KR900000812B1 - Sensing method for nonhumanbeing vehicle - Google Patents

Abstract

The sensor for sensing the tracking of an unmanned cart by coding the state of the track comprises data transmitters (10-40) for coding and transmitting the detected signal by pick up coils (IA-ID), a first driver (50) for shifting the output signal of a first data transmitter to most significant bit by a selecting signal, a second driver (60) for performing the same function to the output signal of the third and fourth transmitter, a microprocessor (70), a decoder (80) for transmitting a first enable signal to the first and second driver, and a first and a second selecting circuits (90,100) trasmitting enable control signal (MG1-MG2) for selecting the output signals of the first and the second driver.

Description

Sensing method increases the degree of freedom of tracking in self-guided driverless vehicles

1 is a block diagram according to the present invention.

2A to 2D are diagrams showing the track data of an unmanned vehicle.

3 is a concrete circuit diagram of an embodiment of FIG.

4 is a position diagram of a sensor.

Fig. 5 (a-c) shows the driving degree on the tee (T), cross (+) and dichro (c) tracks.

* Explanation of symbols for main parts of the drawings

1A-1D: Pickup Coil

10-40: 1-4 detection data output unit

50-60: 1-2 Optional Data Driver

90 -100: 1-2 selection circuit

80: decoder 70: microprocessor

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking sensing method in a self-guided unmanned vehicle. In particular, the present invention relates to a method in which a state of a track and an unmanned vehicle is encoded into digital data, and the encoded digital data is analyzed to sense tracking. It is about.

In general, the sensor used to use the unmanned broadcasting vehicle has a variety of methods such as tracking a light tape and a method of using a laser in addition to a method of detecting electromagnetic waves by flowing them through a loop. In the present invention, a sensor for detecting electromagnetic waves by flowing them in a loop is used.

Since two pick up coils are installed around the electromagnetic wave flowing in the loop, the input value of the induced voltage is read through the deviation detection device and applied to the steering motor by the difference of the value. It becomes possible.

However, in order to run various processes in this way, different frequencies are applied to the electromagnetic induction loop for each process, and in the unmanned vehicle, the specified frequency is filtered to run in order to track the designated process. Secondly, by oscillating various frequencies in the installed loops by process, if the length of the loop is long, there are many limitations in the expansion of the loop because there is a capacity limitation such as a large loop generator for loading low frequencies on the loop.

Thirdly, the automation of several processes has increased the cost of facilities due to the increased number of loop lines.

Accordingly, an object of the present invention is to digitally code the intensity of a single electromagnetic wave flowing through a loop, and to read the digitally coded signal with a predetermined control signal according to the driving direction by a microprocessor that controls the driving direction for each process of the unmanned vehicle. By providing a sensing method that increases the degree of freedom of tracking.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram according to the present invention, which picks up a magnetic induction electromagnetic wave flowing through a tracking loop TL and outputs a predetermined signal, and a signal picked up by the pickup coils 1A-1D. Are respectively inputted to filter to a predetermined frequency, amplified by a DC voltage corresponding to the electromagnetic wave intensity, and compared with the set level reference value to output the detected signal of each pickup coil 1A-1D as digital data. Four sensing data output units 10-40 and digital data output from the 1-2 sensing data output units 10 to 20 are input, respectively, and the first sensing date output unit is selected by a predetermined signal. A first selection data driver 50 for driving the output of the second sensed data output unit 20 to the data of the lower bit LSB as the data of the upper bit MSB, and the third to the third. 4D outputs from the sensed data output units 30-40, respectively. Input the de-data, input the digital data respectively output from the third sensing data output unit 30-40 by a predetermined selecting signal, and output the third sensing data output unit (by the predetermined selecting signal). A second selection data driver 60 for selectively driving the output of 30) as the data of the upper bit MSB and the output of the fourth sensed data output unit 40 as the data of the lower bit LSB; A microprocessor 70 for outputting an address and a control signal according to a program according to a driving direction of the process and inputting tracking sensing data from the 1-2 selection data driver 50-60 to adjust the driverless vehicle; A decoder unit 80 for decoding an address by an output control signal of the microprocessor 70 and outputting a first enable signal of the first and second selection data drivers 50 and 60; 70) Exodus A first and second selector for outputting the enable control signals MG _{1 to} LG ₂ capable of selecting the output of the 1-2 selection data driver 50-60 to upper and lower data by inputting an output address; It consists of a circuit 90, 100.

On the other hand, Figure 2a is a state diagram for detecting the intensity of electromagnetic waves induced in the loop (TL) installed on the ground pick-up coil (1A) (1D) of the unmanned vehicle, Figure 2 (bc) is input to the microprocessor when straight The configuration of the data digitized the signal detected by the pickup coil (1c-1d) of the upper bits and lower bits, and the signal of the upper and lower bits detected by the pickup coil (1c-1d) when the right turn Fig. 2d is a block diagram of the data obtained by digitizing the signal detected by the pick-up coils 1a-1b by the signals of the upper and lower bits in the case of the left turn.

Therefore, the pickup coils 1A-1D sense the intensity of electromagnetic waves induced from the loop TL installed on the ground as shown in FIG. 2A, and output the respective signals to the output units 10-40 of the first through fourth detection data as predetermined signals. When output, the first to fourth sensing data output unit 10-40 filters the electromagnetic wave induced voltage picked up by the pickup coils 1A-1D to a predetermined frequency and amplifies the DC voltage corresponding to the electromagnetic wave intensity to set the reference voltage. Compare with the level and output each as digital data.

In this case, the data of the first and third sensed data output units 10 and 30 are data of higher bits, and the data of the second and fourth sensed data output units 20 and 40 are data of lower bits. It is input to the two selector data drivers 50 and 60, respectively.

As described above, the first and second selecting circuits 90-100 detect an address signal according to a program according to driving of the driverless vehicle in a state in which electromagnetic data flowing through the loop TL is detected and digital data corresponding to the electromagnetic wave strength is output. And a control signal to the decoder unit 80 while being output to the decoder unit 80.

For example, when the driving of each driverless vehicle is input to the microprocessor 70 in a straight direction in a loop, the microprocessor 70 transmits the lower address signal LAS in the straight direction by using a built-in program. The output signal is output to the selecting circuit 90 and is output to the decoder unit 80 which receives the upper address signal MAS and the control signal CTL.

The decoder 80 which inputs the upper address signal MAS and the control signal CTL is enabled by a control signal to decode the upper address signal MAS so as to decode the first and second selecting circuits 90-100. Output as enable signal of.

Also, among the 1-2 selecting circuits 90-100 having input the lower address signal LAS, the first selecting circuit 90 uses the first selection data driver 50 as a second selecting circuit (2). 100 respectively outputs enable control signals MG ₁ and MG ₂ capable of selecting lower data of the second selection data driver 60.

Accordingly, the first and second selection data drivers 50 and 60 may detect the upper and lower data, that is, the signals detected by the pickup coils 1A and 1D, respectively output from the first and third sensing data output units 10 and 30, respectively. By outputting the microprocessor 70 inputs the data configured as shown in FIG. 2b to steer the driverless car so that it can go straight along the loop TL.

On the other hand, when the driving of each driverless vehicle is input to the microprocessor 70 in the right direction or the right direction in the loop of the track, the microprocessor 70 receives the address signal in the right direction or the left direction by the command to the program. ) Is output to the 1-2 selecting circuits 90 and 100, and the upper address signal MAS and the control signal CTL are output to the decoder 80.

At this time, the decoder 80 outputs the enable signal of the 1-2 selection data driver 50-60 as described above.

If the lower address signal LAS in the right turning direction is input to the 1-2 selecting circuit 90-100, only the second selecting circuit 100 receives upper and lower data of the second selection data driver 60. Only the selectable enable control signal MG ₂ -IG ₂ circuit 90 can select the upper and lower data of the first selection data driver 50. The enable control signal MG _1- LG ₁ )

Therefore, when the first selection data driver 50 outputs the lower address signal LAS in the left rotation direction from the microprocessor 70, the first selection data driver 50 outputs data in the configuration similar to that of the second diagram, and the second selection data driver 60 is a microcomputer. When the processor 70 outputs the lower address signal LAS in the right rotation direction, data is output to the microprocessor 70 in the configuration as illustrated in FIG. 2C.

Therefore, the microprocessor 70 may steer the driverless vehicle to sense and track the tracking by configuring the data as shown in FIG. 2 (b-d) and may sense and adjust the deviation from the loop by the sensed data.

FIG. 3 is a specific circuit diagram of an embodiment of the block diagram of FIG. 2, and a pickup coil 1A-1D for picking up electromagnetic waves flowing through the loop TL and outputting a predetermined signal, a frequency filter 11 and an amplifier 12. And the level determining unit 13 includes a first sensing data output unit 10 configured with a second sensing data output unit 20 including a frequency filter 21, an amplifier 22, and a level determining unit 23, A third sensing data output unit 30 comprising a frequency filter 31, an amplifier 32, and a level determining unit 33, and a frequency filter 41, an amplifier 42, and a level determining unit 43. A first selected data driver 50 composed of four sensed data output sections 40, drivers 51, 52, a second selected data driver 60 composed of drivers 61, 62, and each track. and process-specific data of the program loop, the program of microprocessor 70, Iowa gate (OR ₁₎ and, as composed of the decoder 81, the decoder unit 80, an inverter (n ₁ -N ₃₎ and with Consists of a gate (AN ₁₎ putting the first selector circuit 90, an inverter (N ₄ -N ₆₎ and the AND gate (AN _2), the second selector floating circuit 100 consisting of consisting of, wherein the frequency filter ( 11, 21, 31, and 41 are band-pass filtered the signals of the electromagnetic waves picked up by the pickup coils 1A-1D to output AC signals according to the electromagnetic wave strength, and the amplifiers 12, 22, 32, and 42 are The signal output from one frequency filter (11, 21, 31, 41) is amplified and output as a DC signal, and the level determining units (13, 23, 33, 43) are the amplifiers (12, 22, 32, 42). The amplified signal is compared with a reference voltage having a predetermined level to determine the level of the input voltage and output the digital data.

FIG. 4 is a diagram illustrating a mounting state of a pickup coil when the circuit of FIG. 3 is symmetrically configured and used in an unmanned vehicle. FIGS. 5a, b, and c show an unmanned vehicle of FIG. 4 in a T-type, + -type, and c-type track loop. As shown by the track sensing degree that the 110 can travel, in order to drive the driverless vehicle straight in FIG. 5a, the signal picked up by the omnidirectional sensor, that is, the pickup coils 1A-1B, must be read as track data and rotated. In this case, the track data picked up by the omni-directional sensor 1C-1D should be read. When the driverless vehicle reverses, the picked-up data from the rear sensor or pickup coil 2A-2D should be read.

In FIG. 5b to FIG. 4, when the driverless car goes straight, independent driving is performed. When the driver turns right, the signal picked up by the front sensor 1C-1D must be converted into a digital signal and read. The signal picked up by 1A-1B) is read as a digital signal, and in reverse, the signal picked up by the rear sensor 2A-2D, that is, the pickup coil 2A-2D at the rear, must be read as a digital signal. to be.

In FIG. 5C, when the drive is straight, the digital data sensed and converted by the front sensors 1a-1b is read. When the drive is turned right, the data converted by the front sensor 1c-1d and detected and converted into digital data must be read. It is a diagram showing that the rear sensors (2a-2d) should be read when driving.

Referring to the embodiment of the present invention with reference to the above-described drawings and configurations, when the pick-up coil (1A-1D) picks the electromagnetic wave flowing through the loop TL now and outputs a predetermined signal, each frequency The filters 11, 21, 31, and 41 perform bandpass filtering on the signals of the picked up electromagnetic waves, and output a signal corresponding to the electromagnetic wave induction intensity to each of the amplifiers 12, 22, 32, and 42 to perform a predetermined voltage amplification. Output to each level plate end 13, 23, 33, 43.

The level determining unit 13, 23, 33, 43 determines the level of the input voltage by comparing the signal picked up and amplified by each pickup coil 1A-1D with a reference voltage having a predetermined level. Outputs a signal of.

At this time, the outputs of the level determining unit 13, 23 are inputted to the drivers 51 and 61 as upper bit data, respectively, and the output 4 bits of the level determining unit 23 and 43 are the lower bit data. 52 and 62, respectively.

In this state, the pick-up coil 1D-1A picks up the electromagnetic wave flowing through the loop TL and inputs it to the drivers 51-61 as respective digital data. When the microprocessor 70 is input to the microprocessor 70, the microprocessor 70 outputs signals of two bits (A ₀ -A ₁ ) of the lower address LAS to the high and low, and at the same time with the read RD. The input / output request signal IOREQ is output as a low signal, and three bits of the upper address (MAS) are output by a predetermined logic.

Therefore, the decoder 81 is enabled by the output of the OR gate OR ₁ , and decodes the upper address (MAS) 3 bits to output the enable signals of the drivers 51-62.

In addition, the inverters N ₁ -N ₂ are logic signals of the lower address A ₁ as enable signals of the driver 51, and the AND gates AN ₁ and the inverter N ₃ are inverters N ₁ . Multiplies the lower address signal A ₁ inverted by the " high " signal of A ₀ and inverts the result to enable the driver 52 to convert the data of the level determination unit 13 (23) to the microprocessor 70. Output as data.

Therefore, it can be seen that the microprocessor 70 receives the track data detected by the pickup coils 1A and 1B and converted into data of the upper 4 bits and the lower 4 bits, wherein the microprocessor 70 reads the track data read. Steering the driverless car so that the driverless car can go straight on the T-shaped or C-shaped track loops.

On the other hand, when the right turn command is input to the microprocessor 70 in the T-shaped and C-type track loops, the microprocessor 70 outputs the signals of the lower addresses A ₀ and A ₁ by a built-in program. At the same time, the control signals RD and IOREQ and the upper address MAS are output as described above.

Therefore, the driver 62 is enabled by the inverters N ₄ -N ₅ , and the driver 61 is enabled by the inverters N ₄ -N ₆ and the AND gate AN ₂ , so that the pickup coil 1C-1D is enabled. The track data picked up by the reference) and converted into data of the upper four bits and the lower four bits are input to the microprocessor 70.

At this time, the microprocessor 70 which inputs the signal picked up by the pickup coils 1C-1D as the track data is a steering motor of an unmanned vehicle (not shown) so that the driverless vehicle can be turned right in a track loop configured as shown in FIGS. 5A and 5C. Adjust).

On the other hand, when the straight command of the driverless vehicle is input to the microprocessor 70 in the + type track loop as shown in FIG. 5B, the microprocessor 70 issues a straight command to the steering motor to drive the driverless vehicle independently. When the left turn command is input from the + type track loop, a straight command is given from the T and C track loops, and the track data picked up by the pick-up coils 1A-1B and converted into digital data are read as unturned track data and are unmanned. If you turn the car and turn right, it is the same as the T- and + -shaped driving.

Therefore, the induced voltage of the electromagnetic waves picked up by the pickup coils 1A-1D is detected, converted into digital data, and the microprocessor 70 senses tracking to steer the driverless vehicle to increase the degree of freedom in left and right rotation and straightness.

As described above, the present invention can connect a track loop having a single frequency to a loop for each process and can arbitrarily select the tracking data detected by the front and rear pickup coils under the control of a microprocessor. It is possible to reduce the derailment caused by the straight driving to the maximum and to easily extend the induction line by various processes with a single frequency loop.

Claims (1)

In a sensing method of increasing the degree of freedom of cracking in a self-guided unmanned vehicle having a pickup coil 1A-1D for picking up an induced voltage of electromagnetic waves flowing through a loop TL and outputting a predetermined signal, the picked-up signal is 1-4 detection data output for outputting the detection signal of each pickup coil 1A-1D as digital data by filtering each predetermined frequency by a predetermined frequency, amplifying with a DC voltage corresponding to the electromagnetic wave, and comparing it with a set level reference value. Input the digital data output from the unit 10-40 and the 1-2 detection data output unit 10-20, respectively, and output the first sensed data output unit 10 by a predetermined selecting signal. First selection data driver 50 for selecting and driving the output of the second sensed data output unit 20 as the data of the lower bit LSB as the data of the upper bit MSB, and the third to fourth sensed data. Output from output section 30-40 Input digital data, and outputting the third sensed data output unit 30 to upper bit (MSB) data and outputting the fourth sensed data output unit 40 to the lower bit by a predetermined selection signal. A second selection data driver 60 which selects and drives the data with the LSB data, and outputs an address and a control signal in accordance with a program according to a driving direction for each unmanned carrier process; A first processor of the first and second selection data drivers 60 by decoding the address according to the microprocessor 70 for adjusting the driverlessness by inputting the tracking detection data from the microprocessor 70 and the output control signal of the microprocessor 70. A decoder unit 80 for outputting a single enable signal and an output address of the microprocessor 70 are inputted to output an output of the 1-2 selection data driver 50-60 to upper and lower data. The first and second selecting circuits 90 and 100 outputting the enable control signals MG _{1 to} LG ₂ , which can be selected, to decode a predetermined control signal and an upper address MAS when the driverless vehicle is driving. Outputs to 80 to enable the 1-2 selection data driver 50-60, and outputs 2 bits (A ₀ , A ₁ ) of the lower address LSA in a low-high state when driving straight. The first selecting circuit 90 outputs an enable signal that allows the second selecting circuit 100 to select the lower bit data of the first select driver 50 and the lower bit data of the second select driver 60. The track data is read from the pick-up coils 1A and 1D by digital data, and the two bits (A ₀ ) and A ₁ of the lower address LAS are rotated and rotated. Enable and enable the second selecting circuit 100 to select the upper and lower bit data of the second selection driver 60. And it outputs a signal to the pick-up signal from the pick-up coil (1C-1D) to the digital signal leads to a data track system, characterized in that to adjust the car unattended.

Images