and FIG. 3 is an operating waveform diagram thereof.
FIG. 4 is a block diagram of another embodiment, and FIGS. 5 and 6 are diagrams showing display states. 11...Signal generator, 12...Direction detector, 1
3, 14... Comparator, 19, 20... Counter,
21...Speed detector.

Claims (1)

[Claims] 1. An azimuth detector that outputs the sine and cosine of the angle θ between the vehicle traveling direction and a reference azimuth, a triangular wave generator having a peak value of ±1 at an arbitrary period, and a two comparators that compare sine and cosine values with the output of the triangular wave generator; a speed detector that generates pulses with a frequency proportional to the vehicle speed; sign and speed detection that correspond to the output of the comparator and the triangular wave; a logic gate which uses the output of the detector as a counting input for the up-down counter of each system, and makes up/down commands for the counter from the positive and negative corresponding to the triangular wave, or the positive and negative, the output of the comparator, and the output of the speed detector; A traveling position detection device comprising: a counter value corresponding to a current position in each reference azimuth direction; and means for determining the current position in a direction perpendicular to the reference azimuth from the counter values of both counters. 2 The logic gate is a gate that takes exclusive logic with the output of the comparator and the positive and negative, and the output of the speed detector is gated with the output of the exclusive logic gate and used as the clock input of the up-down counter, and the positive and negative values corresponding to the triangular wave are gated. 2. A traveling position detecting device according to claim 1, comprising gate means for direct up-down control of an up-down counter. 3. The logic gate consists of a first gate that gates the output of the comparator and the positive and negative signals, a second gate that gates the output of the comparator and the positive and negative outputs through inverters, the first gate, and the first gate. The traveling position according to claim 1, comprising a third gate and a fourth gate, which are gated by the output of the speed detector and the clock input of the up-down counter, and the up-down control input. Detection device.