Accurate position-sensing and communications for guideway operated vehicles

• US 6,011,508 A
• Filed: 10/31/1997
• Issued: 01/04/2000
• Est. Priority Date: 10/31/1997
• Status: Expired due to Term

• Current Assignee: Magnemotion Incorporated (Rockwell Automation, Inc.)
• Original Assignee: Magnemotion Incorporated (Rockwell Automation, Inc.)
• Inventors: Perreault, Brian M., Clark, Tracy M.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/961,632
• Time in Patent Office: 795 Days
• Field of Search: 340/988, 340/989, 246/197 R, 246/122 R, 342/350
• US Class Current: 342/350
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer
• CPC Class Codes: B61L 3/225 using separate conductors along the route
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

The invention provides guideway-based methods, apparatus and systems for tracking, sensing and communicating with objects, such as track and roadway vehicles, as well as waystations therefore. Such a system comprises a winding, a transmitter and a receiver. The winding is made up of two or more phased conductors connected to form one or more closed current paths. The phased conductors are conductive elements (such as wires) shaped or configured in periodically repeating patterns, such as saw tooths, sinusoids or square waves. The transmitter applies to at least one of the phased conductors a position-sensing signal which has an envelope that varies as a periodic function of a first position along (or relative to) the winding. The sensor, which is disposed at a second position along the winding, detects the position-sensing signals on the winding and generates a signal indicating the distance between the first and second positions. That distance signal is a function and, specifically, a superposition, of the position-sensing signals carried by the multiple phased conductors at the second position. Related methods and apparatus permit communications between objects along the winding.

Claims

1. A guideway-based system for determining position, comprising

a winding comprising two or more phased conductors, wherein each phased conductor comprises a conductive element configured in a periodically repeating pattern,

a transmitter, disposed in electromagnetic coupling with the winding, for applying at least one position-sensing signal thereto, the position-sensing signal having an envelope that varies as a periodic function of a first position relative to the winding, and

a sensor, disposed in electromagnetic coupling to the winding at a second position relative thereto, for generating a distance signal indicative of a distance between the first and second positions relative to the winding, the distance signal being generated as a function of a superposition of the position-sensing signals at the second position.

2. A system according to claim 1 for determining a position of a vehicle, wherein any of the transmitter and sensor are disposed on a vehicle that moves relative to the winding.

3. A system according to claim 2, wherein the transmitter is stationary with respect to the winding.

4. A system according to claim 1, wherein the two or more phased conductors form at least one closed current path.

5. A system according to claim 1, wherein the repeating pattern includes any of a saw tooth, a square wave, and sine wave.

6. A system according to claim 1, wherein the sensor is an inductive element disposed relative to the winding such that magnetic flux, resulting from the applied position-sensing signal and emanating from each phased conductors, induces any of a current and a voltage in the sensor dependent on a position of the sensor relative to the phased conductor.

7. A system according to claim 6, wherein the sensor generates a distance signal that has an envelope that varies as a periodic function of a distance between the first and second positions relative to the winding.

8. A system according to claim 7, wherein the sensor generates a distance signal with an envelope that varies substantially as a sinusoidal function of distance between the first and second positions relative to the winding.

9. A system according to claim 1, wherein transmitter generates magnetic flux and moves relative to the winding such that it induces in each phased conductor a position-sensing signal having an amplitude that depends upon the position of the transmitter relative to the phased conductor.

10. A system according to any of claims 6 and 9, wherein at least one of the transmitter and the sensor comprise a magnetically permeable core with winding therearound.

11. A system according to claim 10, wherein at least one of the transmitter and the sensor comprises a ferrite core having at least one pole disposed in facing relationship to the phased conductors of the winding and magnetic coupling therewith.

12. A system according to claim 1, wherein

the transmitter is stationary with respect to the winding,

the transmitter applies a position-sensing signal to at least one of the phased conductors, the position-sensing signal having an envelope that varies as a periodic function of a first position that is any of stationary and a moving position relative to the winding.

51. A system according to any of claims 1, 13, 24, 28, 36, 40 and 48, wherein the winding conveys propulsion signals for driving a linear motor.

52. A system according to claim 51, wherein the winding comprises at least two sets of phased conductors, a first set for conveying the propulsion signals and a second set for conveying any of position-sensing signals and communication signals.

53. A system according to claim 52, wherein the one or more sensors are aligned transversely with respect to the winding.

54. A system according to claim 53, wherein transducers comprising a field array for the linear motor are substantially aligned with the winding.

55. A system according to claim 52, wherein the winding comprises Litz wire.

13. A guideway-based system for determining position, comprising

a winding comprising two or more phased conductors forming at least one closed current path, wherein each phased conductor comprises a conductive element configured in a periodically repeating pattern, and wherein the periodically repeating patterns of the phased conductors are offset with respect to one another,

a transmitter, disposed in electromagnetic coupling with the winding, for applying at least one position-sensing signal thereto, the position-sensing signal having an envelope that varies as a periodic function of a first position relative to the winding, and

a sensor, disposed in electromagnetic coupling to the winding at a second position relative thereto, for generating distance signal, indicative of a distance between the first and second positions relative to the winding, as a function of a superposition of the position-sensing signals at the second position.

14. A system according to claim 13, wherein the phased conductors of the winding are configured in substantially the same periodically repeating pattern.

15. A system according to claim 13, wherein

the repeating patterns of each of the phased conductors repeat over a period substantially equal to a first period,

phases of the repeating patterns of the phased conductors are substantially equally spaced over a period substantially equal to the first period.

16. A system according to claim 15, wherein each pair of phased conductors forms a closed current path.

17. A system according to claim 13, wherein the winding comprises three or more phased conductors that are electrically coupled to one another.

18. A system according to claim 17, wherein the three or more phased conductors are electrically coupled to one another at the ends.

19. A system according to claim 15, wherein the ends of the three or more phased conductors are electrically coupled to one another in a wye configuration.

20. A system according to any of claims 16 and 19, wherein the sensor is an inductive element disposed relative to the winding such that a combined magnetic flux emanating from the phased conductors induces in the sensor any of a current and a voltage that varies as a periodic function of a distance between the first and second positions relative to the winding.

21. A system according to claim 20, wherein the sensor generates a distance signal with an envelope that varies substantially as a sinusoidal function of a distance between the first and second positions relative to the winding.

22. A system according to claim 21 for determining a position of a vehicle, wherein any of the transmitter and sensor are disposed on a vehicle that moves relative to the winding.

23. A system according to claim 22, wherein the transmitter is stationary with respect to the winding.

24. A guideway-based system for determining position, comprising

a winding comprising two or more phased conductors forming at least one closed current path, wherein each phased conductor comprises a conductive element configured in a periodically repeating pattern, the repeating patterns of all of the phased conductors repeating over a period substantially equal to a first period, and phases of the periodically repeating patterns being offset with respect to one another,

a transmitter, disposed in electromagnetic coupling with the winding, for applying at least one position-sensing signal thereto, the position-sensing signal having an envelope that varies as a periodic function of a first position relative to the winding, and

a plurality of sensors disposed in electromagnetic coupling to the winding substantially at a second position relative thereto, each sensor generating a distance signal indicative of a distance between the first and second positions relative to the winding, the distance signal being generated as a function of a superposition of the position-sensing signals at the sensor,

the sensors being offset with respect to one another.

25. A system according to claim 24, wherein

the phased conductors are spatially offset from each other and substantially equally spaced over a period substantially equal to the first period, and

the plurality of sensors include first and second sensors that are offset a distance substantially equal to one-quarter of the first period.

26. A system according to claim 24, wherein

the phased conductors are spatially offset from each other and substantially equally spaced over a period substantially equal to the first period, and

the plurality of sensors include three or more sensors that are spaced over a period substantially equal to the first period.

27. A system according to any of claims 25 and 26, comprising circuitry for determining a distance between the first and second positions as a function of the distance signals generated by the first and second sensors.

28. A system for the transmission of information over a guideway, comprising

a winding comprising two or more phased conductors forming at least one closed current path,

a transmitter, disposed in electromagnetic coupling with the winding, for applying to the winding a transmitted information signal containing information being transmitted, the information signal coupled by the winding having an envelope that varies as a periodic function of a first position relative to the winding,

a sensor, coupled to the winding, for generating a received information signal containing the information being transmitted, the received information signal being generated as a function of a superposition of the transmitted information signals in the two or more phased conductors at a second position relative to the winding.

29. A system according to claim 28, wherein the sensor comprising an inductive element disposed relative to the winding such that magnetic flux, resulting from the transmitted information signal and emanating from the phased conductors at the second position, induces any of a current and a voltage dependent on a position of the sensor relative to the phased conductor.

30. A system according to claim 29, comprising a receiver, coupled to the sensor, for applying to the received information signal a gain that is a function of a position of the sensor relative to any of the transmitter and the phased conductor.

31. A system according to claim 28, comprising

a plurality of sensors, each comprising an inductive element disposed relative to the winding such that magnetic flux, resulting from the transmitted information signal and emanating from the phased conductors at the second position, induces in each sensor any of a current and a voltage dependent on a position of that sensor relative to the phased conductor, and

wherein at least two of the sensors are offset with respect to one another.

32. A system according to claim 31, comprising a receiver, coupled to the plural sensors, for generating a received information signal by rectifying outputs of the sensors and negatives thereof.

33. A system according to claim 32, wherein

each phased conductor comprises a conductive element configured in a periodically repeating pattern, the repeating patterns of all of the phased conductors repeating over a period substantially equal to a first period, and phases of the periodically repeating patterns being offset with respect to one another over a period substantially equal to a first period.

34. A system according to claim 33, wherein there are two such sensors and wherein they are offset with respect to one another substantially by one-quarter of the first period, plus zero, one or more integral periods.

35. A system according to claim 33, wherein there are three or more such sensors and wherein they are substantially equally spaced over a period substantially equal to the first period, plus zero, one or more integral periods.

36. A system for the transmission of information over a guideway, comprising

a winding comprising two or more phased conductors forming at least one closed current path,

a transmitter, disposed in electromagnetic coupling with the winding, for applying to the winding

(i) a transmitted information signal containing information being transmitted, the coupled information signal having an envelope that varies as a periodic function indicative of a first position relative to the winding,

(ii) at least one position-sensing signal, the position-sensing signal having an envelope that varies as a periodic function indicative of a first position relative to the winding, and

a receiver, coupled to the winding, for generating a received information signal containing the information being transmitted, the received information signal being generated as a function of a superposition of the transmitted information signals in the two or more phased conductors at a second position relative to the winding and as a function of a superposition of the position-sensing signals in the two or more phased conductors at the second position relative to the winding.

37. A system according to claim 36, wherein the receiver includes a sensor comprising an inductive element disposed relative to the winding such that magnetic flux resulting from

(i) the position-sensing signal and

(ii) the transmitted information signal

emanating from the phased conductors at the second position induces any of a current and a voltage that depends on a position of the sensor relative to the phased conductor.

38. A system according to claim 37, wherein

the sensor generates a distance signal, indicative of a distance between the first and second positions relative to the winding, as a function of a superposition of the position-sensing signals at the second position,

the receiver applies a gain to the received information signal as a function of the distance signal.

39. A system according to claim 36, wherein

the receiver includes a plurality of sensors, each comprising an inductive element disposed relative to the winding such that magnetic flux, resulting from the transmitted information signal and emanating from the phased conductors at the second position, induces in each sensor any of a current and a voltage dependent on a position of that sensor relative to the phased conductor,

at least two of the sensors are offset with respect to one another,

the receiver includes a rectifier that generates the received information signal as a maximum positive amplitude output of the sensors and negatives thereof.

40. A system for the transmission of information over a guideway, comprising

a winding comprising two or more phased conductors forming at least one closed current path,

a transmitter, disposed in electromagnetic coupling with the winding, for applying thereto a transmitted information signal representing information being transmitted,

a plurality of sensors, each comprising an inductive element disposed relative to the winding such that a magnetic flux resulting from the transmitted information signal induces in each sensor a channel signal having an envelope that varies as a periodic function of a position of that sensor relative the transmitter, wherein the sensors are offset with respect to one another, and

a receiver, coupled to the plurality of sensors, for generating a received information signal as a function of the channel signals induced in the sensors, which function reduces a dependence of the information signal on the position of sensors relative to the transmitter, wherein the received information represents the information being transmitted.

41. A system according to claim 40, wherein the receiver generates a received information signal that is substantially independent of the position of the sensors relative to the transmitter.

42. A system according to claim 40, wherein the transmitted information signal comprises a plurality of symbols.

43. A system according to claim 42, wherein

the receiver generates a detection level for each symbol contained in the channel signal of each sensor, and

the receiver generates the received information to include, for each symbol, a sum of squares of detection levels for that symbol for all sensors.

44. A system according to claim 40, wherein the sensors are offset such that, at any instant, the magnetic flux resulting from the transmitted information signal induces any of a substantially non-zero current and a substantially non-zero voltage in at least one of the sensors.

45. A system according to claim 44, wherein

the phased conductors are spatially offset from each other and substantially equally spaced over a period substantially equal to the first period, and

the sensors are offset from one another by an amount substantially equal to integral multiple of one-quarter of the first period.

46. A system according to claim 45, wherein the receiver generates the received information signal as a function of a sum of squares of any of the currents and voltages induced in the sensors.

47. A system for position-sensing and communication over a guideway, comprising

a winding comprising two or more phased conductors forming at least one closed current path,

a transmitter, disposed in electromagnetic coupling with the winding, for applying to the winding

(i) a transmitted information signal containing information being transmitted, the coupled information signal having an envelope that varies as a periodic function of a first position relative to the winding,

(ii) at least one position-sensing signal, the coupled position-sensing signal having an envelope that varies as a periodic function of a first position relative to the winding, and

a sensor, disposed in electromagnetic coupling to the winding at a second position relative thereto, for generating a distance signal indicative of a distance between the first and second positions relative to the winding, the distance signal being generated as a function of a superposition of the position-sensing signals at the second position;

a receiver, coupled to the winding and to the sensor, for generating a received information signal containing the information being transmitted, the received information signal being generated as a function of a superposition of the transmitted information signals in the two or more phased conductors at a second position relative to the winding and as a function of the distance signal.

48. A system according to claim 47 for determining a position of a vehicle, wherein any of the transmitter and sensor are disposed on a vehicle that moves relative to the winding.

49. A system according to claim 48, wherein the transmitter is stationary with respect to the winding.

50. A system according to claim 48 comprising a plurality of sensors, each comprising an inductive element disposed relative to the winding such that magnetic flux, resulting from the transmitted information signal and the position-sensing signal and emanating from the phased conductors at the second position, induces in each sensor any of a current and a voltage dependent on a position of that sensor relative to the phased conductor.