SU1139378A1 - Method of orientation of self-propelled machines in alternating electromagnetic field of current-carrying wires - Google Patents

Abstract

THE METHOD OF ORIENTATION OF SELF-PROPOSED MACHINES IN A VARIABLE ELECTROMAGNETIC FIELD OF CURRENT CONDUCTING WIRES, including creating a standing electromagnetic wave in current-carrying wires, measuring the intensity of the electromagnetic field of a standing wave, converting it into an electrical signal and determining the location of the self-propelled machine in the form of an EMF of the standing field of the electromagnetic field of the standing wave, converting it into an electrical signal and determining the location of the self-propelled machine. characterized in that, in order to increase the reliability of the orientation of the self-propelled machine along the current-carrying wires, in the latter they create a traveling electromagnetic a wave with a length different from that of a standing wave, simultaneously. In particular, when measuring the intensity of the electromagnetic field of the standing wave at the same points, the measurement of the intensity vector of the electromagnetic field of the traveling wave, which is converted into an electrical signal, is determined by the ratio of the signals of the intensity vector of the electromagnetic fields standing and traveling waves and by this ratio determine the location of the self-propelled vehicle on the marCho schrut. from 00 00

Description

This invention relates to the automatic movement control of self-propelled machines.

A known method of orientation of self-propelled machines in an induction field involves converting the intensity of an induction field to the corresponding voltage, comparing it with a standard for a given equidistant line, extracting an error signal (as the difference of these voltages), orienting self-propelled machines along a zero equidistant line of the induction field, which is created by unidirectional currents, and the selection of the error signal (as the difference after comparing it with a zero reference voltage) 1.

However, in the known method, the orientation of the self-propelled machine is reduced only to controlling the movement of the machine along a predetermined trajectory, while there is no information about the distance traveled, which limits the possibilities of automatic control of the self-propelled machines.

The closest to the proposed method is the orientation of self-propelled machines in an alternating electromagnetic field of current-carrying wires, including the creation of a standing electromagnetic wave in current-carrying wires, measuring the intensity vector of an electromagnetic field of a standing wave, converting it into an electrical signal and determining the location of the self-propelled machine on the route counting nodes standing wave 2.

The disadvantage of this method is the low reliability of orientation of the self-propelled machine along the current-carrying wires with an arbitrary arrangement of the machine body relative to the guides.

The purpose of the invention is to increase the reliability of the orientation of the self-propelled machine along the current-carrying wires.

The goal is achieved according to the method of orientation of self-propelled machines in an alternating electromagnetic field of current-carrying wires, including creating a standing electromagnetic wave in the current-carrying wires, measuring the intensity vector of an electromagnetic field wave, converting it into an electrical signal and determining the location of the self-propelled machine on the route by counting the nodes of a standing wave, in the current-carrying wires create a traveling electromagnetic wave with a length different from the length of the standing wave, one temporarily with the measurement of the vector field strength of the electromagnetic field the standing wave at the same points t derivatives measurement vector field strength of the electromagnetic wave traveling floor, which is converted into an electrical signal, determining the ratio of signals

of the electromagnetic field strengths of the standing and traveling waves, and this relationship determines the position of the self-propelled vehicle on the route.

FIG. 1 shows a device that implements the proposed method of orientation; in fig. 2 - diagrams of stresses of standing and traveling electromagnetic waves and corrected standing electromagnetic waves.

A device that implements the proposed orientation method consists of a generator of sinusoidal oscillations 1, producing alternating voltages of low and high frequencies, current-carrying wires 2, a sensitive element 3, electric filters 4 and 5, converters 6 and 7, a correction unit 8, a comparison unit 9.

The method is carried out as follows.

Along the path of the self-propelled machine, current-carrying wires 2 are laid, in which, using a sinusoidal oscillator 1, generating high and low sinusoidal voltages, create a high-frequency high-frequency with an amplitude value of Uc and a low-frequency traveling wave with an amplitude value. Then, at the same time, the vectors of the stresses are measured.

, and traveling waves with the help of the sensing element 3, which achieves the measurement of these tensions at the same point in space. The high-frequency filter 4 extracts the measured vector of the stress of the standing wave, and the low-frequency filter 5 often

5 you are the vector of traveling wave intensity. In converters 6 and 7, these vectors are converted into electrical signals Uc and U, which are fed to correction block 8, by which they calculate the ratio of the standing wave intensity Uci signal to the signal Urf running wave intensity, and equal to Ucj / U j) in block 9 of the comparison, determine the location of the self-propelled vehicle on the route. The relationship between nodes is one hundred

5 waves change within (uax in the first quarter of the standing wave, and in the second one, i.e., each relation will have its own point between the nodes (when a standing wave hits the node, we have, and the impedance is Um "). These moments can be discretely determined by the location of the self-propelled vehicle on the route, and by intermediate values of the relationship - the position between the standing wave nodes.

5 The proposed method. Orientation of self-propelled masin in the alternating electromagnetic field of the current-carrying wires (compared with the known methods) increases

reliability of orientation, and the efficiency of the method is achieved by measuring the standing vector and traveling wave intensity vectors at the same point

space, which reduces the dependence of the orientational orientation on the location of the self-propelled machine relative to the current-carrying wires.

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FIG. 2

Claims (1)

METHOD OF ORIENTATION OF SELF-PROPELLED MACHINES IN A VARIABLE ELECTROMAGNETIC FIELD OF CURRENT-CARRYING WIRES, including the creation of a standing electromagnetic wave in current-carrying wires, measuring the vector of the electromagnetic field strength of a standing wave, converting it into an electrical signal and determining the location of a self-propelled machine along the route by calculating nodes that, in order to increase the reliability of the orientation of the self-propelled machine along the conductive * wires, in the latter they create a traveling electromagnetic wave Well, with a length different from the length of the standing wave, at the same time. When measuring the vector of the electromagnetic field strength of the standing wave at the same points, they measure the vector of the electromagnetic field strength of the traveling wave, which is converted into an electrical signal, determine the ratio of the signals of the electromagnetic field strength vectors of the standing and traveling waves, and determine the location of the self-propelled vehicle along the route from this ratio. SU „„ 1139378 Figure 1