公开(公告)号：EP0204389B1

公开(公告)日：1993-05-26

申请号：EP86300256.4

申请日：1986-01-16

申请人： EATON-KENWAY, INC.

发明人： Sherman, Leigh Erwin ,  Dicks, Richard Michael ,  Whatcott, Gary Lavell ,  Madsen, David Carl

IPC分类号： G05D1/03 ,  H04L27/12 ,  H04B5/00

CPC分类号： G05D1/0297 ,  G05D1/0265 ,  Y02T10/7258

公开(公告)号：EP0204389A2

公开(公告)日：1986-12-10

申请号：EP86300256.4

申请日：1986-01-16

申请人： EATON-KENWAY, INC.

发明人： Sherman, Leigh Erwin ,  Dicks, Richard Michael ,  Whatcott, Gary Lavell ,  Madsen, David Carl

IPC分类号： G05D1/03 ,  H04L27/12 ,  H04B5/00

CPC分类号： G05D1/0297 ,  G05D1/0265 ,  Y02T10/7258

摘要： In a guidance system for guiding a plurality of unmanned vehicles along a traffic lay out comprising a plurality of guide wires, a guide wire communications system is disclosed which is provided with a plurality of data communications circuits which can be linked together in a logical tree structure to form an extensive network. The communications circuits are connected to a vehicle traffic control computer which is provided with means for composing a coded vehicle instruction for assigning tasks to said unmanned vehicles. Various parts of the system, including for example, segments along guide wires, are designated as resources. The computer uniquely allocates those resources to each vehicle which are necessary for the performance of the tasks assigned to that vehicle. The vehicle traffic control computer further includes polling means which enables it to poll the status of each vehicle at varying time intervals and to receive a response from said vehicle when the computer next polls the vehicle. The guide wire communications system can communicate coded instructions to the vehicles either individually or as a group.
The guide wire communications system further comprises a network connecting the computer and the communications circuits which is provided with means for preventing reception of data transmissions from more than one vehicle at a time.
The communications circuits comprise data transmitters provided with means for generating a communications wave with low frequency and low power but high data transmission rate. The data transmitters further include means for encoding and decoding digital data using at least two data transmission frequencies. Said means comprise a circuit for digitally constructing a string of single cycles of cosine wave forms of selected frequencies. The communications circuits are provided with receivers for detecting cosine wave segments, tranforming such segments into sine wave segments and recovering digital data at a rate substantially equal to the lowest data transmission frequency employed. The data communications circuits also include means for selecting low impedence or high impedence characteristics for a guide wire depending on the function of the guide wire as a data receiving antenna, a data transmitting antenna or a tracking-signal carrier, permitting low power signals to be used.
The guidewire communications system further includes a communications circuit on each of a plurality of vehicles which comprises a low frequency, high gain transmit antenna composed of a substantially figure-eight pattern of conductors mounted on the bottom of the vehicle; a transmitter and a receiver substantially as described above, memory for storing a plurality of instructions for serial execution by the vehicle essentially independantly; and means for determining estimated completion time of assigned tasks to permit minimum polling of each vehicle by the vehicle traffic control computer at varying time intervals.

摘要翻译： 在沿着包括多条导丝的交通布置引导多个无人驾驶车辆的引导系统中，公开了一种引导线通信系统，其具有可以以逻辑树结构连接在一起的多个数据通信电路 形成广泛的网络。 通信电路连接到车辆交通控制计算机，车辆交通控制计算机设置有用于组成用于将任务分配给所述无人车辆的编码车辆指令的装置。 系统的各个部分（包括例如沿引导线的段）被指定为资源。 计算机将这些资源唯一地分配给执行分配给该车辆的任务所必需的每个车辆。 车辆交通控制计算机还包括轮询装置，其使得其能够以变化的时间间隔轮询每个车辆的状态，并且当计算机下一轮巡视车辆时接收来自所述车辆的响应。 引导线通信系统可以将编码指令单独地或作为组通信到车辆。 导线通信系统还包括连接计算机和通信电路的网络，该网络具有用于一次阻止从多于一个车辆接收数据传输的装置。 通信电路包括具有用于产生具有低频率和低功率但高数据传输速率的通信波的装置的数据发射器。 数据发射机还包括使用至少两个数据传输频率对数字数据进行编码和解码的装置。 所述装置包括用于数字构造所选频率的单周期余弦波形的串的电路。 通信电路设置有用于检测余弦波段的接收器，将这些段变换为正弦波段，并以基本上等于所采用的最低数据传输频率的速率恢复数字数据。 数据通信电路还包括用于根据作为数据接收天线的引导线的功能，数据发射天线或跟踪信号载体来选择引导线的低阻抗或高阻抗特性的装置，允许低功率信号为 用过的。 导丝通信系统还包括在多个车辆中的每一个上的通信电路，其包括由安装在车辆底部上的基本上八位图形的导体组成的低频高增益发射天线; 基本上如上所述的发射器和接收器，用于存储用于车辆基本独立地由车辆串行执行的多个指令的存储器; 以及用于确定所分配的任务的估计完成时间以允许车辆交通控制计算机以变化的时间间隔进行最小轮询的装置。

公开(公告)号：EP0204389A3

公开(公告)日：1987-07-15

申请号：EP86300256

申请日：1986-01-16

申请人： EATON-KENWAY, INC.

发明人： Sherman, Leigh Erwin ,  Dicks, Richard Michael ,  Whatcott, Gary Lavell ,  Madsen, David Carl

IPC分类号： G05D01/03

CPC分类号： G05D1/0297 ,  G05D1/0265 ,  Y02T10/7258

摘要： In a guidance system for guiding a plurality of unmanned vehicles along a traffic lay out comprising a plurality of guide wires, a guide wire communications system is disclosed which is provided with a plurality of data communications circuits which can be linked together in a logical tree structure to form an extensive network. The communications circuits are connected to a vehicle traffic control computer which is provided with means for composing a coded vehicle instruction for assigning tasks to said unmanned vehicles. Various parts of the system, including for example, segments along guide wires, are designated as resources. The computer uniquely allocates those resources to each vehicle which are necessary for the performance of the tasks assigned to that vehicle. The vehicle traffic control computer further includes polling means which enables it to poll the status of each vehicle at varying time intervals and to receive a response from said vehicle when the computer next polls the vehicle. The guide wire communications system can communicate coded instructions to the vehicles either individually or as a group. The guide wire communications system further comprises a network connecting the computer and the communications circuits which is provided with means for preventing reception of data transmissions from more than one vehicle at a time. The communications circuits comprise data transmitters provided with means for generating a communications wave with low frequency and low power but high data transmission rate. The data transmitters further include means for encoding and decoding digital data using at least two data transmission frequencies. Said means comprise a circuit for digitally constructing a string of single cycles of cosine wave forms of selected frequencies. The communications circuits are provided with receivers for detecting cosine wave segments, tranforming such segments into sine wave segments and recovering digital data at a rate substantially equal to the lowest data transmission frequency employed. The data communications circuits also include means for selecting low impedence or high impedence characteristics for a guide wire depending on the function of the guide wire as a data receiving antenna, a data transmitting antenna or a tracking-signal carrier, permitting low power signals to be used. The guidewire communications system further includes a communications circuit on each of a plurality of vehicles which comprises a low frequency, high gain transmit antenna composed of a substantially figure-eight pattern of conductors mounted on the bottom of the vehicle; a transmitter and a receiver substantially as described above, memory for storing a plurality of instructions for serial execution by the vehicle essentially independantly; and means for determining estimated completion time of assigned tasks to permit minimum polling of each vehicle by the vehicle traffic control computer at varying time intervals.