JPS62274407A - Running control equipment for moving car - Google Patents

Abstract

PURPOSE:To prevent plural moving cars from going into an intersection simultaneously, by inhibiting the moving car of the other guidance line from going into the intersection, in case the moving car of one guidance line is in a state that the inhibition for going into the intersection is released, with respect to the respective moving cars of plural guidance lines which are merged to the intersection. CONSTITUTION:A light reflecting tape L for forming a moving car guidance line is formed along a running path of a moving car V, in a state that it has an intersection CR where plural guidance lines of a main guidance line La, a merging guidance line Lb, and a branching guidance line Lc cross. Plural pieces of load transfer stations ST are positioned and provided on a horizontal side part of a running path, and in a part of this side of the intersection CR, a transmitter 2 being a signal transmitting means for transmitting alternately entrance inhibiting signals P1, P2, to a receiver 1 provided on a moving car V is provided. In this way, it is prevented that plural moving cars V go into the intersection CR simultaneously, plural moving cars V are run simultaneously extending between each station, and a carrying work of various loads can be executed.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention [Industrial Application Field] The present invention provides a system for automatically driving a moving vehicle for transporting goods along a predetermined travel route in, for example, a factory or warehouse. However, regarding travel control equipment for moving vehicles used when transporting various goods, in detail, a moving vehicle guidance line is provided with an intersection where a plurality of guidance lines merge,
The present invention relates to travel control equipment for moving vehicles, which includes a merging control means for controlling moving vehicles on other guidance lines from entering the intersection when a moving vehicle entering the intersection exists on one guidance line.

[Conventional technology]

In the above-mentioned type of travel control equipment for moving vehicles, in order to prevent moving vehicles traveling on each guidance line from entering the intersection at the same time and colliding with each other, vehicles entering the intersection from one guidance line are If there is a merging control means, a merging control means is provided to prohibit vehicles traveling on other guidance lines from entering the intersection.

Conventionally, a communication device is provided in front of the intersection, which is connected to a central control device that manages the operation of each moving vehicle, and is used to communicate various control information with the communication device mounted on the moving vehicle. As the moving vehicle arrives at the near side of the intersection, it requests permission to enter the intersection from the central control device via the communication device.

In other words, based on the arrival information of vehicles on each guidance line at the intersection, which is transmitted via the communication device installed in front of each intersection, the central control device determines whether or not other vehicles have arrived at this intersection. If there are vehicles arriving at the same time, the system determines the preset priority relationship and instructs only one vehicle to enter the intersection, allowing multiple vehicles to enter the intersection. Merge control will be performed to prevent both vehicles from entering the intersection at the same time.

[Problem that the invention seeks to solve]

However, in the above conventional configuration, the central control unit individually controls the merging of each moving vehicle entering the intersection, which increases the processing load on the central control unit, and as the number of intersections increases, the overall equipment This has the disadvantage that the central control unit that performs operation management cannot fully demonstrate its original functions. In addition, since a communication device connected to the central '4Tj device is provided on each of the guidance lines in front of the intersection, the wiring work becomes complicated and the equipment configuration becomes complicated and expensive.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to perform merging control to prevent moving vehicles from simultaneously entering an intersection with a simple configuration while reducing the burden on the central control device. The purpose is to do so.

[Means for solving problems]

A characteristic configuration of the traveling control equipment for moving vehicles according to the present invention is such that the merging control means is configured to send an entry prohibition signal prohibiting entry into the intersection at a location on the near side of the intersection to each of the plurality of guiding lines. The present invention is provided with signal transmitting means that alternately transmits signals to the receiving means provided in the moving vehicle, and its functions and effects are as follows.

[For production]

That is, by alternately transmitting a prohibition signal that prohibits entry into an intersection from the signal transmitting means to the receiving means of each moving vehicle, it is possible to prevent each moving vehicle on a plurality of guidance lines from entering the intersection. Entrance is prohibited alternately.

In other words, for mobile troops on multiple guidance lines merging into an intersection, if a vehicle on one guidance line is prohibited from entering the intersection, the vehicles on the other guidance lines will cross the intersection. By prohibiting entry into the intersection, multiple vehicles are prevented from entering the intersection at the same time.

〔Effect of the invention〕

Therefore, although it has a simple structure in which a signal transmitting means is provided that alternately transmits an entry prohibition signal prohibiting vehicles on each guidance line from entering the intersection at a location on the near side of the intersection, it is possible to simultaneously enter the intersection. can be prevented. In other words, this signal transmitting means only needs to have the function of alternately transmitting a no-entry signal to each moving vehicle to prohibit entry into the intersection, so it can be provided independently of the central control device. can. As a result, it was possible to reduce the processing load on the central control unit, and to simplify the wiring work, thereby making the equipment more cylindrical, and to be able to perform merging control.

(Example) Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 1 and 2, a light reflective tape (L) for forming moving vehicle guidance lines is attached to the main guidance line (La), the merging guidance line (Lb), and the branch guidance line (Lc).
A cargo transfer station (CR) is attached to the traveling road surface so as to be formed along the traveling route of the moving vehicle m, and has an intersection (CR) where a plurality of guidance lines intersect.
A plurality of ST) are installed at the sideways portion of the travel route, and at a location on the near side of the intersection (CR), a receiver (1) is installed on the moving vehicle (V), which will be described in detail later. A transmitter (2) is provided as a signal transmitting means for alternately transmitting entry prohibition signals (P, ) and (P2),
While preventing multiple moving vehicles (V) from entering the intersection (CR) at the same time, multiple moving vehicles (V) are caused to travel between each station at the same time while carrying out the work of transporting each load. It is configured as follows.

As shown in FIGS. 1 and 2, the mobile vehicle (y) is provided with a pair of left and right propulsion wheels (3) that can be independently driven by a pair of left and right electric motors (M). , a pair of left and right caster-type idle wheels (4) are provided at the front and rear ends of the vehicle body, and the speed of the pair of left and right electric motors (M) is changed so as to differentiate the rotational speeds of the left and right propulsion wheels (3). It is configured to be operated and steered.

In addition, the infrared reflection type obstacle sensor (Sx) for emergency stop, which detects whether or not there is an obstacle in front of the moving vehicle (V), is arranged so that its detection area faces toward the front of the moving vehicle (V). Provided at the front end of the vehicle body, and the no-entry signal (p+)
, (pg) is provided on the upper part of the vehicle body.

The driving control means for automatically driving the mobile vehicle (V) along each of the main guidance line (La), the merging guidance line (Lb), and the branch guidance line (Lc) will be described below.
As shown in Figures to Figure 3, on the light reflective tape (L),
Marks (ml), (m-), (ms) that display various travel control information such as a stop position, a branch position, and a deceleration start position of the mobile vehicle (V) with respect to the station (ST).
) is provided. Then, a projector (5) that illuminates the light reflective tape (L) receives the reflected light from the light reflective tape (L) and determines the position of the light reflective tape (L) and the marks (ml), (mz ).

An optical sensor (St) equipped with an image sensor (6) for detecting (m,) is provided on the lower side of both the front and rear ends of the moving vehicle (V), and the control device (B) controls the optical sensor (St). (
Based on the detection information from the light reflective tape (SL)
While calculating and determining the amount of lateral deviation of the vehicle body with respect to L), both electric motors (M) are operated so as to reduce the amount of lateral deviation to zero,
(M) to make the moving vehicle (V) automatically travel along the light reflective tape (L), and the mark (m)
I), (m-), and (mz), and the corresponding processing is performed.

As shown in FIG. 3, the obstacle sensor (Sx) includes a floodlight (which emits infrared light toward the front of the vehicle) so that obstacles in front of the vehicle can be detected without contact. 7a
), and a light receiver (7b) that receives the reflected infrared light emitted from the light emitter (7a) and reflected from an obstacle, and the light receiver (7b) receives the reflected infrared light of a set intensity or higher. The presence or absence of an obstacle can be detected based on whether or not it receives light. And the control device (B)
Based on the obstacle detection signal output from the obstacle sensor (Sx), the presence or absence of an obstacle is determined, and when the presence of the obstacle is determined, the mobile vehicle (V) is stopped and the absence of the obstacle is determined. The traveling of the mobile vehicle (V) is controlled so that it is automatically restarted in accordance with this.

The structure of the transmitter (2) that alternately transmits the entry prohibition signals (PI) and (PZ) will be explained as shown in FIGS. 1 to 3.
As shown in the figure, a receiver (1) installed on the upper part of the moving vehicle (V) at a location on the near side of the intersection (C12)
towards the said no entry signal (p+), (pz) (
Infrared light projectors (8a), (, 8a) having the same configuration as the light projector (7a) of the obstacle sensor (Sx) are installed in their light emitting area so as to alternately emit light (see Fig. 4). However, the moving vehicle (
As the vehicle (V) approaches, each of the light receivers (la) of the receiver (1) provided on the upper part of the vehicle body separately approaches the light projector (8).
It is provided so as to receive infrared light from a). In addition, in FIG. 3, (9) indicates the entry prohibition signal (p+
), (p2), the infrared type projector (8a),
(10) is an encoder that detects the rotation speed of the electric motor (M) and feeds it back to the control device (B); (11) is an oscillator that outputs alternately to (8a); M) drive servo amplifier, (12
) is a vehicle-side communication device for the central control device (A) that manages the entire operation of the mobile vehicle (V); (13) is a ground-side communication device for the vehicle-side communication device (12); It is located at the station (ST). and,
(a) is a transmitter of the communication devices (12) and (13), and (b) is a receiver.

Accordingly, various information such as information input to the central control device (,), information stored in advance, and the optical sensor (SL)
), and based on the detection information of the obstacle sensor (Sx) and receiver (1), branch control, merging control, deceleration control near the station (ST), and stop control. , and allows the mobile vehicle (V) to automatically travel to a desired station (ST) while performing emergency stop control.

More specifically, as shown in FIG. 5, when the moving vehicle (V) starts traveling based on travel command information, based on the detection information by the obstacle sensor (Sx), The optical sensor (SL)
Based on the detection information from the light reflecting tape (L), steering control is performed so that the amount of lateral deviation with respect to the light reflecting tape (L) becomes zero.

Further, the detection information from the optical sensor (SL) includes the marks (m,), (-), (+) indicating the various steering control information described above.
113), if the mark is a mark (ax) indicating a branching position, a branching in which the moving vehicle (V) is made to travel along a branching guidance line (Lc) branching from the main guidance line (La). If the mark (m3) indicates the deceleration start position, deceleration processing is performed to run the vehicle at a reduced speed for a set time, and if the mark (m,) indicates the stop position, the moving vehicle (V) is Processing corresponding to the determined mark is performed, such as performing stop control to stop the machine. On the other hand, a receiver (1
) receives a prohibition signal (p+), (pg) that prohibits entry into the intersection (CR), it stops the moving vehicle m at a location on the near side of the intersection (CR) for a predetermined period of time. Marks and communication devices (12), (13)
The merging process is performed without using . still,
When the optical sensor (SL) cannot detect the light reflective tape (L) (the mark (m, )).

(+m-), (including cases where (m-) cannot be detected), an emergency stop is made to ensure safety.

To explain the entry prohibition signals (P+) and (Pz), as shown in FIG. (section indicated by "H" level in Fig. 4) and an entry prohibition release state (section indicated by "L" level in Fig. 4) in which light emission is suspended for a predetermined time (t2) thereafter. and the moving vehicle (V) on the main guidance line (La).
The “H” level section of the no-entry signal (Pl) that is projected toward the vehicle and the no-entry signal (P2) that is projected toward the moving vehicle on the merging guidance line (Lb) is a predetermined time (t3).
This is so that there is overlap between the two. However, the predetermined time period (t,) for the overlap is determined by the time required for the moving vehicle (V) to complete passing through the intersection (CR) after it enters the intersection (CR). The intersection (C
Even if there is a moving vehicle (V) entering R), this moving vehicle (
V) and the other guidance line (La or Lb) to the intersection (
Collision with the moving vehicle (v) entering the vehicle (CR) can be reliably avoided.

Next, at the intersection (CR), the main guidance line (L
The merging control means for merging moving vehicles (V) traveling on each of a) and the merging guidance line (C) will be described in detail.

That is, as the moving vehicle (V) approaches the intersection (CR), the receiver (1) provided on the moving vehicle (V) side
Infrared light emitted from the transmitter (2) is received, and accordingly, the infrared light emitted from the transmitter (2) is transmitted until the light reception is interrupted, that is, at a predetermined time when the entry prohibition signals (p+) and (pz) are at "H" level. After stopping for a time (1+), the vehicle restarts and enters the intersection (CR). Therefore, the moving vehicle (V) approaching the intersection (CR) on the main guidance line (La) and the merging guidance line (Lb) receives the no-entry signals (PI) and (Pg) that are transmitted alternately. Accordingly, while one vehicle is stopped, the other moving vehicle (V)
enters the intersection (CR), and it is possible to prevent a plurality of moving vehicles (V) from entering the intersection (CR) at the same time. Of course, even if the moving vehicles (V) on the main guidance line (La) and the merging guidance line (Lb) arrive at the intersection (CR) at the same time, the no-entry signal (PI),
(PZ) is transmitted alternately, so multiple moving vehicles (
V) will not enter the intersection (CR) at the same time. However, the moving vehicle (V) on one guidance line is at the intersection (CR).
If you arrive at the point on the near side of the intersection first, and in that state, one of the entry prohibition signals (p+) and (pg) is at the “L” level and the entry prohibition has been lifted, you can proceed directly to the intersection (CR
), but if the vehicle (V) approaches the intersection (CR) from the other guidance line after that, upon receiving the no-entry signal, the moving vehicle (V) that entered the intersection (CR) first This is not a problem because the vehicle is temporarily stopped while passing through the intersection (CR). Further, when one of the entry prohibition signals (p+) and (pz) is at the "L" level and the entry prohibition is released, the intersection (CR) is
Even if there is a moving vehicle (V) approaching the intersection (CR), at that point, the moving vehicle (V) that entered the intersection (CR) first will not be able to reach the intersection (CR) when the following moving vehicle (V) enters the intersection (CR). If the vehicle is moving forward enough to avoid a rear-end collision, and if the distance is short, the obstacle sensor (Sx) detects that there is an obstacle ahead and makes an emergency stop. It can be done, so it's not a problem.

Therefore, a no-entry signal (p
+), (pg) by simply providing a transmitter (2) that alternately transmits signals (+) and (pg), the intersection ( CR) can be prevented from entering simultaneously. Moreover, since the transmitter (2) only needs to have a function of alternately transmitting the no-entry signals (P, ) and (PZ) at a location on the near side of the intersection, its configuration can be simplified.

[Another example]

In the above embodiment, the transmitter (2) that transmits the entry prohibition signals (P, ), (PZ) is configured using infrared light without modulation. Although the infrared light may be modulated and used with signals indicating two states, ie, entry prohibited and entry prohibited released, respectively.

In this case, it can be made less likely to malfunction due to disturbances.

In addition, in the above embodiment, the entry prohibition signal (PI), (PZ)
Although the case where the receiver (1) for receiving the entry prohibition signals (Pz) is separately provided is illustrated, for example, the obstacle sensor (Sx) may also be used as a receiver for receiving the entry prohibition signals (PI) and (Pz). can.

That is, the projector (8a) of the transmitter (2), (
8a), the moving vehicles (V) of the main guidance line (La) and the merging guidance line (Lb) are connected to the intersection (CR).
), the receiver (6b) of the obstacle sensor (Sx) detects the infrared light emitted from the emitters (8a), (8a) of the transmitter (2). It is also possible to provide the vehicle at a position where it can receive the entry prohibition signals (PI) and (Pg), and to perform merging control by utilizing the temporary stop processing function of the obstacle sensor (Sx). or,
As the transmitting means for transmitting the no-entry signals (Pl) and (Pz) and the obstacle sensor (Sx), in addition to the previous generation using infrared light, various types such as those using ultrasonic waves or radio waves can be used. Can be changed.

In that case, the obstacle detection signal of the obstacle sensor (Sx) and the entry prohibition signal (PI) for merging control, (
By using the same signal medium as the signal of the transmitter (2) that transmits the signal PZ), the obstacle sensor (S
x) can also be used as a receiving means for the transmitting means that transmits the entry prohibition signals (PI) and (PZ).

Further, in the above embodiment, the entry prohibition signals (p, ), (Pz
) has been exemplified in which a call is issued to prohibit entry and a call stop is used to instruct entry permission, but the call may be used to issue an entry permission and a call stop may be used to instruct entry prohibition.

In addition, in the above embodiment, the case where two guidance lines, the main guidance line (La) and the merging guidance line (Lb), intersect to constitute the intersection (CR) was exemplified, but the present invention It can also be applied to intersections where multiple guidance lines intersect; in other words, when the prohibition on entering an intersection from one guidance line is lifted so that vehicles on each guidance line do not enter the intersection at the same time. For this purpose, it is only necessary to create a state in which entry from other guide lines is prohibited, and the specific configuration can be modified in various ways.

[Brief explanation of the drawing]

The drawings show an embodiment of the traveling control equipment for a moving vehicle according to the present invention, FIG. 1 is a schematic plan view showing the arrangement of the traveling route of the moving vehicle and the arrangement of the signal transmitting means, and FIG. 2 shows the arrangement of the signal transmitting means. 3 is a block diagram showing the configuration of the travel control device, FIG. 4 is a time chart of a no-entry signal, and FIG. 5 is a flow chart showing the operation of the control device. (L)...Guidance line, (CR)...
Intersection, (V)...Moving vehicle, (p,), (P
z)...... entry prohibition signal, (1)...... receiving means, (2)...... signal transmitting means.

Claims (1)

[Claims] A moving vehicle guidance line (L) is provided with an intersection (CR) where a plurality of guidance lines (L) merge, and a moving vehicle (V) of one guidance line (L) enters the intersection (CR). If so, move vehicles (V) on other guidance lines (L).
A running control equipment for moving vehicles, comprising a merging control means for controlling the vehicle from entering the intersection (CR), the merging control means comprising: Receiving means (1) provided on each moving vehicle (V) of the plurality of guidance lines (L) for transmitting prohibition signals (P_1) and (P_2) prohibiting entry into the (CR).
) A traveling control equipment for a moving vehicle, which is provided with a signal transmitting means (2) that transmits signals alternately.