WO1983002165A1 - Systeme indicateur de position - Google Patents

Systeme indicateur de position Download PDF

Info

Publication number
WO1983002165A1
WO1983002165A1 PCT/AU1982/000209 AU8200209W WO8302165A1 WO 1983002165 A1 WO1983002165 A1 WO 1983002165A1 AU 8200209 W AU8200209 W AU 8200209W WO 8302165 A1 WO8302165 A1 WO 8302165A1
Authority
WO
WIPO (PCT)
Prior art keywords
beams
desired location
overlapping
binary code
indicating
Prior art date
Application number
PCT/AU1982/000209
Other languages
English (en)
Inventor
Scientific And Industrial Research ... Commonwealth
Original Assignee
Kachwalla, Zain
Poulton, Geoffrey, Thomas
Craggs, John, Stanley
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kachwalla, Zain, Poulton, Geoffrey, Thomas, Craggs, John, Stanley filed Critical Kachwalla, Zain
Publication of WO1983002165A1 publication Critical patent/WO1983002165A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G01S1/703—Details
    • G01S1/7032—Transmitters
    • G01S1/7034—Mounting or deployment thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G01S1/703—Details
    • G01S1/7032—Transmitters
    • G01S1/7038—Signal details
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2201/00—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters
    • G01S2201/01—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters adapted for specific applications or environments

Definitions

  • a POSITION INDICATING SYSTEM The present invention relates to a position indicating system using modulated electromagnetic radiation.
  • the present invention rises out of the need to position large trucks to an accuracy of the order of 2-3 cm. Such accuracy is required in the loading and unloading of cargo containers onto and from trucks from and onto ships by means of gantries or cranes.
  • the invention provides apparatus for indicating the positioning of a body at a desired location, said apparatus comprising transmitter means for transmitting at least two differently modulated beams of electromagnetic radiation which have a region of overlapping modulation at the desired location, and detector means adapted to be carried on said body into said beams, said detector means comprising demodulating means for demodulating the received radiation and responsive to said overlapping modulation to provide an output indicating that the body is at the desired location.
  • the radiation is infrared radiation and the beams are each pulse width modulated with a unique binary code.
  • the overlapping modulation consists of the presence of pulse codes from both beams.
  • Fig. 1 is a schematic end elevational view of a mobile gantry adapted to unload containers from trucks and load same onto ships;
  • Fig. 2 is a schematic side elevational view of the transmitter and truck of Fig. 1;
  • Fig. 3 is a block diagram of the transmitter _____
  • Fig. 4 is a block diagram of the receiver electronics.
  • the gantry 5 includes lifting apparatus (not illustrated) which grasps the container 1 and lifts it from the truck 2 and onto the ship 4.
  • lifting apparatus it is necessary that the truck 2 be positioned longitudinally with some degree of accuracy.
  • the lifting apparatus on the gantry 5 is approximately 10 metres above the level of the wharf 3 and the truck 2 must be longitudinally positioned with an accuracy of the order of 2-3 cm. Similar considerations apply when loading the truck 2 with a container 1 from the ship 4.
  • an infrared transmitter 7 is positioned on the gantry 5 and a single detector 8 is located on the upper surface of the cabin of the truck 2.
  • the transmitter 7 includes two infrared emitting diodes 9 and 10 which are located as shown with respect to a mirror assembly containing two parallel front-silvered mirrors 11 and 12. Infrared radiation from 10 reflects from both mirrors, producing a ' beam C with a sharp spatial edge.
  • Infrared radiation from 9 passes by the top rear edge of mirror 11, producing a second beam D with a sharp spatial edge. These edges overlap slightly to define the desired position of the detector 8 when the truck 2 is located in the desired position below the gantry 5 (or relative to the crane) .
  • Two further infrared emitting diodes 13 and 14 produce approach beams A and B which warn the; truck driver of the proximity of the stopping point. Any suitable method of modulating the four beams which will discriminate amongst them can be used.
  • a pulse width modulated subcarrier using four bits to differentiate between the diodes, is used.
  • the diodes 9, 10, 13, 14 radiate the binary codes 1000, 0100, 0010 and 0001, respectively. This allows ready detection of each region and each overlap.
  • the transmitter's electronic circuit is shown in Fig. 3, and operates as follows.
  • An oscillator 30 provides a subcarrier frequency of 35kHz. This is divided by 8 to give the fundamental pulse rate, and further by 64 to give the frame rate (the rate at which the entire signal repeats) .
  • a pulse width modulator 35 produces for each diode the required driving current, which comprises four bursts of 35 kHz, three short and one long. (The long burst corresponds to 1, the short to 0) . Each diode is driven by a different pattern of bursts, thus providing the unique individual binary codes.
  • Fig. 4 shows the operation of the detector 8 when it enters any of the beams A, B, C or D.
  • the 35 kHz modulated infrared beam is detected by a PIN photodiode 40 and then amplified by a low noise tuned amplifier 42.
  • the signal is then demodulated by a pulse width demodulator circuit 44, and the resulting signal passed to a pulse sorting circuit 46 where the four channels are separated back.
  • Each channel represents a signal from a single diode on the transmitter.
  • a display decoder 48 accepts this input and produces driving signals for an appropriate display device 50, which may be a linear array of LED indicators, for example.
  • the truck 2 is positioned by the driver a desired distance from the edge of the wharf 3 by driving the truck 2 along a line (not illustrated) painted along the surface of the wharf 3. That is to say, the truck 2
  • OMPI moves from left to right as seen in Fig. 2.
  • the detector receives the modulated pulses produced by diode 13, the display device indicating region A.
  • the display device indicates sequentially as follows: Region A, A & B overlap, region B, B & C overlap, region C, C & D overlap, region D.
  • the desired position is of course given by C & D overlap, which is sharply defined because of the mirrors 11 and 12 in Fig. 2a.
  • use may be made of the pulse amplitude differences which occur in the C & D overlap region. By including analog circuitry to detect and display these differences a much more accurate crossover position may be defined.
  • extra infrared emitting diodes may be placed in the near vicinity of diodes 9 and 10 which, when fed in parallel with these diodes, allow control of the width of the overlap region so that the truck can be accurately positioned in two dimensions.
  • different frequencies such as microwaves and millimetric waves can also be used as can different methods of modulating the radiation sources.
  • more than two sources can be used in conjunction with the mirrors in order to arrive at different patterns of beams and thereby indicate one of a plurality of positions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Système indicateur de position pouvant être utilisé dans des terminaux de conteneurs pour indiquer le positionnement correct des transporteurs de conteneurs pendant le chargement et le déchargement. Le système comprend un émetteur (7) qui émet deux rayons modulés différemment (C) (D) de radiations électromagnétiques qui possèdent une région de chevauchement de modulation (E) à l'emplacement correct. Des organes de détection (8) montés sur le transporteur (2) sont sensibles au chevauchement de modulation et envoient un signal de sortie au dispositif d'entraînement de transport indiquant la position du transporteur (2).
PCT/AU1982/000209 1981-12-16 1982-12-16 Systeme indicateur de position WO1983002165A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPF197681 1981-12-16
AUPF1976811216 1981-12-16

Publications (1)

Publication Number Publication Date
WO1983002165A1 true WO1983002165A1 (fr) 1983-06-23

Family

ID=3769297

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU1982/000209 WO1983002165A1 (fr) 1981-12-16 1982-12-16 Systeme indicateur de position

Country Status (2)

Country Link
EP (1) EP0097179A4 (fr)
WO (1) WO1983002165A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2596161A1 (fr) * 1986-02-27 1987-09-25 Messerschmitt Boelkow Blohm Dispositif de mesure pour la determination de la position d'un objet
FR2618908A1 (fr) * 1987-07-29 1989-02-03 Loureiro Carlos Dispositif pour le guidage de cheminement et la localisation d'un point de stationnement
FR2652910A1 (fr) * 1989-10-10 1991-04-12 Micromaine Asi Procede d'evaluation simultanee des positions relatives d'une pluralite de balises.
DE4005538A1 (de) * 1990-02-22 1991-08-29 Sepp Gunther Einrichtung zur automatisierung des transportes und der verladung von transportbehaeltern
GB2276507A (en) * 1993-03-25 1994-09-28 Port Of Singapore Authority Vehicle positioning
GB2289815A (en) * 1994-05-07 1995-11-29 Rheinmetall Ind Gmbh Projectile guidance
GB2294375A (en) * 1994-10-22 1996-04-24 Q M Systems Ltd Position monitoring system
WO2002099440A1 (fr) * 2001-06-04 2002-12-12 Ceos Industrial Pty Ltd Procede et systeme de surveillance
GB2380881A (en) * 2001-10-10 2003-04-16 Roke Manor Research Estimating the angle of arrival at a mobile terminal
AU2002302187B2 (en) * 2001-06-04 2006-07-20 Ceos Industrial Pty Ltd A monitoring process and system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE642385C (de) * 1937-07-07 Telefunken Gmbh Verfahren zur Bildung einer Leitlinie unter Verwendung sich ueberlappender Strahlungsbuendel
US2173137A (en) * 1936-02-07 1939-09-19 Sharma Devendra Nath Radio beacon
GB526318A (en) * 1938-03-12 1940-09-16 Standard Telephones Cables Ltd Radio-guiding system
US2572725A (en) * 1946-02-15 1951-10-23 Hazeltine Research Inc Path-indicating system for mobile craft
DE931178C (de) * 1942-11-24 1955-08-01 Lorenz C Ag Verfahren zur Bildung einer Standanzeige bei komplementaer getasteten Leitstrahlen und zur Aufschaltung auf die automatische Kurssteuerung
GB1104101A (en) * 1964-10-21 1968-02-21 Nat Res Dev Improvements in or relating to apparatus for controlling the path of a device carried by a moving vehicle
GB1566155A (en) * 1976-03-23 1980-04-30 Cge Spa Laser device
AU730246B2 (en) * 1996-04-24 2001-03-01 Sara Lee/De N.V. Assembly for preparing hot and frothed milk

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2536112A (en) * 1943-11-22 1951-01-02 Sperry Corp Aircraft landing system
US2818553A (en) * 1953-08-25 1957-12-31 Polarad Electronics Corp Vehicle guiding system
US3510834A (en) * 1966-12-27 1970-05-05 Systems Technology Inc Optical landing system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE642385C (de) * 1937-07-07 Telefunken Gmbh Verfahren zur Bildung einer Leitlinie unter Verwendung sich ueberlappender Strahlungsbuendel
US2173137A (en) * 1936-02-07 1939-09-19 Sharma Devendra Nath Radio beacon
GB526318A (en) * 1938-03-12 1940-09-16 Standard Telephones Cables Ltd Radio-guiding system
DE931178C (de) * 1942-11-24 1955-08-01 Lorenz C Ag Verfahren zur Bildung einer Standanzeige bei komplementaer getasteten Leitstrahlen und zur Aufschaltung auf die automatische Kurssteuerung
US2572725A (en) * 1946-02-15 1951-10-23 Hazeltine Research Inc Path-indicating system for mobile craft
GB1104101A (en) * 1964-10-21 1968-02-21 Nat Res Dev Improvements in or relating to apparatus for controlling the path of a device carried by a moving vehicle
GB1566155A (en) * 1976-03-23 1980-04-30 Cge Spa Laser device
AU730246B2 (en) * 1996-04-24 2001-03-01 Sara Lee/De N.V. Assembly for preparing hot and frothed milk

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2596161A1 (fr) * 1986-02-27 1987-09-25 Messerschmitt Boelkow Blohm Dispositif de mesure pour la determination de la position d'un objet
FR2618908A1 (fr) * 1987-07-29 1989-02-03 Loureiro Carlos Dispositif pour le guidage de cheminement et la localisation d'un point de stationnement
FR2652910A1 (fr) * 1989-10-10 1991-04-12 Micromaine Asi Procede d'evaluation simultanee des positions relatives d'une pluralite de balises.
EP0423026A1 (fr) * 1989-10-10 1991-04-17 Micromaine A.S.I. Procédé d'évaluation simultanée des positions relatives d'une pluralité de balises
DE4005538A1 (de) * 1990-02-22 1991-08-29 Sepp Gunther Einrichtung zur automatisierung des transportes und der verladung von transportbehaeltern
US5661465A (en) * 1993-03-25 1997-08-26 Port Of Singapore Authority Alignment system
GB2276507A (en) * 1993-03-25 1994-09-28 Port Of Singapore Authority Vehicle positioning
GB2276507B (en) * 1993-03-25 1996-02-14 Port Of Singapore Authority An alignment system
GB2289815B (en) * 1994-05-07 1998-09-02 Rheinmetall Ind Gmbh Flight path correction of projectiles
US5601255A (en) * 1994-05-07 1997-02-11 Rheinmetall Industrie Gmbh Method and apparatus for flight path correction of projectiles
GB2289815A (en) * 1994-05-07 1995-11-29 Rheinmetall Ind Gmbh Projectile guidance
GB2294375A (en) * 1994-10-22 1996-04-24 Q M Systems Ltd Position monitoring system
GB2294375B (en) * 1994-10-22 1997-10-29 Q M Systems Ltd Position monitoring systems
WO2002099440A1 (fr) * 2001-06-04 2002-12-12 Ceos Industrial Pty Ltd Procede et systeme de surveillance
AU2002302187B2 (en) * 2001-06-04 2006-07-20 Ceos Industrial Pty Ltd A monitoring process and system
KR100880366B1 (ko) * 2001-06-04 2009-01-30 씨이오에스 인더스트리얼 피티와이 리미티드 모니터 방법 및 시스템
US7522044B2 (en) 2001-06-04 2009-04-21 Ceos Industrial Pty Ltd Monitoring process and system
GB2380881A (en) * 2001-10-10 2003-04-16 Roke Manor Research Estimating the angle of arrival at a mobile terminal
GB2380881B (en) * 2001-10-10 2005-08-24 Roke Manor Research Method for estimating angle of arrival at a mobile terminal

Also Published As

Publication number Publication date
EP0097179A4 (fr) 1985-07-01
EP0097179A1 (fr) 1984-01-04

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