JPH0833765B2 - Station position detector for unmanned dielectrics - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a route setting and detection device for an unmanned vehicle used for industrial purposes and other purposes, and particularly, a stable unmanned vehicle with few malfunctions. Station position detecting device on the path of

[Prior Art] As a route setting detecting means for an unmanned moving body which is utilized for industrial purposes or the like and is guided and guided without mechanical restraint, a guide wire is attached to the ground, and each route is different. A low-frequency current of a different frequency is applied, and the magnetic field generated by the low-frequency current is detected by a pickup coil in an unmanned vehicle, and a route is selected and detected. A reflective tape is attached on the ground path to emit light to the unmanned vehicle. Device and light receiver,
A means for detecting a path by detecting light reflected from a reflection tape by light from a light emitting device by a light receiving device, a laser light detecting device provided on the unmanned moving body, and a laser projector provided on the ground according to a specific path Means for detecting the route according to the laser light from the vehicle, a means for traveling while detecting the guide marks appropriately attached at intervals on the ground by the television camera device provided on the unmanned vehicle, a gyro on the unmanned vehicle. A means for selecting and detecting a route from the information from the gyro, the information stored in advance on the unmanned vehicle, and the means for measuring the running distance of the unmanned vehicle, and the information from the gyro and the ground appropriately. A means for selecting and detecting a route from the detecting means of the traveling direction correction mark attached to the above is generally used.

As means for the unmanned vehicle to detect the position of the station where the unmanned vehicle should stop on the above-mentioned route,
In order for the unmanned vehicle to grasp the station and the deceleration point before stopping, a bar code or the like indicating the information is attached to the ground, the above-mentioned induction cable is provided in a coil shape, or a magnetic body is provided. The unmanned vehicle is equipped with detection means corresponding to each means, and for detailed positions, the traveling distance from the reference point displayed by the means installed on the ground as described above is detected and integrated from the rotational speed of the wheels. I was making a decision.

[Problem to be Solved] However, according to the station position detecting means of the conventional unmanned moving body on the path of the unmanned moving body, the unmanned moving body knows its own current position, and the unmanned moving body correctly detects it based on a prerecorded command. It is necessary to read the code on the ground and provide information to the traveling object without error in order to know the position of the station for running or decelerating stop, but the number of information that can be expressed by the code is limited, In order for an unmanned vehicle to detect and integrate from the number of rotations of its own wheels, there is a measurement error due to the effects of left and right wheel slips on curved parts and slips that occur due to the conditions of the wheels and the ground, and wheel wear There was a risk of calculation errors due to changes in wheel radius.

In the present invention, focusing on the above-mentioned conventional problems, it is an object to provide a means for easily and surely detecting a route that an unmanned vehicle should travel and for recognizing the position of the station by the unmanned vehicle easily and reliably. There is.

[Means for Solving the Problems] In order to achieve the above object, in a synchronous route detection device of an unmanned derivative according to the present invention, an unmanned vehicle guide that automatically causes an unmanned vehicle to travel along the route. In the system, means for generating an electromagnetic vibration wave having the same carrier frequency on a plurality of paths, and means for generating a plurality of different series of pseudo-noise code sequences that change at high speed. An information modulating means for spreading and modulating the electromagnetic vibration wave by the pseudo noise code sequence different for each path, and a plurality of different pseudo noise code sequence generating means provided on the ground. Means for selectively generating a pseudo-noise code sequence that is code-synchronized with a specific pseudo-noise code sequence, and a signal spread-modulated by the pseudo-noise code sequence generated on the path. A means for detecting an aeromagnetic vibration wave, and a valve for an electromagnetic vibration wave for spreading-modulating the same pseudo noise code sequence as the pseudo noise code sequence generated by itself from the detected electromagnetic vibration wave Separately selecting and detecting means, means for detecting the phase deviation time between the detected code series and the code series generated by itself, and calculating means for detecting the station position of the unmanned moving body from the deviation time. Are mounted on the unmanned moving body, and in the second invention, means for generating electromagnetic vibration waves having the same carrier frequency are generated on a plurality of paths, and are different from each other. A means for generating a plurality of sequences of pseudo-noise code sequences that change at high speed, and an information modulating means for spreading and modulating the electromagnetic vibration waves by the pseudo-noise code sequences different for each path are installed on the ground. Means for selectively generating a pseudo noise code sequence code-synchronized with a specific pseudo noise code sequence among a plurality of different pseudo noise code sequence generation means provided on the ground, and a pseudo noise code generated on a path Means for detecting an electro-magnetic vibration wave that has been diffusion-modulated by a sequence, and an electric device that spread-modulates the same pseudo-noise code sequence as the pseudo-noise code sequence generated by the detected electro-magnetic oscillation wave. Means for discriminating and selectively detecting magnetic vibration waves, code correlation calculating means for detecting a phase deviation time from the detected code series and a reference code created by shifting the self-generated code series, and the deviation It is characterized in that the unmanned vehicle is equipped with a computing means for calculating the station position of the unmanned vehicle from time.

[Operation] According to the present invention, a means for generating an electromagnetic vibration wave having the same carrier frequency on a plurality of paths, and a plurality of sequences of pseudo-noise codes that are different from each other and change at high speed. A means for generating a sequence and an information modulating means for spreading and modulating with the pseudo-noise code sequence different for each electromagnetic vibration wave for each path are installed on the ground, and a plurality of different series of pseudo noises provided on the ground are installed. Means for selectively generating a pseudo noise code sequence code-synchronized with a specific pseudo noise code sequence in the code sequence generating means, and an electromagnetic vibration wave spread-modulated by the pseudo noise code sequence generated on the path. And the electromagnetic vibration wave that is spread-modulated with the same pseudo noise code sequence as the pseudo noise code sequence generated by itself from the detected electromagnetic vibration wave. Since a means for selectively detecting and selecting is attached to the unmanned moving body, it is possible to set a large number of routes and facilitate arbitrary route selection. Also, since the code changing at high speed is modulated, The station position where the unmanned mobile unit should stop can be easily detected from the time lag of the code, and since spread modulation is used, it is possible to obtain an excellent effect that it is hardly affected by ambient noise.

[Embodiment] An embodiment of an unmanned dielectric synchronous path detection device according to the present invention will be described in detail with reference to the drawings. FIG. 1 is an embodiment of an unmanned guidance system to which the present invention is applied. In the figure, reference numeral 1 is a high-frequency oscillator circuit that is the basis of an electromagnetic vibration wave that is a fundamental wave. The high-frequency signal generated by the oscillator circuit 1 includes as many pseudo-noise code sequence generation circuits as there are induction lines to be generated and the same number of induction lines as the circuit for modulating the high-frequency signal. It is supplied to the code modulation circuit 2 including the output circuit. The high-frequency signal modulated by the code modulation circuit 2 is used for each of the n guide lines 3 (31 to 3).
n), and the high-frequency signals modulated by different pseudo-noise code sequences are sent to each of the guide lines. Reference numeral 4 denotes a high-frequency signal detection component equipped on the unmanned vehicle, which is selectively adopted according to the type of high-frequency signal forming the guide line. Reference numeral 5 is a detection circuit for detecting the high frequency signal detected by the detection component 4, and the code demodulation circuit 6 is the unmanned mobile station from among the various types of pseudo noise code sequences modulated into the detected high frequency signal. It has a detection function for detecting and recognizing the pseudo-noise code sequence supplied to the route on which the body should run.

Since the high-frequency signal supplied to each guide line requires time to be transmitted on the guide line, at some timing, the timing of the code sequence depends on the distance from the ground circuit 2 connected to the guide line 3 n. 10 shows different situations.

Next, regarding the details of the ground equipment and the equipment on the unmanned vehicle,
This will be described with reference to FIGS. 2, 3, and 4. FIG. 2 shows ground equipment, and the high frequency output from the oscillation circuit 1 is supplied to a primary modulation circuit 21, which modulates the information output from a circuit 22 for creating various information to be instructed to an unmanned vehicle. The primary modulated high frequency signal is supplied to the spread modulation circuit 25. The signal of the code sequence determined by the code selection circuit 23 corresponding to the guide line to which the high frequency signal is to be supplied, that is, the pseudo noise code sequence is created by the pseudo noise code sequence generation circuit 24, and the created pseudo noise code sequence Is modulated by the diffusion modulation circuit 25 and then supplied to a predetermined guide line. In the present description, circuits that are necessary as an electronic circuit device such as an output amplifier circuit or a matching circuit with an inductive line, but are not particularly necessary for the description of the present invention, are omitted. Regarding the description of FIG. 3 and FIG. Is also the same.

FIG. 3 is a circuit for detecting a predetermined guide line installed in an unmanned vehicle. The high frequency signal detected by the high frequency signal detection circuit 5 is supplied to a demodulation circuit 61 which is an electronic circuit for demodulating a spread modulated wave, and a pseudo noise code sequence supplied to a guide line on which the unmanned vehicle should travel. The same code sequence as is previously selected by the code selection circuit 62 based on the running command to the unmanned vehicle. A predetermined pseudo-noise code sequence is created by the pseudo-noise code sequence generation circuit 63 according to the selected command signal and is supplied to the spread demodulation circuit 61, and only the high frequency signal supplied to the predetermined guide line is detected and the primary Demodulation circuit for modulated signals
The driving command signal to the unmanned vehicle which is sent to the demodulation circuit 64 is detected and sent to predetermined circuits as command information 80, and the guiding information 70 as a guiding route detection signal is also guided guiding control circuit. Sent to.

In the unmanned mobile system, it is the second in the system that does not need to give a command from the ground to the mobile.
Primary modulation circuit 2 in the description of FIG. 3 and FIG.
1, the information creation circuit 22 and the demodulation circuit 64 can be omitted.

On the other hand, the output from the pseudo noise code sequence 63 is sent to the code sequence phase shift circuit 66. In the station selection circuit 65, the position of each station is recorded as the transmission time of the high-frequency signal on the guide line corresponding to the distance from the reference position, and also has a reference timer, and when the next station to stop is specified. The transmission time corresponding to that time is selected and sent to the code sequence phase shift circuit, and the transmitted pseudo noise code sequence signal is phase-shifted from the reference timing by the time corresponding to the transmission time to obtain the reference code. Created and output as a position deviation signal from the target station in the code correlation calculation circuit 67 from the reference signal and the received code sequence of the guide route, and the deviation signal is zero, that is, the unmanned mobile body reaches the station. When this is indicated, the unmanned vehicle is stopped.

Next, the operation of the sign correlation calculation circuit 67 will be described with reference to FIG.

FIG. 4 (a) is a diagram showing the timing relationship between the received code and the reference code, where a is the reference code read by 1/2 × (the bit rate of the code) from the timing corresponding to the reference position, B is 1/2 × from the timing corresponding to the reference position
(Bit rate of code) In the lagging reference code, C is the received code, and FIG. 4 (b) is a diagram showing the time relationship of the reference code. A is from the timing corresponding to the reference position. 1/2 × (code bit rate) The reference code that is read, b is the reference code that lags by 1/2 × (code bit rate) from the timing corresponding to the reference position, and d is the above a. It indicates that the correct station position is specified from the timing of the code of (b). (Hereinafter, the bit rate of the code: bit / second: is denoted by Δ) The reference code (+ Δ / 2) and the reference code (−Δ / 2) are code correlation operation circuits from the code sequence phase shift circuit 66 described above.
It is input to 67 and correlation calculation is performed with the received code. The correlation function between the received code and the reference code (+ Δ / 2) is φ (+ Δ /
2) Let φ be the correlation function between the received code and the reference code (-Δ / 2)
If (−Δ / 2), the combination of both correlation functions [φ (−
Δ / 2) -φ (+ Δ / 2)], the distance from the station is linearly calculated within the range of the phase error ± Δ / 2, and [φ (-Δ /
2) The position of -φ (+ Δ / 2)] = 0 is the station.

For example, in an unmanned mobile system, the station is J,
When K, L, M, ..., Shift codes C ₁ (+ NJ · Δ), C ₁ (+ NK · Δ), C ₁ (+ NL ·) corresponding to each station
Δ), C ₁ (+ NM · Δ), ... Are recorded in the station selection circuit 65, and when the station to be stopped is designated, the shift code corresponding to the station, for example, the station to be stopped is K, If there is, C ₁ (+ NK · Δ) corresponding to the station K, is read, and a signal that is phase-shifted by ± Δ / 2 with respect to C ₁ (+ NK · Δ) is output to create a reference code.

The propagation speed of the high-frequency signal propagating on the guide line changes depending on the ground capacity and other conditions of the guide line, but by performing measurement and calibration beforehand, it is possible to know the correct relationship between transmission time and position, and leakage. By using a cable, it is possible to make a system with little fluctuation in transmission time.

In the above description, the term "circuit" is used to describe each function, but a computer may be used for a function capable of performing digital processing, and various information is stored by using the computer. It becomes easy to utilize it for necessary arithmetic processing.

[Effects of the Invention] As described above, according to the present invention, the electromagnetic vibration wave generating means for generating the electromagnetic vibration waves having the same carrier frequency on a plurality of paths is different from each other at high speed. A means for generating a plurality of changing pseudo noise code sequences and an information modulating means for performing diffusion modulation by the pseudo noise code sequences different in the electromagnetic vibration wave for each path are installed on the ground and provided on the ground. Means for selectively generating a pseudo-noise code sequence that is code-synchronized with a specific pseudo-noise code sequence among a plurality of different pseudo-noise code sequence generation means, and spread by the pseudo-noise code sequence generated on the path. Means for detecting the modulated electromagnetic vibration wave;
A means for discriminating and selectively detecting an electro-magnetic vibration wave that is spread-modulated with the same pseudo-noise code sequence as the pseudo-noise code sequence generated by itself from the detected electro-magnetic vibration wave. Since it is attached to, it becomes possible to set many routes and facilitate arbitrary route selection,
Further, since the code that changes at a high speed is modulated, it is possible to easily detect the station position where the unmanned moving body should stop from the time lag of this code, and since spread modulation is used, it is possible to reduce the ambient noise. You can get the excellent effect that it is not easily affected.

[Brief description of drawings]

FIG. 1 is a schematic diagram of an unmanned vehicle system according to an embodiment of the present invention. FIG. 2 is a block diagram of a ground circuit according to an embodiment of the present invention. FIG. 3 is a block diagram of a circuit on an unmanned vehicle according to an embodiment of the present invention. FIG. 4 is an explanatory diagram of the sign correlation calculation timing. 1 ... Oscillation circuit 2 ... Code modulation circuit 3 ... Induction line 4 ... Detection element 5 ... Detection circuit 6 ... Code demodulation circuit 10 ... Signal 21 ... Primary modulation circuit 22 ... Command information creation circuit 23 …… Code selection circuit 24 …… Pseudo noise code sequence generation circuit 25 …… Spreading modulation circuit 61 …… Spreading demodulation circuit 62 …… Code selection circuit 63 …… Pseudo noise code sequence generation circuit 64 …… Primary demodulation circuit 65 …… Station selection circuit 66 …… Code sequence phase shift circuit 67 …… Code correlation calculation circuit 68 …… Station signal 70 …… Guidance information 80 …… Command information

Claims (2)

[Claims] 1. An unmanned vehicle guidance system in which a specific route is selected from a plurality of routes preset by physical means, and the unmanned vehicle is automatically traveled along the route, the same carrier frequency. A means for generating an electromagnetic vibration wave on a plurality of paths, a means for generating a pseudo-noise code sequence that changes at a plurality of different sequences at high speed, and the electromagnetic vibration wave And information modulating means for performing spread modulation with the pseudo-noise code sequence different for each path on the ground, and a specific pseudo-noise code sequence among a plurality of different pseudo-noise code sequence generating means provided on the ground. Means for selectively generating a pseudo-noise code sequence code-synchronized with, and means for detecting an electromagnetic vibration wave diffusion-modulated by the pseudo-noise code sequence generated on the path A means for discriminating and selectively detecting an electro-magnetic vibration wave that is spread-modulated with a pseudo-noise code sequence that is the same as the pseudo-noise code sequence generated by itself from the detected electro-magnetic vibration wave; A means for detecting a phase deviation time between the code sequence and a code sequence generated by itself and a code correlation calculation means for detecting a station position of the unmanned vehicle from the deviation time are attached to the unmanned vehicle. A station position detecting device for an unmanned moving body, characterized in that 2. The same carrier frequency in an unmanned vehicle guidance system in which a specific route is selected from a plurality of routes preset by physical means and the unmanned vehicle is automatically traveled along the route. A means for generating an electromagnetic vibration wave on a plurality of paths, a means for generating a pseudo-noise code sequence that changes at a plurality of different sequences at high speed, and the electromagnetic vibration wave And information modulating means for performing spread modulation with the pseudo-noise code sequence different for each path on the ground, and a specific pseudo-noise code sequence among a plurality of different pseudo-noise code sequence generating means provided on the ground. Means for selectively generating a pseudo-noise code sequence code-synchronized with, and means for detecting an electromagnetic vibration wave diffusion-modulated by the pseudo-noise code sequence generated on the path A means for discriminating and selectively detecting an electro-magnetic vibration wave that is spread-modulated with a pseudo-noise code sequence that is the same as the pseudo-noise code sequence generated by itself from the detected electro-magnetic vibration wave; Code correlation calculation means for detecting the phase deviation time from the code series and the reference code created by shifting the code series generated by itself, and calculation means for calculating the station position of the unmanned mobile unit from the deviation time. The station position detecting device for an unmanned vehicle according to claim 1, which is mounted on the unmanned vehicle.