JPS641807Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a device for transmitting information from an unmanned vehicle to the ground side in an unmanned vehicle system that travels along a guide line.

Problems to be Solved by the Invention Figures 2 to 7 show a device developed by the applicant for transmitting information from an unmanned vehicle to the ground side.
In this specification, the center line of the transmitting coil is defined as follows. That is, as shown in Figure 1,
When a certain axis N is imagined and a conducting wire is wound around this axis N, this imagined axis N is called the central axis of the transmitting coil.

In FIGS. 2 to 7, the unmanned vehicle 1 travels along a guide line 2 laid along its travel route.
An induced current of a predetermined frequency is passed through the induction wire 2 by a transmitter 3. The unmanned vehicle 1 is provided with a pair of steering pick-up coils (not shown) on the left and right sides of the left and right center line M of the unmanned vehicle 1, and the induced current flowing in the induction wire 2 is detected by the pick-up coils. do. The unmanned vehicle 1 is steered to the left or right depending on the difference in voltage induced in the left and right pickup coils by the induced current.

A transmitting coil 4 is attached to the unmanned vehicle 1 on its center line M so that its center axis N is horizontal within a plane orthogonal to the center line M.

The guide wire 2 is fitted into a guide wire embedding groove 5 formed along the travel route of the unmanned vehicle.
In addition to the guide wire 2, a receiving antenna wire 6 is fitted into the guide wire embedding groove 5. This receiving antenna line 6 is connected to a receiver 7 provided at a control center on the ground side.

FIG. 6 shows a signal generator mounted on the unmanned vehicle 1. The signal generator 8 is provided with an oscillation circuit 9 that generates signals at a plurality of predetermined different frequencies f1, f2, . . . fn. The output signals of each oscillation circuit 9 are sent to a mixer 11 through a gate 10 and mixed therein, amplified by an amplifier 12, and then applied to a transmitting coil 4. The gate 10 has a combination signal setting device 13
The gate is controlled by a gate control signal, and when the gate control signal is output, the gate is opened for a certain period of time. Each frequency f1, f2...fn is of course different from the frequency of the induced current flowing through the induction wire 2.

FIG. 7 shows the receiver 7 of the control center. A voltage is induced in the receiving antenna wire 6 by the alternating magnetic field generated by the transmitting coil 4.
This induced voltage is sent to the receiver 7 of the control center. The receiver 7 includes an amplifier 14 that amplifies the received signal sent through the receiving antenna line 6.
and a discrimination circuit 15 that discriminates the frequency of the received signal. The discrimination circuit 15 has frequencies f1 and f2.
. . . It is equipped with a filter 16 that distinguishes and extracts fn from each other, and detects the frequency of the signal received by the receiving antenna line 6. Therefore, the information set by the combination signal setting device 13 of the unmanned person 1 is identified in the control center.

The change in voltage induced in the receiving antenna wire 6 when the unmanned vehicle 1 is moved in the left and right direction is the 11th change.
It is shown by curve a in the figure. The induced voltage in the receiving antenna wire 6 is caused by the transmitting coil 4
It increases rapidly as it approaches the position directly above the receiving antenna line 6, and reaches its maximum at the position directly above the receiving antenna line 6. Further, this voltage curve a is symmetrical with respect to the receiving antenna line 6.

In the above information transmission device from the unmanned vehicle to the ground side,
Since the transmitting coil 4 is provided on the center line M of the unmanned vehicle 1, the straight part of the traveling route is
When the vehicle is running, the transmitting coil 4 is located almost directly above the receiving antenna line 6, but when the vehicle is traveling around a curve, the transmitting coil 4 is displaced from the position directly above the receiving antenna line 6. Sometimes. This poses a problem in that the induced voltage in the receiving antenna line 6 is extremely reduced, making reception impossible.

The purpose of this invention is to provide an information transmission device from an unmanned vehicle to the ground side that has a wide reception range.

Means for solving the problem The information transmission device from the unmanned vehicle to the ground according to this invention comprises a signal generator that outputs a signal having one or more frequencies selected from a number of different predetermined frequencies according to information to the unmanned vehicle traveling along a guide wire laid on the ground;
In an information transmission device from an unmanned vehicle to the ground, the device is provided with a transmitting coil for transmitting a signal from a signal generator, and a receiving antenna wire is provided on the ground side, laid along an induction wire, the receiving antenna wire is fitted into a groove for laying the induction wire together with the induction wire, the transmitting coils are provided in a pair at approximately the same height on either side of a center line that passes through the left-right center of the unmanned vehicle and extends in the front-rear direction, and each transmitting coil is arranged so that its center axis is horizontal within a plane perpendicular to the center line, or inclined upward toward the center line.

Embodiments Hereinafter, embodiments of this invention will be described with reference to FIGS. 8 to 11.

8 and 9 show a first embodiment of this invention. This example is similar to the second example already explained.
The only difference from those shown in FIGS. 7 to 7 is the number and arrangement of transmitting coils 4, and other points are the same. In this embodiment, the transmitting coil 4
are provided in pairs on the left and right at the same height across the center line M of the unmanned vehicle 1, and each transmitting coil 4 is
The center axis N thereof is arranged horizontally within a plane orthogonal to the center line M. The same signal is applied to the pair of coils 4 at the same time.

Curve b in FIG. 11 shows the change in voltage induced in the receiving antenna wire 6 by the pair of left and right transmitting coils 4 when the unmanned vehicle 1 in this embodiment is moved in parallel from side to side. . It can be seen that the reception range is much wider than curve a.

FIG. 10 shows a second embodiment of this invention. In this embodiment, as in the first embodiment, a pair of transmitting coils 4 are provided on the left and right sides of the centerline M of the unmanned vehicle 1 at substantially the same height. However, each transmitting coil 4 is arranged so that its central axis N is tilted upward at a required angle θ toward the center line M within a plane orthogonal to the center line M of the unmanned vehicle 1. This angle of inclination θ may be determined experimentally so as to obtain a desirable coil spacing and induced voltage.

Curve c in FIG. 11 shows the change in voltage induced in the receiving antenna wire 6 by the pair of left and right transmitting coils 4 when the unmanned vehicle 1 in this embodiment is moved in parallel in the left and right direction. . In this case as well, as in the first embodiment, the reception range is much wider than curve a.

Effects of the invention As shown in Fig. 11, the information transmission device from the unmanned vehicle to the ground side according to this invention has a very wide reception range, and there are times when it becomes impossible to receive information while driving around a curve. You can avoid that.

[Brief explanation of the drawing]

FIG. 1 is a sectional view and a front view showing a transmitting coil, and FIGS. 2 to 7 show an example of an information transmission device from an unmanned vehicle to the ground side developed by the applicant. The figure is an overall schematic diagram, Figures 3 to 5 are schematic configuration diagrams showing how the transmitting coil and receiving antenna wire are installed, Figure 6 is a circuit diagram showing the signal generator, and Figure 7 is the receiver. The circuit diagrams shown in FIGS. 8 and 9 show the first embodiment of this invention, the schematic configuration diagram showing the transmitting coil, and FIG. 10 show the second embodiment of this invention. Corresponding figure, No. 11
The figure is a graph showing the induced voltage characteristics of the receiving antenna line in the first and second embodiments of this invention. 1...Unmanned vehicle, 2...Guiding wire, 4...Transmitting coil, 6...Receiving antenna line, 8...Signal generator.

Claims (1)

[Claim for Utility Model Registration] A signal having one or more frequencies selected from a plurality of predetermined different frequencies according to information to an unmanned vehicle running along a guide line laid on the ground. An unmanned vehicle is equipped with a signal generator that outputs a signal, a transmitting coil that transmits a signal from the signal generator, and a receiving antenna wire that is laid along a guide wire on the ground side. In this information transmission device, the receiving antenna wire is fitted together with the guiding wire into a groove for laying the guiding wire, and the transmitting coil is inserted between the center line that passes through the left and right center of the unmanned vehicle and extends in the front and back direction. A pair of transmitting coils are provided at approximately the same height, and each transmitting coil is arranged so that its center axis is horizontal within a plane orthogonal to the center line or tilts upward toward the center line. A device for transmitting information from an unmanned vehicle to the ground side.