TW311210B - - Google Patents

Description

s ^ 12l〇Μ B7 V. Description of the invention (1) Technical field: The present invention relates to a method and device for guiding an unmanned vehicle along a guide cable. The guide cable is arranged under the road, exactly "The present invention uses two detection coils installed on the vehicle and arranged in a shape to detect an electromagnetic field vector independent of the space and the amplitude of the electromagnetic field. This information can be used to measure the lateral displacement of the vehicle relative to the guide cable. Drive the vehicle along the guide cable. Conventional technology In the conventional technology, there are existing vertical coils installed on unmanned vehicles. These coils are used to detect the electromagnetic field around the guide cable, and then automatically guide the unmanned vehicle to travel along the cable. In the device, one of the coils is placed vertically, and the other coil is placed horizontally. The voltages induced in the coils will be compared with each other and used to determine the lateral position of the coil relative to the guide cable. This position information is processed It can be used later to drive the vehicle. The output voltage associated with these coils varies proportionally with the following factors. These factors are: the frequency of the current in the pilot cable, the current amplitude of the pilot cable, and the radial distance from the pilot cable. The size of the coil core, the number of coil wire windings, and the angle between the coil main axis and a specific straight line are called beta angles. The specific straight line refers to the straight line formed by the cable and the center of the coil. Because each coil rotates on a plane perpendicular to the cable that can generate electromagnetic fields, when the coil core is parallel to the circular line of the magnetic flux, the output is based on the paper size. The Chinese National Standard (CNS) A4 specification (210X297 mm ) ~ 1- II n 1—-Λ I-(please read the precautions on the back before filling in this page) Printed by the Ministry of Economy Central Standards Bureau Employee Consumer Cooperative-4-Α7 Β7 311210 V. Description of the invention (2) The maximum, and when the coil core is perpendicular to the magnetic flux, that is, pointing, or away from the wire, the output will be the smallest (zero), therefore, the relative sexuality of the coil is in accordance with the beta angle of the "&"; sine (s in ) 〃 values vary. The sine reflects the ratio of the radial field to the ring field sensed at each coil position, and will affect the output of the sensor. Therefore, the difference in amplitude sensed between the two coils is based on the radial Terms, and the distance between the coil and cable currents, any of these factors will have a significant impact on the output signal. In addition, due to the beta angle, several radial fields related to traditional devices Or / and toroidal field information must be discarded, so that the degraded signal is noised. Another disadvantage existing in the traditional coil device is that the information provided by the coil only shows the approximate lateral displacement from the guide cable. Therefore, the vehicle The correction of driving direction can only be done in the opposite direction of displacement, and the accuracy is poor. Disclosure of the invention: One of the objects of the invention is to provide a device that can guide an unmanned vehicle to travel along a guide cable, which can measure the lateral displacement of the vehicle from the guide cable. The guide cable is Place it under the ground. Another object of the present invention is to provide a device that can guide an unmanned vehicle to travel along a guide cable that is placed under the ground and has a cable that is superior to the conventional device. Field of view ) Λ ° Another object of the present invention is to provide a device with a vertically arranged coil, this device can provide centrifugal displacement measurement information, and according to the measured paper size, the Chinese National Standard (CNS) Α4 specification (210X297 5) ----------- ί I installed-(please read the notes on the back before filling in this page), 1T printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 311210 A7 B7 Economy Printed by the Consumer Cooperative of the Central Bureau of Standards of the Ministry 5. Description of invention (3) The lateral displacement of the guide cable is required to guide the jfrrT: the driving of the tearing-off vehicle > where the guide cable is placed under the ground > The measured lateral displacement only depends on-an electromagnetic field vector * and is proportional to the amplitude of all electromagnetic fields > 6πl m off 0 Another aspect of the present invention is to provide a method of sensing the electromagnetic field vector at a certain point in space. This method can obtain an error signal. The measurement value defined by the error signal can be used to guide a yfm *. m man-driven vehicle travels above the guidance cable under the ground. 0 To achieve the above and other huge devices for guiding > frrp m man-driven vehicle to travel along a specific path, there is a A sensor that senses the amplitude and direction of the electromagnetic field around the cable and the above specific path refers to a guiding cable that is placed under the ground and carries a current. This current can generate an electromagnetic field in the space around the guiding cable. It is composed of the first and second spaced detection coils. The two-line m-turn main shaft system is installed in X ft shape. In this vehicle, the two main shafts can intersect in the direction of the current, and the detection coils are arranged in a positive and negative 4 5 degrees relative to the road surface. Each detection coil can detect the magnetic field radial and ring field vector of a certain point ~ 1 and 2 The processor that detects the coil communication will compare the magnitude of the radial quantity Cfej pm toroidal vector to obtain the measured value of the lateral position of the sensor relative to the guide cable. 0 The method of the present invention is used to guide A jfnt m man driving a vehicle travels along a specific path. This path is determined by a guide cable placed under a horizontal road. This guide cable generates an electromagnetic field in the surrounding space of the guide cable due to the current. The method includes the following steps. This paper scale applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -6 — A7 B7 5. Description of the invention (4) Put a first line Installed on the vehicle, the main axis of the coil is at a positive 45 degree angle to the horizontal; placing a second coil on the vehicle and the main axis of the coil at a negative 45 degree angle to the horizontal, and the first The main axis of the 1st and 2nd coils intersect in the direction of the current; sense the radial and circular field vectors of the magnetic field associated with each coil; compare the magnitude of the radial and circular vectors to determine the transverse direction of the intersection of the coil main axis and the centrifugal displacement information Location; and transmitting this information to a driving agency to control the vehicle. The above and other objects, features and advantages can be realized in detail through the following examples of realizing the present invention. The description and the accompanying drawings can be clearly understood. Brief description of the drawings: Figure 1 shows a front or rear view of an unmanned vehicle driving above the guide cable; Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs ^ 1 ^-^^^ 1 In ^ 1n -nn ^^^ 1 I (Please read the precautions on the back before filling in this page) Figure 2 shows the first and second coils installed at an angle of approximately plus or minus 45 degrees relative to the horizontal plane according to the present invention, and The field line and voltage vector of the electromagnetic field generated by the AC current in the guide cable; the block diagram in Figure 3 shows the various voltages that occur in the detection coil and how to convert it to the output centrifugal distance measurement signal, And FIG. 4 shows a block diagram of an example of the present invention. The preferred embodiment of the present invention will now refer to FIG. 1, which shows a paper standard traveling along a guide cable 12 applicable to the Chinese National Standard (CNS > A4 specification (210X297 mm) -7-3 ^ _ V. DESCRIPTION OF THE INVENTION (5) The front and rear ends of an unmanned vehicle 10, the guide cable is placed in a horizontal road 14 and a vehicle is equipped with two sensing coils 1 8 and 20 Sensor 16, one of the coils 18 is at a positive 45 degree angle with respect to the road 14 and the other coil 20 is at a negative 45 degree angle. The so-called positive 45 and negative 45 degree angles refer to the coils The angle of the shaft or its core relative to the road 14 or the horizontal plane, the main shafts of the coils 16 and 18 intersect in the direction of the current, and the guide cable 12 has an alternating current. If there is no external interference, it will produce The electromagnetic field of the annular magnetic field lines. These magnetic field lines can generate a voltage in the coils 18 and 20. This voltage can be used to measure the lateral centrifugal position of the vehicle 10 relative to the guide cable 12 and then control the vehicle to travel along the cable The following will explain how an unmanned vehicle 10 is guided in electric Above the cable 1 2, the dotted line in FIG. 2 represents the ring vector of the magnetic field around the guide cable 1 2. These field lines are used to represent that there is no ferromagnetic near the cable 12 where there is a ring break that can interfere with the field line Objects or other current carriers. Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page). Because the geometric positions of the main axes of coils 18 and 20 are positive or negative 45 degrees relative to the horizontal plane Angle, each coil will produce an output voltage, and this voltage is the vector sum of the horizontal and vertical parts of the cylindrical electromagnetic field of the guide cable 12, when the sensor 16 is located in the middle position above the cable, What each coil 18 and 20 see is the same horizontal and vertical signal amplitude, however, the signs of the signals are opposite, as if each coil 18 and 20 are the field sources seen at different ends of their main axis When the sensor 16 and the guide cable 12 are moved laterally to the left or right, the paper size of each coil is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 mm). -8-Central Standards Bureau of the Ministry of Economic Affairs Printed by the consumer cooperative A7 B7 V. Description of the invention (6) 1 8, 2 0 The output will be changed. The amount of this change is its position relative to the horizontal plane (positive and negative 45 degrees) and the error angle Theta in the vertical plane A function of the sum of the two. When the coil main axis is perpendicular to the guide cable 12, the coil signal or voltage will be the maximum, and when the coil main axis is directed to the guide cable, the signal and voltage will change to the minimum (zero ), Because the coil 18,20 is moving in a plane parallel to the cable 12, this will cut its cylindrical electromagnetic field, and the form of its output signal will be proportional to the sine value of (Bata angle coil 1 or 2) . Therefore, by dividing the radial difference by the sum of the loop vectors sensed by coils 18 and 20, the true position or error position information of the sensor 16 required by the echo circuit can be obtained, as explained below, The actual sign means that it is the radial sum divided by the difference of the ring vectors, but in order to retain the action of a hardware phase comparator to monitor ^ Guide a safe 〃, when selecting the polarity of coils 18 and 20, It is such that when the sensor 16 is located at the central position above the cable 12, the coil output has a phase difference of 180 degrees. Therefore, when the sensor 16 is at the central position above the cable 12, The magnitude of the vector is equal but the signs are opposite, the radial quantity is eliminated in the numerator, and the circular vector is doubled in the denominator, because the height h is maintained in the positive direction, that is, the sensor 16 stays above the cable 12, The denominator will never be zero and cause invalid driving control operations. Referring to Figure 2, the formula used is: This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) ---------- {II-- (Please read the precautions on the back first Fill in this page) Order 3ji2l〇 V. Description of invention (A7 B7

therefore

Diet ajlCe; (+/- Err) = Height

Signal of Coil 2 + Signal of Coil Signal of Coil 2-Signal of Coil Economic, printed by the Central Bureau of Standards and Staff Consumer Cooperative The following is a mathematical proof of the above linear measurement equation. The definition is: The clockwise (CW) angle from the vertical plane is positive. The line / distance between the center of the coil 18, 20 and the center of the cable 12 defined by the radius r. Current is defined as the current in the wire >> Frequency is defined as the frequency of the current. The height h is the vertical distance from the cable to the horizontal plane, during which the cables 18, 20 can move. The distance d (+/—) is the horizontal distance from the cable to the center of the coil. Alpha Coil 1 refers to the angle between the coil 1 and the vertical plane (+ 4 5). Alpha Coi 1 2 refers to the angle between the coil 2 and the vertical plane (-4 5

Theta is the error angle between radius and height. And K 1 is proportional to the current, frequency and inductance but inversely proportional to the radius. The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the precautions on the back before filling this page) 10-311210 A7 B7 5 、 Instructions for invention (8)

Signal Coil 1 = ΚΙ * SIN (Beta Coil 1) Signal Coil 2 = K1 * SIN (Beta Coil 2) as seen in Figure 2

l) (ίΧ 2)

Beta Coil and

Beta Coil 2

lpha Coil Alpha Coil 2 because when T h e t a = A 1 p h a C o i 1 1, B e t a C o i 1 1 will be zero, and when Theta = Alpha Coil 2 Beta coil 2 will be zero

Signal Coil 1 Signal Coil 2

SIN (Theta-Alpha Coil 1) SIN (Theta-Alpha Coil 2) (Formula 3) (Formula 4)

From, the triangle identity of SIN (AB) = SI Tibetan #) * COS (B)-COS (A) * SIN (B), the above equations 3 and 4 can be expanded into Signal ΚΙ * (SIN (Theta) * COS ( Alpha Coil 1) COS (Theta) * SIN (Alpha Coil 1)) ^^^ 1- ^^^^^ 1 Av ^ n nn n- nn ^^ — ^ 1 ^^^^ 1 1 ei ^ J 0¾., \ County i ^ (Please read the notes on the back before filling out this page) Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs

Signal fc'Ml 2 = K1 * (S IN (Theta) * COS (Alpha Coil 2) COS (Theta) * SIN (Alpha Coil 2)) (/ binary 5) 6) Because by definition Alpha Coil 1 = positive 4 5 degrees and Alpha Coil 2 = — 4 5 degrees can be seen, = COS (Alpha Coil 1) = 2) = COS (Alpha Coil 2)

This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) 11 A 7 B7 V. Description of the invention (9) All the amplitudes are equal to (square root of 2) / 2, approximately equal to 0.7 0 7 ... Referring to the geometric relationship shown in Figure 2, it can be seen that and

SIN (Theta) »DjU / Radius * d / r COS (Theta) / Radius = h / r equation Yan can be simplified to

Signal Coi | ^ Edge Kl * (d / r A 0.707-h / r * 0.707) Signal Co Gold K1 * (d / r * 0,707-h / r *-.707) (Please read the notes on the back before filling in This page) installed. Or when the economy, the Central Standards Bureau staff consumption cooperation du printed

therefore

Signal Coil 2 + Signal Coil 1 φη = Height ........................, Signal Coil 2-Signal Coil 1 use The above scheme, combined with the known device, can be applied to the Chinese national standard (CNS) A4 specification (210X297 mm) as shown in Figure 3-Paper 12-Printed by the Employees Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. a? B7_ V. The block diagram of the description of invention (10) is general, realizing the driving control function of the unmanned vehicle. Referring to FIG. 3, it can be seen that the implementation of the above schemes requires the use of a single square port, subtraction, multiplication and division operations, and can be completed using analog or digital electronic components. The rest of the signal adjustment, that is, filtering, AC demodulation and A / C conversion can be easily done. In order to use the sensor 16, the outputs of the coils 18, 20 must be demodulated synchronously in order to retain the sign information. The block diagram in FIG. 4 shows a method of implementing a coil sensor 16 for a driving control system of an unmanned vehicle 10. The following will explain the above-mentioned '^ Χ —coil " configuration in conjunction with FIG. 4, this coil configuration is used to drive and control the vehicle 10, where the working height is 3 inches higher than the guide cable, so that positive and negative 3 can be obtained Inch hardware ^ guide a safe ^ width, and the above guide cable carries a current of 100 milliamperes, however, for the situation where the sensor height h must be higher or lower, the following will be used The mentioned software '" guides a safe 〃 function, so that the sensor 6 can easily cover the height range of 1 to 6 inches, if using automatic gain control (AGC), it can be controlled by a digital Software package to handle the cable current range of 20 to 400 mA, the height range of 1 to 6 inches and the horizontal displacement range of plus or minus 12 inches. Using high-quality filters and synchronous demodulator, all external signals that are not synchronized in frequency and phase are excluded. However, a signal that is not excluded is adjacent to the same wire, such as one in the path , Return cut (return cut), this return cut will interfere with the electromagnetic field 'and then shift the zero point seen by the sensor. This interference will cause the zero point of this paper scale to apply the Chinese National Standard (CNS) A4 specification (210X297 Mm) ^^ 1 · nn nf —mu J- ^ ϋ nn Shi In ^ J. u ^ 1. ^ 1 m · n ^ l nn ti I 〆 (please read the precautions on the back before filling out this page)- 13-A7 __B7_ printed by the Employees ’Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Invention description (11) The displacement is directly proportional to the distance between each cable and the sensor, that is, if the height is 3 inches and the return cut is 2 At 4 inches, this zero will shift 3/2 4 times the unit output position (at a height of 3 inches, a displacement of 3 inches), or 3/23 * 3 = 3/8 inches, and shift The direction is related to the phase of ^ Return Cut ", half of the distance between the two cables In any case, the final circular vector cannot be formed, and the divisor will be zero. Since the return cut is close to 20 feet, the linear region will also fall in the range of 10 to 12 inches. Therefore, the existing software package will The full range of the sensor's output signal is set at plus or minus 8 inches of horizontal displacement. Therefore, the field of view seen by the sensor 16 will be greatly increased without losing the directionality of the left and right sides, which can improve the retrieval procedure of " offline control A, and can greatly improve the linearity and vehicle sensing The height of the device is cut into the required current supply, and all the outputs will become the standard plus or minus 8 inch ratio, which will provide plus or minus 4 inch off-line driving adjustments, taking into account the ^ return to cut 'and / or the central placement of the load. Wider "quote" and linearity can provide variable programmatic 'Guide Safety' limits, this feature has proven to be extremely suitable for monitoring ^ offline control #, just as the AN SI specification allows the use of positive and negative in this operation The 6-inch guidance and safety window, the internal hardware phase comparator provides the main positive and negative ^ guidance safety " output, but this window is not set to plus or minus 3 inches for all sensor heights. Due to the use of the Χ_coil 〃 configuration, the positive and negative ^ guidance safety 〃 window will be equal to the coil 18, 20 higher than the height h of the wire, that is, for a sensor 16 that is 3 inches high in the center above the wire , ^ Guide this paper standard is applicable to China National Standard (CNS) A4 specification (210X 297mm) --------- 1 I installed-(please read the precautions on the back before filling this page)- D-'9 A7 _B7______ V. Description of the invention (12) Safety 〃 The window will be plus or minus 3 inches, and if the wire depth changes plus or minus one-half inch, the window will change plus or minus one-half inch. Under the control of the processor, the digital driving control software controls which one or two "Guide One Safe" signals should be activated. Although the above has disclosed the best embodiments of the present invention, those skilled in the art can seek various changes and designs without exceeding the scope of the present invention. The scope of the present invention is defined by the following patent application. ---------- 1 · I installed ------ ordered ------ ^ \ (please read the notes on the back before filling out this page) Employee consumption of the Central Bureau of Economic Affairs of the Ministry of Economic Affairs The size of the paper printed by the cooperative is applicable to the Chinese National Standard (CNS) A4 (210X297mm)

Claims (1)

A8 B8 C8 ____ D8 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs VI. Scope of Patent Application 1_ A device used to guide an unmanned vehicle to travel along a specific path. This specific path is made by a person placed on a horizontal road The definition of the guide cable in the 'This cable carries current, so an electromagnetic field can be generated in the space around the guide cable. The device includes: a sensor device to sense the direction and amplitude of the electromagnetic field; the sensing The device includes the first and second detection coils spaced apart, and their main shafts are installed on the vehicle in an X-coil configuration, so that the main shafts of the coils cross each other and are approximately positive and negative relative to the road surface 4 5 degree angle arrangement; each detection coil senses the radial and circular field vectors of the magnetic field; and a device that communicates with the first and second detection coils to compare the amplitude of the circular vector and the magnitude of the radial quantity In this way, the lateral position of the sensor device relative to the guide cable can be determined. 2. The device as described in item 1 of the patent application, in which the first and second coils have a core length and a core diameter, and the space between the two coils is at least equal to one core length. 3. If the device in the first item of the patent application scope, it also includes a carrier board with the first and second sides for mounting the first detection coil on the carrier board at a positive 45 degree angle On the first side, the second detection coil is installed on the second side at a negative 45 degree angle, wherein the carrier plate is fixed on the vehicle. 4. The device as described in item 2 of the patent application, where the comparison device divides the radial amount of the electromagnetic field detected by the circular vector, and this ratio is proportional to the horizontal position of the sensor. Above the height of the cable This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) ~~ " ~ (please read the precautions on the back side before filling in this page J • etc.-order · ball · 311210 A8 B8 C8 D8 6. Applying for a patent application (please read the precautions on the back before filling in this page) 5. If the device in item 4 of the patent application scope, it also includes the device used to control the vehicle and communicate with the comparison device A device for vehicle driving control with the updated output data from the comparison device. 6. As the device in item 5 of the patent application scope, the driving control device is a digital driving control system. 7. If the patent application scope The device in item 5, where the driving control device is an analogous driving control system. 8. A method for guiding an unmanned vehicle to travel along a specific path, which is placed by a water As defined by the guide cable in the road, this cable carries current, so an electromagnetic field can be generated in the space around the guide cable. The method includes the following steps: Put a first coil with a coil main axis relative to The positive 45 degree angle of the horizontal plane is installed on the vehicle; a second coil with a coil main shaft is installed on the vehicle at a negative 45 degree angle relative to the horizontal plane, and the first and second coils Spindle intersection; The Ministry of Economic Affairs, Central Bureau of Standards, Uncle Consumer Co., Ltd. prints the circular and radial field vectors for sensing the electromagnetic field related to each coil; compare the radial magnitude of each coil with the circular vector amplitude, so that the relative intersection of the coil main axis To guide the lateral displacement of the cable, which in turn indicates the lateral displacement of the vehicle relative to the path. 9. The method as described in item 8 of the patent application, in which when the second coil is installed, the interval including the coil is at least one line The length of the coil core. 1 0. As in the method of item 9 of the patent application scope, it also includes the application of the horizontal paper size to the Chinese National Standard (CNS> A4 specification (21 X: 297 mm) -17-311210 戠 C8 D8 VI. The scope of the patent application to the displacement, the information is sent to a controller to control the vehicle. 1 1. As in the method of patent application item 8, the coil The transverse wing at the intersection of the main axes is defined as: Distance (+/- Height Signal of Coil 2 + Signal of Coil Signal of Coil 2-Signal of Coil where the distance (+/—) = the horizontal distance from the coil center to the cable Height = the vertical distance that the coil can move from the cable to the horizontal plane (please first Read the precautions on the back and then fill out this page) .I · Ί —-- I —J -installation. Order-I Line The Ministry of Economic Affairs Central Standards Bureau Employee Consumer Cooperative printed various paper standards and used the Chinese National Standard (CNS> A4 specifications (21〇x297 mm _ 18 _