JPS62254211A - Operation controller for unmanned vehicle - Google Patents

Abstract

PURPOSE:To secure an accurate operation control for unmanned vehicle with no useless waiting time by controlling the operations among plural vehicles at each intersection area with the signal proper to each intersection. CONSTITUTION:When an unmanned vehicle 12a enters an intersection area A, a mark sensor 14a of the vehicle 12a reads a mark 10b and the reception is started for the radio wave signal of a frequency fA proper to an intersection PA. At the same time, the transmission of said radio wave is also started. While a mark sensor 14b of another unmanned vehicle 12b reads a mark 10a when the vehicle 12b enters the area A. Then the reception of the radio wave of the frequency fA is started. In this case, the radio wave of fA is already transmitted from the vehicle 12a and therefore the vehicle 12b received said radio wave to decide that another unmanned vehicle is already traveling the area A. Thus the vehicle 12b stops temporarily and then starts again after no radio wave of fA is received any more.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an operation control device for a plurality of unmanned vehicles, and particularly to an intersection or merging point (hereinafter referred to as an intersection) on a guidance route for guiding unmanned vehicles. ) The present invention relates to an operation control device for unmanned vehicles that avoids collisions between unmanned vehicles when the vehicle has a plurality of unmanned vehicles.

[Conventional technology and problems]

2. Description of the Related Art In recent years, unmanned vehicles and mobile robots for transporting goods that travel along guide paths laid out on the floor have come into widespread use in factories and the like. Conventionally, when multiple unmanned vehicles travel on a travel route network with multiple intersections, a method for controlling the operation of each unmanned vehicle has been to control the operation of these unmanned vehicles from a central control room. Examples of this are disclosed in, for example, JP-A-48-6192 and JP-A-55-25635.

In this case, in order to control the operation of unmanned vehicles at each intersection, it is necessary to bury signal wires, reed switches, and other detectors in the floor and connect them to the central control device. This requires a lot of equipment cost and equipment time.

In order to solve these drawbacks, devices and control methods for controlling the operation of each unmanned vehicle by directly transmitting and receiving signals between unmanned vehicles have been proposed, for example, instead of the centralized control method using a central controller. It is disclosed in JP-A-59-30113, JP-A-60-251412, and Utility Model JP-A-59-80804. However, with these control devices and control methods, an unmanned vehicle attempting to pass through an intersection not only transmits and receives mutual signals with other unmanned vehicles attempting to pass through that intersection, but also communicates with other unmanned vehicles passing through that intersection. It also receives transmissions from unmanned vehicles traveling on other guidance routes near intersections and from unmanned vehicles near other intersections, judges all communication signals, and then controls the operation, eliminating wasted waiting time. Therefore, there is a problem that it lacks promptness.

Therefore, in order to comprehensively consider and solve the above-mentioned problems, the present invention provides a system for receiving transmissions from unmanned vehicles other than the unmanned vehicles that attempt to control each other's travels near each intersection. To provide an operation control device for an unmanned vehicle that enables smooth operation control of an unmanned vehicle in an intersection area without any unnecessary waiting time.

[Means for solving problems]

In view of the above-mentioned object of the invention, the present invention provides an operation control device for a plurality of unmanned vehicles in a guidance route network having a plurality of intersections at the end of the guidance path for guiding the unmanned vehicles. a mark unique to each intersection is arranged at a position along each guidance route, a mark sensor capable of detecting the mark is provided on each unmanned vehicle, and a signal is transmitted and received between each unmanned vehicle to identify each intersection. a wireless transmitter/receiver capable of transmitting and receiving in each intersection area; a switch that activates, stops, and switches between transmitting and receiving the wireless transmitter/receiver;
a signal switching device that selects and switches the intersection identification signal when transmitting and receiving the radio transceiver; and a signal switching device that is connected to the mark sensor, the radio transceiver, the switch, and the signal switching device and according to the mark detected by the mark sensor. The mark sensor is equipped with a control circuit that issues a control command to the switch and the signal switching device, and also issues a command to stop or run to the unmanned vehicle according to the signal received by the wireless transmitter/receiver. When the first mark that is encountered first among marks unique to an intersection is detected, the signal switching device switches the signal selection of the wireless transmitter/receiver, and the switch activates the reception, so that the signal from other unmanned vehicles can be detected. When a signal unique to the intersection is received among the transmitted signals, the unmanned vehicle is stopped by a command from the control circuit, and when the signal disappears, it resumes driving, and the switch switches between reception and transmission, and the driver returns to the intersection. A unique signal is transmitted, and if there is no signal unique to the intersection among the signals emitted from other unmanned vehicles after the receiving operation, the switch switches from the receiving state to the transmitting state, and transmits the signal unique to the intersection. The present invention provides a driving control system for a traveling vehicle, characterized in that the transmission is stopped by the switch when the next second mark is detected while the vehicle is traveling in this transmitting state.

[For production]

According to the above means according to the present invention, since the mutual operation of unmanned vehicles at each intersection area is controlled by a signal specific to each intersection, unmanned vehicles can operate reliably and without unnecessary waiting time at the intersection area. smooth operation control is achieved.

Hereinafter, the present invention will be explained in more detail based on embodiments shown in the accompanying drawings.

〔Example〕

Figure 1 shows the operation side of the unmanned vehicle according to the present invention? A plan view illustrating operation control of a plurality of unmanned vehicles (three in this embodiment) using an Il device, and FIG. 2 is an operation control device according to the present invention provided in the unmanned vehicle of FIG. 1. FIG. 3 is a flow chart of a control program stored and executed in a control circuit having a microcomputer, which is one of the components of this operation control device, and FIG. 4 is a diagram showing an unmanned vehicle according to the present invention. FIG. 3 is a plan view illustrating another operation control of a plurality of unmanned vehicles using the operation control device of FIG.

First, referring to FIG. 1, the guidance route PL of the unmanned vehicle, P2. P3 is arranged, and the guide routes Pl and P2 and PL and PB merge (hereinafter referred to as an intersection) to form an intersection. Here, the areas near the respective intersections FA and PB are referred to as the respective intersection areas A and intersection area B, and the respective intersections P^ are appropriately spaced apart from the respective intersections PA and PR and located along each guidance route.

Marks unique to PB (in this example, one mark is formed by a barcode> 10a, 10b
.

10c, 10a', 10b', 10c'
are fixedly placed. To explain in more detail the placement relationship of the marks made up of these barcodes, along the guidance route P1, marks 1Qb and IOC are placed on both sides of the intersection PA, and marks 10b' and 10c'' are placed on both sides of the intersection PB. , on the other hand, the guide routes P2 and 23 are marked 10a.
and 10a' are arranged respectively. All of these marks are placed on the left side of each guide route when facing the direction of travel of the unmanned vehicle, which will be described later, and mark sensors, which will be described later, are placed on the left side when facing the direction of travel of each unmanned vehicle. It corresponds to that. The position of each mark with respect to the guidance route may correspond to the position of the mark sensor on the unmanned vehicle, and may be on the right side, or may be on the guidance route. 3 each corresponding to each intersection PA and PB
marks 10a, 10b, 10c and 10a'',
10b' and 10c' are in a mutual relationship constituting the respective boundary positions of the intersections A and B.

Now, the unmanned vehicle 1 traveling along the guide route P1
2a, the unmanned vehicle 12b that merges from the guide route P2 to the guide route P1, and the unmanned vehicle 12c that merges from the guide route P3 to the guide route P1 are equipped with the operation control device described below. .

Note that the reference numbers indicating each component or component of the operation control device represent only those mounted on the unmanned vehicle 12a,
Although the symbol a is attached and shown, another unmanned vehicle 12b,
The entire configuration of the components mounted on the unmanned vehicle 12c is the same as the operation control device of the unmanned vehicle 12a, so the attached symbol a can be read as b and c, respectively. First, a mark sensor 14a for reading the mark made of the bar code is fixedly arranged on the left front side in the direction of movement of the unmanned vehicle 12a. On the other hand, an antenna 16a that receives and transmits radio wave signals flying in space, a radio transceiver 18a that is electrically connected to the antenna 16a and transmits or receives radio signals, and the radio transceiver 18a and the mark sensor. 14a, and a frequency switching device 1!20 that is electrically connected to the control circuit 24a and the wireless transmitter/receiver 18a to switch the frequency of a radio signal.
A and a switch 22a are installed.

This switch 22a is similar to the other switch 22a shown in FIG.
switching and operating the wireless transmitter/receiver 18a for transmission or reception in response to a command signal from the control circuit 24a in conjunction with the
The switching device 20a performs an operation of switching the frequencies of the transmitted and received radio wave signals to a value specific to the intersection PA. Further, the control circuit 24a is configured to include a microcomputer, and a control program for controlling the running of the unmanned vehicle 12a is stored in advance in the control circuit 24a. Note that, as described above, the other unmanned vehicle 12b.

It goes without saying that the 12C is also equipped with an operation control device having a similar configuration.

The main configuration of the operation control device for an unmanned vehicle according to the present invention has been explained above. Next, the detailed configuration and operation of the operation control device will be explained using one unmanned vehicle 12a as a representative example with reference to FIG. explain.

First, there are known electromagnetic guidance methods and optical guidance methods as control methods for guiding the unmanned vehicle 12a along the guidance route P1. Although the guidance method itself is not the object of the present invention, a brief description will be given of the case where an electromagnetic induction method is adopted. Now, in the electromagnetic induction method, the guide wire 30 is buried over the entire length of the guide route of the unmanned vehicle. A weak current is passed through this kite wire 30, and the ff11m field 32 induced by this current is detected by an induction sensor 34 such as a pair of pickup coils, and the difference between the values of each induced current induced in both pickup coils is calculated. The signal is amplified in a dynamic amplifier 36. This amplification value is controlled by the control circuit 3.
8 and gives necessary commands to the motor controller 40, which controls the rotation of the left and right drive wheels via the two servo motors MR and ML. In this way, the present unmanned vehicle can travel along the guide wire 30 buried along the guide route.

As described above, the driving control method for guiding one unmanned vehicle along a single guidance route has been roughly clarified. When other unmanned vehicles travel along the road, a control device as described below is required to avoid collisions between the unmanned vehicles.

First, in order to determine whether the vehicle has entered or exited an intersection area, a mark 10 consisting of a bar code or the like fixedly placed on the floor along the guide wire 30 is read by a mark sensor 14a consisting of, for example, a camera device. . The mark sensor 14a operates constantly or at every minimum time interval.
The mark 10 is fixed at a vehicle body position corresponding to the fixed position of the mark 10 in the unmanned vehicle 12a that is traveling guided by the mark 10. A symbol unique to each intersection is written on the mark 10, corresponding to a fixed position on the vehicle body, and for distinguishing one intersection from another.This symbol read by the mark sensor 14a is read by the control circuit 38. The control circuit 38 issues a command corresponding to the input symbol. Note that the mark 10 may include a symbol for stopping the unmanned vehicle 12a from running.

The wireless transceiver 18a (FIG. 1) is divided into a transmitting circuit section and a receiving circuit section. Of these, the transmitting circuit section consists of an oscillation circuit and an amplifier circuit 42.

In this embodiment, three types of frequencies fA p fB p
It has three types of oscillation circuits 40A, 40B, and 40C capable of generating a current signal of fC. These three types of oscillation circuits 40A, 40B, 40C
is configured such that it can be selectively connected to the amplifier circuit 42 by the frequency switching device 20a via another switch 22a'.

Switch 22a receives a command signal from control circuit 24a
connect the antenna 16a and the amplifier circuit 42 by
And another switch 22a linked with this switch 22a
When the wireless transceiver 18a is used as a transmitter, the current signal amplified by the amplifier circuit 42 is transmitted into the air as a radio wave signal.

When the antenna 16a is connected to a tuning circuit (to be described later) of the reception circuit section of the radio transceiver 18a via the switch 22a, the radio transceiver 18a operates as a receiver. At this time, the other switch 22a° is shut off. The receiving circuit section includes a tuning circuit 44, a detection circuit 46, and a comparator 48. Note that in this embodiment, three types of frequencies fA p
It has three types of tuning circuits 44A, 44B, and 44G that can tune to the current signal of fB p fC. These three types of tuning circuits 44A and 44B
, 44C are configured to be selectively connectable to the detection circuit 46 by the switching device 20a. Transmitted radio waves from other unmanned vehicles are captured by the antenna 16a, the signal current of the frequency selected by the switching device 20a is input to the detection circuit 46, and the output voltage of the detection circuit 46 is converted to a reference voltage by the comparator 48. A reception determination is made by comparing it with Vref, and the determination result is input to the control circuit 24a. The control circuit 24a outputs a command according to this input. Note that the reference voltage Vref can be changed using a variable resistor (not shown).

Through the above, we clarified the interrelationship between the operation control device installed in each unmanned vehicle, the guide wire fixed to the floor for guiding the unmanned vehicle, and the mark indicating the intersection area, and the detailed configuration of the operation control device. .

The control circuit 24a, which is a main part of this operation control device, is equipped with a microcomputer as described above, and stores a program for controlling the running of unmanned vehicles and the mutual operation of unmanned vehicles. The flow of this program is illustrated in FIG.

In the following, the interaction of the components of the operation control system shown in FIG. 2 will be explained along the flow chart shown in FIG. 3. First, the mark sensor 14a detects information on the floor along the travel route. The signal at this time is input from the sensor 14a to the control circuit 24a, and in step 100 it is determined whether the input signal is a stop command signal. If the input signal is a stop command signal, in step 101 the motor controller A stop command is sent to 40 to stop the unmanned vehicle equipped with this operation control device, and this program ends.

If the input signal is not a stop command signal, the process proceeds to step 102, where it is determined whether it is a mark (first mark) unique to a certain intersection, indicating that the vehicle has entered the intersection area. If the mark is not unique to the intersection, return to the start. If it is determined in step 102 that the input signal is a signal specific to the intersection, the process proceeds to step 104. In step 104, it is determined which intersection the mark of the youngest brother 1 is unique to. Based on this determination, the unmanned vehicle 12
It is possible to determine which intersection area in the guidance route network the vehicle a (FIG. 1) has begun to enter. Here, the wireless transceiver 18a
The tuning circuit and oscillation circuit in (Figure 1) are guide wire 3.
Of the intersections in the guidance route network consisting of 0, each intersection that this unmanned vehicle is scheduled to pass has a circuit corresponding to a unique frequency, and this unmanned vehicle has three types of frequencies fApfB*f.
Three types of tuning circuits 44A, 44B,
44C and 40A oscillation circuit.

40B and 40C. Therefore next step 1
In step 06, for example, the tuning circuit 44A is connected to the detection circuit 46 via the frequency switching device 20a in order to match the frequency corresponding to the intersection determined in step 104, and the oscillation circuit 40A is connected to the amplifier circuit. Connect with 42. Following this, next step 1
At 08, a command to start reception is issued from the control circuit 24a, and the antenna 16a and the tuning circuits 44A and 44B are connected via the switch 22a.

Connect with 44C. In this reception state, each transmitted radio wave from another unmanned vehicle is received, and the presence or absence of an input signal specific to this intersection via the tuning circuit 44A is controlled as an input signal by the comparator 48 via the detection circuit 46. The control circuit 24a determines in step 110 whether another unmanned vehicle has already entered the intersection area. If another vehicle has already entered, a command is sent to the motor controller 40 in step 112 so that the unmanned vehicle temporarily stops there. In this case, the process returns to step 110 while the vehicle continues to temporarily stop. That is, the vehicle continuously receives radio waves transmitted from other vehicles, and waits in a stopped state until it is no longer able to receive the radio waves. If it is determined in step 110 that no other vehicle has entered the intersection area, a command to drive or a command to continue driving is sent to the motor controller 40 in step 114. Next, in step 116, the control circuit 24a sends the switch 22a to the switch 22a so that other unmanned vehicles attempting to enter the intersection area can sense that the unmanned vehicle is already traveling within the intersection area. A command to start transmission is sent to the antenna 16a and the amplifier circuit 4.
2 and shuts off the receiving circuit.

While traveling in this state, the mark sensor 14a becomes ready to detect the next mark 10 (second mark) specific to this intersection. The signal at this time is sent to the control circuit 24a, and the presence or absence of the mark 10 is determined in step 118. If the mark 10 is found at this time, the process proceeds to step 120, where a command to stop transmission is sent to the switch 22a, and the connection between the antenna 16a and the amplifier circuit 42 is cut off. If mark 10 is not found, the vehicle continues driving while maintaining the detection posture. After the mark 10 is found and a transmission stop command is sent from the control circuit 24a to the switch 22a, the process returns to the start and repeats the same steps as above.

From the above, the interaction of the components of the operation control device for an unmanned vehicle according to the present invention has been clarified. Therefore, returning to FIG. 1 again, three unmanned vehicles 12a and 12b are located in a guide route network having two intersections.

A method of controlling the operation of an unmanned vehicle using the present operation control device when the vehicle 12c is running will be described.

First, when the unmanned vehicle 12a enters the intersection area A earlier than other unmanned vehicles 12b, this unmanned vehicle 12a
The mark sensor 14a installed in the intersection area A reads the mark 10b indicating the start of entry into the intersection area A.
A radio signal having a frequency f^ specific to the intersection PA, that is, specific to the intersection area A, is started to be received. At this time, considering the case where the other unmanned vehicles 12b and 12C have not yet entered the respective intersection areas A and B, these unmanned vehicles 1
No radio signals are being sent from 2b and 12c. Therefore, since the unmanned vehicle 12a does not receive the transmission radio waves specific to this intersection area A, it determines that no other unmanned vehicle has entered the intersection area A, and continues to drive as it is, and this time the frequency f Start transmitting ^ radio waves. Eventually, this unmanned vehicle 12a reads the mark 10C unique to this intersection PA, similar to the above-mentioned mark 10b, and
Since it is the second mark, it is determined that the vehicle has escaped from the main intersection area A, and transmission is stopped.

On the other hand, the other unmanned vehicle 12b is the unmanned vehicle 12a.
Suppose that a vehicle starts entering intersection area A while passing through intersection area A. The mark 10a is similar to the marks 10b and 10.
Like c, this mark is unique to the intersection PA, and when the unmanned vehicle 12b reads this mark 10a, it starts receiving a radio signal at the same frequency f^ as described above. At this time, since the unmanned vehicle tZa has already transmitted a radio wave with the frequency f^ as described above, the unmanned vehicle 12b receives the radio wave and has already crossed the intersection area A with another unmanned vehicle (actually It is determined that the unmanned vehicle 12a) is traveling, and it temporarily stops there and waits until it no longer receives radio waves of the frequency f^. After that, the unmanned vehicle 12a
reads the mark 10c as described above and escapes from the main intersection area A, the frequency fA from the unmanned vehicle 12a
Since the radio wave transmission is stopped, this radio wave is no longer received, and it is determined that the unmanned vehicle 12a has escaped from the intersection area A, and the unmanned vehicle 12b starts traveling and changes the frequency f.
It also starts transmitting ^ radio signals. Assuming that another unmanned vehicle 12c enters the intersection area in this samurai history, after reading the mark 108' unique to the intersection PR, it transmits a radio signal with a unique frequency fB to the intersection area B. is in a state of being. Here, the frequency f8 specific to this region B
is different from the frequency f^ specific to the region A. This is because if the frequency of this radio signal is f^ instead of fB, that is, if the same signal is transmitted in any intersection area, the unmanned vehicle 12b will also transmit the radio signal transmitted from the unmanned vehicle 12C. The message is received, and the standby continues while the message is being received. Operation control using the operation control device for an unmanned vehicle according to the present invention makes it possible to eliminate the above-mentioned waste.

In this way, the unmanned vehicle 12a escapes from the intersection area A and then reaches the next intersection area. At this time, as in the case of the intersection area A, mark 1 is fixed at the intersection PR.
When 0b' is read, reception of a radio signal with a frequency fB specific to the intersection PR starts. If the unmanned vehicle 12c has already escaped from the intersection area B, the unmanned vehicle 12c
A switched from receiving to transmitting without receiving a radio signal with frequency "8" and continued driving, and eventually reached the main intersection PB.
The vehicle reads the unique mark 10C', senses that it has escaped from the intersection area B, stops transmitting, and continues traveling. Further, if the unmanned vehicle 12c is still traveling within the intersection area B, the actual unmanned vehicle 12a
It will receive the radio wave signal of frequency fB transmitted by 2c, and will wait at the place where the mark 10b' is read. In this case, the unmanned vehicle 12b following the unmanned vehicle 12a is conventionally controlled by an appropriate operation control means so as to avoid a rear-end collision. Then frequency fB
When there are no more received radio waves, the vehicle runs while transmitting a radio signal of the same frequency f3, and when it reads mark 10c, it stops transmitting and continues running.

In this embodiment, the distance between the intersection PA and the mark 10a is made longer than the distance between the intersection PA and the mark 10b by an appropriate amount. This is if two unmanned vehicles 12a and 12
It is conceivable that both unmanned vehicles will continue to travel if they detect marks 10b and 10a at the same time. It is set up.

According to the operation control device for an unmanned vehicle according to the present invention, each unmanned vehicle can be controlled not only when the vehicle has one intersection, but also when it has two or more intersections.

The vehicle can travel smoothly through each intersection area.

In addition to the above embodiment, another embodiment is shown in FIG.

FIG. 4 shows a guide route L1 on the floor, a guide route L2 that intersects with the guide route L1 at an intersection PD to form a crossroad, and a guide route L2 that intersects with the guide route L1 at an intersection PE to form a T-junction. A guiding route L3 is provided. Note that the above guide path means, for example, a guide wire, as in the previous embodiment. Each intersection PD, PE
, and each guiding path Ll, L2 . Marks are fixedly arranged along L3. The unmanned vehicle 12d runs along the guide route L1, and marks 5 (l b p 50 c , 50 b') are sequentially placed on the left side toward the running direction.
p 50c' is arranged. Further, another unmanned vehicle 12e travels along the guide route L2, and marks 5Qa and 50d are sequentially arranged on the left side toward the traveling direction. Further, along another guide route L3, the unmanned vehicle 12f
is running, and a mark 50a' is disposed on the left side in the running direction. The above three unmanned vehicles 12d,
t2e.

12f is equipped with the same operation control device as in the previous embodiment. That is, the mark sensor is also mounted on the left side. Furthermore, the four marks 50a, 50b, 50c, and 50d surrounding the intersection PD form an intersection area and are marks unique to the intersection PD, and the three marks 50a' surrounding the intersection PR.

50b' and 50c' form an intersection area E and are marks specific to the intersection PH.

First, the unmanned vehicle 12d enters the intersection area and detects the mark 50b. At this time, since no other unmanned vehicle is traveling within this intersection area, the present unmanned vehicle 12d travels while transmitting a radio signal with a frequency f^ specific to the intersection PD. During this run, another unmanned vehicle 12e reaches the main intersection area, and when it detects the mark 50a, it starts receiving the transmitted radio waves from the other vehicle. The unmanned vehicle 12e uses the frequency f transmitted from the unmanned vehicle 12d.
When the radio wave ^ is received, the unmanned vehicle 12d stops at the spot and waits until the unmanned vehicle 12d finishes passing through the main intersection area. During this time, the unmanned vehicle 12d reaches the mark 50c, and when it detects the mark 50c, it stops transmitting and moves toward the next intersection area E.

At this point, the unmanned vehicle 12e no longer receives the radio wave signal with the frequency f^ specific to this intersection area, resumes traveling along the guidance route L2, and transmits the radio wave signal with the frequency f^. When the mark 50d is detected in this way, the transmission is stopped and the vehicle continues to travel.

On the other hand, when the third unmanned vehicle 12f reaches the intersection area E, it detects the mark 50a' and attempts to receive a radio signal with a frequency fB specific to the intersection area. However, since the aforementioned unmanned vehicle 12d has not yet entered the area of this intersection, it is not transmitting the radio signal of frequency rB.Therefore, the unmanned vehicle 12f, while transmitting the radio signal of frequency fB, The vehicle travels, passes through the intersection PE, joins the guidance route L1, and eventually reaches the mark 50c°. In this case, as in the previous embodiment, two frequencies f
^ and 18 are different values. Therefore, while the unmanned vehicle 12e is waiting at the mark 50a, the unmanned vehicle 1
Receive the transmitted radio wave from 2f and mark 50a as it is
There is no need to waste time waiting for a long time.

When the unmanned vehicle 12d detects the mark 50b' before the unmanned vehicle 12f reaches the mark 50c°, the unmanned vehicle 12d changes the frequency so that it can transmit or receive a radio signal with a frequency fB specific to this intersection area. Switching device 20d (second
(corresponding to the frequency switching device 20a in the figure) switches the frequency. Then switch 22d (switch 22 in FIG.
(corresponding to antenna 1 in Fig. 2)
6a) to the receiving side of the wireless transceiver 18d and start reception. At this time, it receives the radio signal transmitted from the unmanned vehicle 12f and waits there, and when the unmanned vehicle 12f finishes passing through the main intersection area E, it starts traveling again.

Even if the unmanned vehicle 12d detects the mark 50b'' after the unmanned vehicle 12r reaches the mark 50c°, there is no radio wave with the unique frequency fIS in this intersection area.
It is determined that no other vehicles are running within the zero intersection area E, and the vehicle continues to drive.

As used in the above embodiments, it is very easy to change the frequency of the radio signal, and it is also easy to identify the difference in frequency, so the identification between intersections can be done accurately and smoothly at low cost. Operation control of unmanned vehicles becomes possible.

〔Effect of the invention〕

As is clear from the above description, according to the operation control device for unmanned vehicles according to the present invention, the operation of each unmanned vehicle is controlled using a signal specific to each intersection in a guidance route network having intersections. There is no interference of signals from unmanned vehicles in other areas, so it is possible to accurately and smoothly control the operation of unmanned vehicles in intersection areas without unnecessary waiting time.

[Brief explanation of drawings]

FIG. 1 is a plan view illustrating operation control of a plurality of unmanned vehicles (three in this embodiment) using the unmanned vehicle operation control device according to the present invention, and FIG. 2 is a plan view illustrating the operation control of unmanned vehicles in FIG. Detailed configuration explanatory diagram of the operation control device according to the present invention installed in a vehicle,
Fig. 3 is a flowchart of a control program stored and executed in a control circuit having a microcomputer, which is one of the components of the present operation control device, and Fig. 4 shows the use of the operation control device for an unmanned vehicle according to the present invention. FIG. 7 is a plan view illustrating another operation control of a plurality of unmanned vehicles. 10, 10a, 10b, 10c, 10a', 1
0b', 10c' - mark, 12a, 12b,
12c - Unmanned vehicle, 14a, 14b, 14c
-Mark sensor, 16a, 16b, 16c ・-
Antenna, 18a, 18b, 18c... Radio transceiver, 20a, 20b, 20c - Frequency switching device, 22a, 22b, 22c = Switch, 24a
, 24b, 24c - Control circuit, 30 Guide wire, 34 Induction sensor, 36...
・Differential amplifier, 40... Motor controller, 40A, 40B, 40C... Oscillation circuit, 42.
...Amplification circuit, 44A, 448.44C...Tuning circuit, 46...Detection circuit, 48...Comparator,
A, B...intersection area, PI, P2, P
3...Guidance route, PA, PB...Intersection.

Claims (1)

[Claims] 1. In an operation control device for a plurality of unmanned vehicles in a guidance route network including a plurality of intersections on a guidance route for guiding unmanned vehicles, each intersection is placed at a position along each guidance route at an appropriate distance from the intersection. a mark sensor capable of detecting the mark on each unmanned vehicle; and a wireless transmitter/receiver capable of transmitting and receiving signals between each unmanned vehicle and identifying each intersection in each intersection area. and,
a switch for operating, stopping, and switching between transmission and reception of the radio transceiver; a signal switching device for selecting and switching the intersection identification signal when transmitting and receiving the radio transceiver; the mark sensor, the radio transceiver, and the switch; and a signal switching device to issue a control command to the switch and the signal switching device in accordance with the mark detected by the mark sensor, and to cause the unmanned vehicle to stop in accordance with the signal received by the wireless transceiver. Alternatively, the vehicle is equipped with a control circuit that issues a driving command, and when the mark sensor detects the first mark encountered among the marks unique to the intersection, the signal switching device switches the signal selection of the wireless transceiver. Then, the switch activates reception, and when a signal unique to the intersection is received among the signals transmitted from other unmanned vehicles, the unmanned vehicle is stopped by the command of the control circuit, and the signal disappears. and resumes driving, and switches between reception and transmission using the switch, transmitting a signal specific to this intersection, and if there is no signal specific to the intersection among the signals emitted from other unmanned vehicles after the reception is activated. The switch is configured to switch from a reception state to a transmission state and transmit a signal specific to this intersection, and when the next second mark is detected while driving in this transmission state, the switch stops the transmission. An operation control device for an unmanned vehicle characterized by: