JPS6330587B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the position of a moving object using guided radio, and particularly to a method for detecting the position of a moving object on the ground side.

In the automatic operation of moving objects that travel along a fixed route, such as railway vehicles, various types of transportation, or industrial transport facilities, it is essential to accurately know the position of the moving object on the ground at all times. This is a request.

In response to this request, the position of a moving object can be detected by dividing the entire driving route into small sections of a certain length (approximately 10 m) and knowing in which small section the moving object is present. There is a method. The principle of this method will be explained with reference to FIG.

A conductor pair 30,
31, 32, 33... are installed. The conductor pair 30 has no crossing over the entire section, and the conductor pair 3
1, 32, 33, ... are L/2, L/ respectively
They are crossed at a period of 4, L/8...

Antenna (frame coil) mounted on a mobile object 3
When a high frequency current of 50 to 200 KHz is applied to 4, the magnetic field generated by this causes each conductor pair 30, 31, 3 to
A voltage is induced at 2, 33, . conductor pair 3
0 is the phase reference voltage, the phase difference between this voltage and the voltage induced in the conductor pair 31 is AM
0 in the section, π in the NB section, and the moving object
You can find out whether it is in the AM section or the MB section.

Similarly, by measuring the phase difference between the voltage induced in the conductor pair 30 and the respective voltages induced in the conductor pairs 32, 33, . . . , further segmented position information can be obtained.

However, the following problems are pointed out with this method.

(1) The information given to each conductor pair is only 0 or π, that is, the amount of position information is only 1 bit, and in order to obtain precise position information, an extremely large number of conductor pairs are required, so the line structure It is inevitable that the process will become more complex, making manufacturing difficult and expensive.

(2) The conductor pair 30 does not cross, and the conductor pairs 31, 32, etc., which are in charge of the position information of the upper address, have a long crossing period, so they tend to pick up ambient noise, and crosstalk voltage is generated between each conductor pair. This makes accurate position measurement difficult.

The present invention is intended to solve the above-mentioned problems of the conventional technology, and can dramatically increase the position information per conductor, is not affected by ambient noise, and furthermore can significantly reduce crosstalk voltage. The purpose of the present invention is to provide a method for detecting the position of a moving object.

The present invention will be explained in detail below.

FIG. 2 shows an example of the guided radio line used in the first invention, where 1 is a first conductor system, 2 is a second conductor system, and 3 is a mobile antenna.

The first conductor system 1 has three conductors 1a, 1b, and 1c each having a waveform shape with a period P, and is arranged so as to be shifted by P/3.

Similarly, the second conductor system 2 has three conductors 2a, 2b, 2c each having a waveform shape with a period P of P/3.
In this conductor system 2, the phase of the waveform shape of each conductor 2a, 2b, 2c changes stepwise at regular intervals. In other words, when the travel path of a moving object is divided into N small sections, if the phase amount of the conductor waveform in a certain section is 0, it will show a stepwise increase of π/2 when moving to the next section. It's getting old.

A guided radio line is constructed by laying the first and second conductor systems 1 and 2 of the three-phase three-conductor in parallel.

Now, if the distance from the terminal of the guided radio line to the mobile tower-mounted antenna 3 is Z, then the conductors 1a and 1b, 1b and 1 of the first conductor system 1 at the line terminal
c, voltage induced between 1c and 1a, respectively
Vab ₁ , Vbc ₁ , and Vca ₁ are also expressed by the following equations.

Vab ₁ =k cos2π/PZe ^- 〓 ^zj 〓 ^z Vbc ₁ =k cos2π/P(Z+1/3P)e ^- 〓 ^zj 〓 ^z Vca ₁ =k cos2π/P(Z+2/3P)e ^- 〓 ^zj 〓 ^z (1 ) Note that k is a constant, α is the attenuation constant of the line, and β is the phase constant of the line.

Here, the positive-sequence voltage Vp ₁ and the negative-sequence voltage Vn ₁ for the three voltages in equation (1) are defined as shown in the following equation.

The following equation is immediately obtained from equations (1) and (2).

Next, considering the second conductor system 2,
Now, as shown in Fig. 3, a moving path with a total length L is divided into N small sections N ₁ , N ₂ , ..., Ni, ..., Nn.
and give a phase amount ψi to the waveform of the conductor in the i-th sub-section Ni, and when the mobile tower-mounted antenna 3 is in the i-th sub-section Ni, the conductors 2a, 2b, 2b and The voltages Vab ₂ , Vbc ₂ and Vca ₂ induced between 2c and 2c and 2a, respectively, are also expressed by the following equations.

Vab ₂ =k cos2π/P(Z+i)e ^- 〓 ^zj 〓 ^z Vbc ₂ =k cos2π/P (Z+1/3P+i)e ^- 〓 ^zj 〓 ^z Vca ₂ =k cos2π/P (Z+2/3P+i)e ^- 〓 ^zj 〓 ^z (4) The positive-sequence voltage Vp ₂ and negative-sequence voltage Vn ₂ for these three voltages are obtained in the same way as equation (3) as follows.

Here, the phase difference between Vp ₂ and Vp ₁ is △φpi, and Vn ₁ is
If the phase difference of Vn ₂ is △φni, then △φpi=∠Vp ₂ −∠Vp ₁ =i (6) △φni=∠Vn ₁ −∠Vn ₂ =i. Note that ∠ is a symbol indicating the phase angle of a complex number.

As is clear from equation (6), φi can be found by measuring Δφpi or Δφni, and from this it can be known that the moving object exists within the i-th subsection Ni.

FIG. 4 shows an example of the signal processing circuit in the first invention.

Interconductor voltage at line terminals of first conductor system 1
Vab ₁ , Vbc ₁ , and Vca ₁ are transformers 4a ₁ and 4, respectively.
It is converted into an unbalanced voltage by b ₁ and 4c ₁ and guided to the adder 6 ₁ . In this case, the output of the transformer 4a ₁ is directly led to the adder 6 ₁ , but the outputs of the transformers 4b ₁ and 4c ₁ are passed through phase shift circuits 5b ₁ and 5c ₁ , respectively.
After receiving a phase shift of 120° and +120°, it is led to an adder ₆₁ .

In adder 6 ₁ , an operation corresponding to equation (2) above is performed, and its output is given by equation (3).
Equal to Vp ₁ .

Similarly, in the case of the second conductor system 2, the interconductor voltages Vab ₂ , Vbc ₂ , Vca ₂ are the same as those of the transformers 4a ₂ , 4b ₂ ,
Adder 6 ₂ via 4c ₂ and phase shift circuits 5b ₂ and 5c ₂
, and a voltage equal to Vp ₂ given by equation (5) is output.

The outputs of the adders 6 ₁ and 6 ₂ are led to the phase meter 7, where the calculation to obtain △φpi in equation (6) is performed,
A voltage or current proportional to the input phase difference i is output, and its value is indicated to the meter 13.

Note that, as described above, the same result as above can be obtained by determining the phase difference between the negative phase voltages Vn ₁ and Vn ₂ .

The method explained so far is effective when the line length is relatively short, but when the line length is long, the conductor shape pitch of the first and second conductor systems is the same, so both conductors are A crosstalk voltage occurs between the systems,
This may cause position detection errors.

The second and third inventions eliminate such problems, and these will be explained below. FIG. 5 shows an example of the guided radio line used in the second and third inventions. The first conductor system 51 has three conductors 51a, 51b, and 51c each having a waveform shape with a period of P ₁ and is arranged with a shift of P ₁ /3, and the second conductor system 52
The three conductors 52a, 52b, and 52c each having a waveform shape with a period of P ₂ (P ₂ =P ₁ /2) are connected to P ₂ /3.
They are arranged in a staggered manner.

In the second conductor system 52, the phase of the waveform shape of each conductor 52a, 52b, 52c changes stepwise at regular intervals, similar to the conductor system 2 shown in FIG. It is assumed that a phase amount i is given in the small section Ni of .

Now, let Z be the distance from the terminal of the guided radio line to the antenna 53 mounted on the mobile object, and the antenna 53 is shared by different frequencies ω ₁ and ω ₂ , and the terminal of the first conductor system 51 uses ω ₁ and the second The terminals of the conductor system 52 selectively receive ω ₂ .

The positive sequence voltage Vp ₁ and the negative sequence voltage Vn ₁ for the first conductor system 51 are given by the following equations.

Also, the positive sequence voltage for the second conductor system 52
Vp ₂ and negative phase voltage Vn ₂ are given by the following equations.

In addition, in equations (7) and (8), the subscripts 1 and 2 attached to k, α, and β are the first conductor system 5, respectively.
1 and the second conductor system 52.

Here, if Vp ₁ and Vn ₁ are multiplied by 2 and the phase difference with Vp ₂ and Vn ₂ is △φpi and △φni, respectively, then △φpi=∠Vp ₂ −2∠Vp ₁ △φni=∠Vn ₁ −2∠Vn ₂ (9).

Substituting equations (7) and (8) into the right-hand side of equation (9), we get △
The instantaneous values of φpi and △φni are as shown in the following equations.

△φpi=−2π/P ₁ (2−P ₁ /P ₂ )z+i+{2β ₁ (
ω ₁ )−β ₂ (ω ₂ )}z−(2ω ₁ −ω ₂ )t △φni=−2π/P ₁ (2−P ₁ /P ₂ )z+i−{2β ₁ (
ω ₁ )−β ₂ (ω ₂ )}z+(2ω ₁ −ω ₂ )t(10) Here, P ₁ =2P ₂ . Also, set ω ₂ to ω ₁ as 2
If the multiplied one is used, ω ₂ =2ω ₁ , and since the phases are also completely synchronized, (2ω ₁ −ω ₂ )t=0 holds true.

Therefore, equation (10) becomes as follows.

△φpi = i + {2β ₁ (ω ₁ )−β ₂ (ω ₂ )}Z △φni = i−{2β ₁ (ω ₁ )−β ₂ (ω ₂ )}Z(11) Inductive radio frequency band ( 50 to 200 KHz), the line constant is approximately proportional to the frequency ω, and as long as the dielectric constants of the line insulating medium are equal, the values are approximately equal. When Z is relatively small (Z < approximately 200 m), 2ω ₁ (ω ₁ )−β ₂ (ω ₂ )}Z≪1, and the approximate value of φi can be found from the value of △φpi or △φni, which allows the moving object to be within the i-th subsection Ni. You can see that it exists.

On the other hand, if Z is large (Z = 1000 to 2000 m) and the second term on the right side of equation (11) cannot be ignored, the error term is canceled out by finding the average value △φi of △φpi and △φni, and △ φi=1/2(△φpi+△φni)=i (12) Therefore, it is possible to know the exact i.

This method uses first and second conductor systems 51, 52.
Since the period of is 2:1, there is extremely little crosstalk between these two systems, and there is no risk of measurement errors increasing even if the line section is long.

FIG. 6 shows an example of the signal processing circuit in the second and third inventions.

The voltage between each conductor at the line terminal of the first conductor system 51 is converted into an unbalanced voltage by a transformer 64a ₁ , 64b ₁ , 64c ₁ , respectively, and a bandpass filter 9a ₁ ,
Guided by 9b ₁ and 9c ₁ . Filter 9a ₁ , 9b ₁ , 9c ₁
passes only the component with frequency ω ₁ of the input signal and blocks the component with frequency ω ₂ .

The output of each filter 9a ₁ , 9b ₁ , 9c ₁ is divided into two and guided to adders 66p ₁ and 66n ₁ , respectively.
Regarding the components going to the adder 66p ₁ , the output of the filter 9a ₁ directly reaches the adder 66p ₁ , whereas the outputs of the filters 9b ₁ and 9c ₁ reach the phase shift circuit 65.
After being subjected to a phase shift of -120° and +120° by bp ₁ and 65cp ₁ , respectively, it reaches the adder 66p ₁ . Therefore, the adder 66p ₁ performs an operation to obtain Vp ₁ in equation (2), and its output becomes Vp ₁ in equation (7). Regarding the components going to the adder 66n ₁ , the output of the filter 9a ₁ directly reaches the adder 66n ₁ , whereas the outputs of the filters 9b ₁ and 9c ₁ reach the phase shift circuit 6.
After being subjected to phase displacements of +120° and −120° by 5bn ₁ and 65cn ₁ , respectively, it reaches the adder 66n ₁ .

Therefore, in the adder 66n ₁ , Vn ₁ of equation (2)
An operation is performed to obtain Vn ₁ in equation (7).

Next, adders 66p ₂ , 6
6n ₂ , but the difference from the first conductor system 51 is that the bandpass filters 9a ₂ , 9b ₂ , and 9c ₂ pass only the component with a frequency of ω ₂ and block the component with a frequency of ω ₁ It is a point.

In addition, 64a ₂ , 64b ₂ , 64c ₂ are transformers, 65
bp ₂ , 65Cp ₂ , 65bn ₂ , and 65Cn ₂ are phase shift circuits, and the outputs of adders 66p ₂ and 66n ₂ are (8)
Vp ₂ and Vn ₂ in the equation.

The output of the adders 66p ₁ and 66p ₂ is the phase meter 67p.
Also, the outputs of the adders 66n ₁ and 66n ₂ are sent to the phase meter 6
7n respectively, adder 6
The outputs of 6p ₁ and 66n ₁ are respectively frequency doubler 1
After being doubled by 0p and 10n, the phase meter 67p,
67n is reached. The phase meter 67p performs calculations to obtain △φpi in equation (9), and the phase meter 67n performs calculations to obtain △φni in equation (9), and their outputs are calculated as △φpi and △φni in equation (11). becomes. Phase meter 67
The outputs of p and 67n are led to the adder 11, where calculations corresponding to equation (12) are performed, and a voltage or current proportional to φi is output, and the value is indicated to the meter 68.

In the case of the second invention, the adder 11 is omitted and the output of the phase meter 67p or 67n is instructed to the meter 68. Phase meter 67p, 67n,
The adder 11 and the meter 68 may be of either analog type or digital type.

FIG. 7 shows another example of the signal processing circuit in the second and third inventions, and the same reference numerals as in FIG. 6 are given the same reference numerals.

This embodiment is different _from the embodiment shown in _{FIG .}
a, 10b, and 10c are provided, but even in this case, the same results as in the embodiment shown in FIG. 6 can be obtained. So far, we have explained the case where ω ₂ = 2ω ₁ , P ₁ = 2P ₂ , but in general, ω ₂ = 2 ^m ω ₁ , P ₁
= 2 ^m P ₂ , multiply Vp ₁ and Vn ₁ by 2 ^m , and compare the phases of each with Vp ₂ and Vn ₂ to obtain exactly the same result. For example, the fifth
When a third conductor system (conductor shape pitch is P ₃ ) is further combined with the first and second conductor systems shown in the figure, and the antenna mounted on the mobile body is shared at three frequencies ω ₁ , ω ₂ , ω _{3 ,} , P ₃ =P ₁ /4, ω ₃ =4ω ₁ . The position information of the lower address is added to the waveform of the third conductor system (for example, the i-th section of the second conductor system is further divided into N sections, and for each of them, the waveform of the third conductor system is given a different phase amount. By combining this with the position information i of the second conductor system, further segmented position information can be obtained.

Although the above description assumes that each conductor system constituting the guided radio line is a three-phase three-conductor, the present invention is not limited to this, and generally is an M-phase, M-conductor (M is greater than 3). It will be obvious to those skilled in the art that it can be extended to integers). 8th
The figure is a partial explanatory diagram of a guided radio line made of M conductors, where 81 is a first conductor system and 83 is a mobile tower-mounted antenna. The first conductor system 81 has M conductors 81a, 81b, 81c, . . . having a waveform shape with a period P.
81n are arranged shifted by P/M.

Now, if the distance from the terminal of the guided radio line to the mobile tower-mounted antenna 83 is Z, then the conductors 81a, 81b, 8 of the first conductor system 81 at the line terminal
It is clear that the voltages V _ab1 , V _bc1 , ... V _oa1 induced between 1b and 81c, . . . 81n and 81a, respectively, can be expressed by the following equations.

V _ab1 =k cos2π/Pze ^- 〓 ^zj 〓 ^z (13) V _bc1 =k cos2π/P (z+1/MP)e ^- 〓 ^zj 〓 ^z 〓 V _oa1 =k cos2π/P (zM-1/MP)e ^- 〓 ^zj 〓 ^z (13) K: constant, α: line attenuation constant, β: line phase constant Here, regarding the voltage of M in equation (13), the positive sequence voltage V _b1 and the negative sequence voltage V _o1 are, It is defined as the following formula.

The following equation is obtained from equations (13) and (14).

As is clear from equation (15), properties similar to equation (3) concerning positive and negative sequence voltages in the case of three-phase three-conductor hold true even in the case of M-phase M conductor (M = 3
, then they are the same).

Therefore, if a second conductor system (not shown) is configured with M conductors whose phase is changed stepwise in each fixed section, the positive sequence voltage in this second conductor system
For V _p2 and the negative phase voltage V _o2 , an equation similar to equation (5) holds, so if equation (6) is used as is, the phase amount ψi can be found regardless of the value of M, and from this, the position of the moving object can be known.

Such a similar relationship is not limited to the first invention described above, but also applies to (7), (8), (9) in the second and third inventions.
It is obvious that the same holds true in Eq.

Although increasing the number of conductors has the disadvantage of complicating the guided radio line and signal processing circuit, it has the advantage of canceling out many harmonic components contained in the induced voltage, further improving measurement accuracy. There is. For example, if you use 6 phases and 6 conductors, the 3rd, 9th, 15th...
In addition to the next harmonic component, all even-order harmonic components can be eliminated. Incidentally, the shape of the conductor is not limited to the trapezoidal wave shape as shown in Figures 2 or 5, but may be rectangular or 8th wave.
It may be in the shape of a triangular wave as shown in the figure, or it may be not only flat but also spiral.

The present invention described above produces the following effects.

(1) The amount of positional information given per conductor is dramatically increased, and the line configuration is simplified, making it possible to realize an economical system.

(2) The conductor pitch can be selected to be extremely small (several tens of centimeters to several meters), so even when used in areas with severe ambient noise, induced noise is canceled out within the line and measurement accuracy does not deteriorate. .

(3) By setting the conductor shape pitch ratio of each conductor system to 1:2 ^m , crosstalk between conductor systems is significantly reduced and position detection accuracy is improved.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of a conventional example, Fig. 2 is an explanatory diagram of an example of a guided radio line in the first invention, Fig. 3 is an explanatory diagram of a state in which a moving vehicle running path is divided into small sections, and Fig. 4 is an explanatory diagram of an example of a guided radio line in the first invention. An explanatory diagram of an example of the signal processing circuit in the first invention, FIG. 5 is an explanatory diagram of an example of the guided radio line in the second and third inventions, and FIG. 6 is an explanatory diagram of an example of the signal processing circuit in the second and third inventions. FIG. 7 is an explanatory diagram of another example of the signal processing circuit in the second and third inventions, and FIG. 8 is a partial diagram of an inductive radio line made of M conductors. 1, 51, 81: first conductor system, 2, 52: second conductor system, 3, 53, 83: mobile mounted antenna, 4, 64: transformer, 5, 65: phase shift circuit,
6, 66: Adder, 7, 67: Phase meter, 8, 6
8: Indicator, 9: Bandpass filter, 10: Frequency doubler, 11: Adder.

Claims (1)

[Claims] 1. A first conductor system formed by M-phase M conductors (M is 3 or an integer greater than 3), and a second conductor system having a conductor shape pitch equal to that of the first conductor system.
A conductor system of The phase of the conductor shape of only one conductor system is changed stepwise each time it passes through the boundary of A moving body position detection method characterized in that a small section in which a moving body exists is known from a phase difference between positive phase components (or negative phase components) of a voltage between conductors of a second conductor system. 2. A first conductor system formed by M phase M conductors (M is 3 or an integer greater than 3);
A second conductor system formed of a conductor and having a conductor shape pitch of 1/2 m (m is any positive integer) of the conductor shape pitch of the first conductor system is laid along the moving vehicle running path. The guided radio track is divided into N subsections (N is 2 or an integer greater than 2), and only the second conductor system is connected each time the boundary of each subsection is passed. By changing the phase of the conductor shape stepwise, and exciting the above-mentioned inductive radio line with a mobile tower-mounted antenna to which a high-frequency current of frequency ω ₁ and frequency ω ₂ , which is ω ₁ multiplied by 2 ^m , is applied. A voltage is induced between each conductor of the first and second conductor systems, and for the first conductor system, a signal with a frequency ω ₁ is selectively received, and the voltage between the conductors for this signal is in the positive phase (or negative phase). ) component and then multiply it by 2 ^m , or multiply the voltage between each conductor by 2 ^m
After multiplying, the positive phase (or negative phase) components of these voltages are determined, and for the second conductor system, the signal with frequency ω ₂ is selectively received and the positive phase (or negative phase) component of each conductor voltage for this signal is calculated. The component of the moving object is calculated from the phase difference between the 2 ^m multiplied positive sequence (or negative phase) voltage of the first conductor system and the positive sequence (or negative phase) voltage of the second conductor system. A mobile object position detection method characterized by knowing the existing small section. 3. A first conductor system formed by M-phase M conductors (M is 3 or an integer greater than 3);
A second conductor system formed of a conductor and having a conductor shape pitch of 1/2 m (m is any positive integer) of the conductor shape pitch of the first conductor system is laid along the moving vehicle running path. The above-mentioned running route is divided into N small sections (N is 2 or an integer greater than 2), and each time the boundary of each small section is passed, only the second conductor system is constructed. The phase of the conductor shape is changed in a stepwise manner, and the above-mentioned inductive radio line is excited by a mobile tower-mounted antenna to which a high-frequency current of frequency ω ₁ and frequency ω ₂ , which is ω 1 multiplied by 2 _m , is applied. A voltage is induced between each conductor of the first and second conductor systems, and for the first conductor system, a signal of frequency ω ₁ is selectively received, and the positive-phase and negative-phase components of the voltage between each conductor for this signal are calculated. After asking for it
2 ^m , or the voltage between each conductor is multiplied by 2 ^m , and then the positive and negative phase components of these voltages are determined, and for the second conductor system, the signal at frequency ω ₂ is selectively received and each Find the positive-sequence and negative-sequence components of the voltage between the conductors, and calculate the phase difference between the positive-sequence voltage of the second conductor system and the 2 ^m multiplied positive-sequence voltage of the first conductor system, and the 2 ^m of the first conductor system. A moving object position detection method characterized in that a small section in which the moving object exists is determined from the arithmetic mean value of the phase difference of the multiplied negative phase voltage in the second conductor system.