JPS62288910A - Traveling control equipment for moving car - Google Patents

Traveling control equipment for moving car

Info

Publication number
JPS62288910A
JPS62288910A JP61133227A JP13322786A JPS62288910A JP S62288910 A JPS62288910 A JP S62288910A JP 61133227 A JP61133227 A JP 61133227A JP 13322786 A JP13322786 A JP 13322786A JP S62288910 A JPS62288910 A JP S62288910A
Authority
JP
Japan
Prior art keywords
priority
zone
vehicle
signal
moving car
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP61133227A
Other languages
Japanese (ja)
Other versions
JPH0789295B2 (en
Inventor
Susumu Moriya
森屋 進
Takuo Tatani
多谷 卓夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daifuku Co Ltd
Original Assignee
Daifuku Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daifuku Co Ltd filed Critical Daifuku Co Ltd
Priority to JP61133227A priority Critical patent/JPH0789295B2/en
Priority to GB8710459A priority patent/GB2191607B/en
Priority to US07/046,871 priority patent/US4817750A/en
Priority to DE19873715025 priority patent/DE3715025A1/en
Priority to FR878706482A priority patent/FR2601158B1/en
Priority to KR1019870004556A priority patent/KR900005684B1/en
Priority to NL8701334A priority patent/NL193546C/en
Publication of JPS62288910A publication Critical patent/JPS62288910A/en
Publication of JPH0789295B2 publication Critical patent/JPH0789295B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Abstract

PURPOSE:To surely stop moving cars and to prevent the collision between them by providing a control means which decelerates the moving car on the side of a non-preferential guide body according as this moving car approaches a position before the join to a preferential guide body. CONSTITUTION:When a moving car A traveling on the side of a non-preferential guide body Lb detects a join mark m2 at the time of approaching an intersection CR, a traveling motor 3 is immediately decelerated to such speed that the moving car A can be urgently stopped, and emission of a preference signal P from a light projector 11 is stopped, and the decelerated state is kept till detection of a deceleration end mark m3, and only a photodetector 12 is kept operated to monitor whether there is another moving car A which approaches or passes the intersection CR on the side of a preferential guide body La or not. If the photodetector 12 of the moving car A on the side of the guide body Lb receives the signal P emitted from the moving car A on the side of the guide body La, the moving car A on the side of the guide body Lb is stopped until the signal P cannot be received. Thus, the collision at the intersection CR is automatically avoided.

Description

【発明の詳細な説明】 3、発明の詳細な説明 〔産業上の利用分野〕 本発明は、移動車誘導帯を、移動車が優先的に走行する
優先誘導帯と、その優先誘導帯に合流する非優先誘導帯
とを有する状態で設けると共に、前記移動車に、他の移
動車に対して優先走行状態を報知する優先信号を発射す
る優先信号発射手段、及び、他の移動車から発射される
優先信号を受信する受信手段を設け、前記移動車が非優
先誘導帯側を走行中に、前記受信手段が優先信号を受信
するに伴って、非常停止させる停止制御手段を設けてあ
る移動車の走行制御設備に関する。
[Detailed Description of the Invention] 3. Detailed Description of the Invention [Field of Industrial Application] The present invention provides a method for converting a mobile vehicle guidance zone into a priority guidance zone where mobile vehicles preferentially travel, and merging into the priority guidance zone. and a priority signal emitting means for emitting a priority signal to the moving vehicle to notify other moving vehicles of a priority running state; A moving vehicle is provided with a receiving means for receiving a priority signal, and a stop control means for causing an emergency stop when the receiving means receives a priority signal while the moving vehicle is traveling on a non-priority guide zone side. Regarding travel control equipment.

〔従来の技術〕[Conventional technology]

上記この種の移動車の走行制御設備は、複数個の移動車
が移動車誘導帯に沿って分岐合流しながら同時に走行す
るように、移動車の走行を制御するものであって、誘導
帯同士が合流する合流部に移動車が同時に進入して、移
動車同士が衝突しないようにするために、誘導帯に優先
順序を設定すると共に、移動車が複数個の誘導帯が合流
する合流部子前側箇所に到着するに伴って、優先誘導帯
側を走行する移動車側から発射される優先走行状態を報
知する優先信号を、非優先誘導帯側を走行する移動車が
受信するに伴って、この非優先誘導帯側を走行する移動
車を非常停止させることにより合流部での衝突を防止す
るようにしたものである。
The above-mentioned traveling control equipment for moving vehicles controls the running of a plurality of moving vehicles so that they diverge and merge along a moving vehicle guiding zone and travel simultaneously, and the guiding zones are connected to each other. In order to prevent moving vehicles from colliding with each other due to simultaneous entry into a merging section where vehicles merge, a priority order is set for the guidance zone, and a merging section where multiple guidance zones merge. Upon arriving at the front location, as the mobile vehicle traveling on the non-priority guidance zone side receives a priority signal that notifies the priority traveling state emitted from the mobile vehicle traveling on the priority guidance zone side, Collisions at the merging section are prevented by bringing vehicles traveling on the non-priority guide zone to an emergency stop.

そして、従来では、第5図に示すように、非優先誘導帯
(Lb)側の移動車(A)が、優先誘導帯(La)側の
移動車(A)から発射される優先信号(P)を、合流部
子前側箇所で非常停止するに充分な余裕がある位置にお
いて確実に受信できるようにするため、優先誘導帯(L
a)側の移動車(A)の優先信号発射手段(11)から
発射される優先信号(P)が、車体に対して横幅方向に
向けて大きく拡がるようにしてあった。尚、図中、(1
2)は、前記優先信号(P)を受信する受信手段である
Conventionally, as shown in FIG. 5, a moving vehicle (A) on the non-priority guide zone (Lb) side receives a priority signal (P) emitted from a moving vehicle (A) on the priority guide zone (La) side. ) in a position where there is sufficient margin to make an emergency stop in front of the merging section, the priority guidance zone (L
The priority signal (P) emitted from the priority signal emitting means (11) of the mobile vehicle (A) on the a) side was designed to spread widely in the width direction of the vehicle body. In addition, in the figure, (1
2) is a receiving means for receiving the priority signal (P).

又、上記優先信号(P)としては、一般的に、超音波等
の音波や赤外線等の光が用いられている。
Further, as the priority signal (P), generally, sound waves such as ultrasonic waves or light such as infrared rays are used.

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

しかしながら、上記従来構成においては、優先走行状態
を報知する優先信号を、車体横幅方向に向けて大きく拡
げるようにしてあったので、優先誘導帯と非優先誘導帯
とが合流する合流部近傍では、上記優先信号が他物で遮
断されないようにするためのスペースいわゆるデッドゾ
ーンを拡くとる必要があり、合流部近傍に上記優先信号
を遮断するような他の設備がある場合は、移動車誘導帯
を所望通り合流させることが困難であった。
However, in the conventional configuration described above, the priority signal that notifies the priority driving state is widened in the width direction of the vehicle body, so near the confluence where the priority guidance zone and the non-priority guidance zone merge, It is necessary to widen the so-called dead zone, which is a space to prevent the above priority signal from being blocked by other objects, and if there is other equipment near the merging point that blocks the above priority signal, a vehicle guidance zone should be provided. It was difficult to merge them as desired.

又、優先信号を車体横幅方向に向けて大きく拡げて発射
するための構成が複雑になると共に、その拡がりによる
信号減衰が小さくなるように、発射信号レベルを高くす
る必要もある。同様に、受信手段も、拡い範囲からの優
先信号を受信するために、その受信範囲を車体横幅方向
に向けて大きく拡げる必要があり、装置構成が複雑高価
になる不利がある。
Furthermore, the configuration for emitting the priority signal in a wide spread direction in the vehicle body width direction becomes complicated, and it is also necessary to raise the emitted signal level so that the signal attenuation due to the spread is reduced. Similarly, in order to receive the priority signal from a wider range, the receiving means needs to greatly expand its receiving range in the width direction of the vehicle body, which has the disadvantage of making the device configuration complicated and expensive.

本発明は、上記実情に鑑みてなされたものであって、そ
の目的は、非優先誘導帯例の移動車を非常停止させるた
めの優先信号が遮断されないようにするためのデッドゾ
ーンを、狭くすることにあるある。
The present invention has been made in view of the above-mentioned circumstances, and its purpose is to narrow the dead zone to prevent the priority signal for emergency stop of a moving vehicle in a non-priority guide zone from being blocked. There are certain things.

〔問題点を解決するための手段〕[Means for solving problems]

本発明による移動車の走行制御設備の特徴構成は、前記
非優先誘導帯例の移動車が前記優先誘導帯への合流部子
前側箇所に達するに伴って、前記非優先誘導帯例の移動
車を減速させる減速制御手段を設けてある点にあり、そ
の作用並びに効果は以下の通りである。
The characteristic configuration of the travel control equipment for moving vehicles according to the present invention is such that as the moving vehicle in the non-priority guide zone example reaches a location in front of the merging part to the priority guide zone, the moving vehicle in the non-priority guide zone example The present invention is provided with a deceleration control means for decelerating the speed, and its functions and effects are as follows.

〔作 用〕[For production]

すなわち、非優先事例の移動車が、優先誘導帯への合流
部子前側箇所に達するに伴って、その移動車を減速させ
て合流部に進入させるので、この非優先誘導帯側の移動
車が非常停止するに要する走行距離を短くでき、非優先
誘導帯例の移動車が合流部面前まで接近していても、移
動車同士が衝突しないように確実に停止させることがで
きる。
In other words, as the moving vehicle in the non-priority case reaches the front side of the merging section to the priority guide zone, the moving vehicle is decelerated and enters the merging section, so that the moving vehicle on the side of the non-priority guide zone The traveling distance required for an emergency stop can be shortened, and even if the moving vehicles in the non-priority guide zone approach to the front of the merging part, the moving vehicles can be reliably stopped so as not to collide with each other.

〔発明の効果〕〔Effect of the invention〕

従って、非優先誘導帯側の移動車を、優先誘導帯への合
流部子前側箇所に達するに伴って減速させるという簡単
な設備改造によって、非優先誘導帯例の移動車を、従来
よりも合流部に接近した位置まで進入させることができ
るので、優先誘導帯側から発射される優先信号の拡がり
を狭めることができる。つまり、合流部での優先信号授
受のために必要なスペースであるデッドゾーンを狭くで
きる。又、優先信号の拡がりが狭くてもよいことから、
優先信号発射手段の構成を簡素化できるのみならず、受
信手段側もその受信範囲を狭(できる。もって、合流部
での衝突防止のために必要なスペースを狭くし、しかも
、その衝突防止のための装置構成の簡素化を図ることが
できた。
Therefore, by simply modifying the equipment by decelerating the moving vehicle on the non-priority guide zone side as it reaches the point in front of the merging section to the priority guide zone, the moving vehicle in the non-priority guide zone example can be made to merge faster than before. Since it is possible to enter a position close to the priority guidance zone, it is possible to narrow the spread of the priority signal emitted from the priority guidance zone side. In other words, the dead zone, which is the space required for exchanging priority signals at the confluence, can be narrowed. In addition, since the spread of the priority signal may be narrow,
Not only can the configuration of the priority signal emitting means be simplified, but also the reception range of the receiving means can be narrowed.Thereby, the space required for collision prevention at the merging section can be narrowed, and the space required for collision prevention can be reduced. We were able to simplify the device configuration for this purpose.

〔実施例〕〔Example〕

以下、本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below based on the drawings.

第1図に示すように、表側がN極で裏側がS極となるよ
うに磁性を帯びた移動車誘導帯(L)を、移動車(A)
の走行路面上に貼着する状態で、交差点(CR)を有す
る走行経路に沿って設置すると共に、荷移載用のステー
ション(ST)を、走行経路の横倒部に位置させて設け
てある。又、各交差点(CR)における分岐開始点や合
流開始点、並びに、前記交差点(CR)の合流部手前側
箇所において移動車(A)を減速させるための減速開始
点及び減速終了地点や前記ステーション(ST)におい
て移動車(A)を自動停止させるための停止位置等の各
種走行制御用情報を、複数個の永久磁石の磁極配置の組
み合わせとして、前記移動車(A)に指示するためのマ
ーク(+++)を、前記誘導帯(L)の横倒部の路面に
設けてある。
As shown in FIG.
It is installed along a driving route that has an intersection (CR) with the material being pasted on the driving road surface, and a load transfer station (ST) is located at a sideways portion of the driving route. . In addition, the branching start point and merging start point at each intersection (CR), the deceleration start point and deceleration end point for decelerating the moving vehicle (A) at a location on this side of the merging part of the intersection (CR), and the station A mark for instructing the moving vehicle (A) various traveling control information such as a stop position for automatically stopping the moving vehicle (A) at (ST) as a combination of magnetic pole arrangements of a plurality of permanent magnets. (+++) is provided on the road surface at the sideways portion of the guide belt (L).

又、移動車(A)に対して前記交差点(CR)における
分岐・合流方向や次に停止するステーション(ST)等
の指令情報を中央制御装置(MC)から指示するための
地上側通信設備(1a)を、前記各ステーション(ST
)に設けてある。
In addition, ground-side communication equipment (MC) is used to instruct the moving vehicle (A) in the direction of branching/merging at the intersection (CR), the next station to stop at (ST), etc. from the central controller (MC). 1a) at each of the stations (ST
).

前記誘導帯(I、)について説明すれば、第1図及び第
2図に示すように、磁性材を混入した樹脂を、薄帯状に
形成し、その表側面がN極に、且つ、裏側面がS極とな
るように着磁すると共に、裏面側に接着剤を塗布したも
のである。
To explain the induction band (I,), as shown in FIGS. 1 and 2, resin mixed with a magnetic material is formed into a thin strip shape, with the front side serving as the north pole and the back side serving as the north pole. It is magnetized so that it becomes the south pole, and an adhesive is applied to the back side.

前記移動車(A)を構成するに、第1図及び第2図に示
すように、左右一対の遊転輪(2+、) 、 (2R)
を、車体後方側に設けると共に、走行用モータ(3)に
て駆動停止自在に構成され、且つ、操向用モータ(4)
にて向き変更自在に支承された推進車輪兼用の操向輪(
5)を、車体前方側に設けてある。そして、前記誘導帯
(L)を検出する磁気感知式の誘導帯検出センサ(6)
を、その検出作用面が車体下方に向く状態で、車体前部
下方の中央に位置するように設けると共に、前記分岐開
始点を示す分岐マーク(ml)、移動車(A)が交差点
(CR)の合流部に接近するに伴って減速させるための
減速開始点を示す減速開始マーク兼用の合流開始点を示
す合流マーク(m2)、この合流マーク(m2)の検出
後の減速操作を解除する位置を示す減速終了マーク(m
3)、及び、前記ステーション(ST)での停止位置を
示す停止用マーク(m4.)等の各種マーク(m)を検
出する磁気感知式の近接センサを用いたマークセンサ(
7)を、前記誘導帯検出センサ(6)の左側脇に位置す
る状態で設けてある。又、前記地上側通信装置(1a)
゛  に対する車体側通信製W(lb)を、前記ステー
ション(ST)に面する車体横側部に設けると共に、前
記各センサ(6)1、(7)からの検出情報及び前記通
信装置(la) 、 (lb)を介して指示される情報
を判別して移動車(A)の走行を制御する制御装置(8
)を設けてある。尚、第1図中、(9)は、前記走行用
モータ(3)及び操向用モータ(4)の駆動装置、(1
0)は、走行前方側の障害物の存否を非接触に検出する
ための超音波センサである。
As shown in FIG. 1 and FIG. 2, the mobile vehicle (A) includes a pair of left and right idle wheels (2+, ), (2R).
is provided on the rear side of the vehicle body, and is configured to be able to be driven and stopped by a driving motor (3), and a steering motor (4).
A steering wheel that also serves as a propulsion wheel is supported so that its direction can be changed freely (
5) is provided on the front side of the vehicle body. and a magnetically sensitive induction band detection sensor (6) that detects the induction band (L).
is located at the center of the front lower part of the vehicle body with its detection surface facing downward, and a branch mark (ml) indicating the branch start point is provided, and the moving vehicle (A) is located at the intersection (CR). A merging mark (m2) indicating the merging start point that also serves as a deceleration start mark indicating the deceleration start point for decelerating as the merging point approaches the merging point, and a position where the deceleration operation is canceled after detection of this merging mark (m2). Deceleration end mark (m
3), and a mark sensor (using a magnetic sensing type proximity sensor) that detects various marks (m) such as a stop mark (m4.) indicating the stop position at the station (ST).
7) is provided on the left side of the guide band detection sensor (6). Further, the ground side communication device (1a)
゛ A W (lb) manufactured by the vehicle body side communication for , (lb), and controls the traveling of the mobile vehicle (A) by determining the information instructed through the controller (8).
) is provided. In FIG. 1, (9) is a drive device for the traveling motor (3) and steering motor (4), and (1)
0) is an ultrasonic sensor for non-contactly detecting the presence or absence of an obstacle in front of the vehicle.

そして、これら各センサ(6) 、 (7)による検出
情報、及び、前記通信装置(la) 、 (lb)を介
して指示された情報等に基づいて操向制御することによ
り、移動車(A)を、交差点(CI?)において、指示
された走行経路に沿って自動的に分岐・合流させながら
、前記ステーション(ST)間に亘って自動走行させて
、各挿荷の運搬作業を行わせるように構成しである。但
し、走行中に、前記超音波センサ(10)が障害物を感
知した場合は、直ちに非常停止させて衝突を防止するこ
ととなる。
Then, the moving vehicle (A ) are automatically run between the stations (ST) while automatically branching and merging along the designated travel route at the intersection (CI?) to carry out the work of transporting each loaded load. It is configured as follows. However, if the ultrasonic sensor (10) detects an obstacle while the vehicle is running, an emergency stop is immediately performed to prevent a collision.

前記誘導帯検出センサ(6)を構成するに、第1図及び
第2図に示すように、この誘導帯検出センサ(6)の中
心が前記誘導帯(L)の中心に一致する状態で、前記誘
導帯(L)の左右各端縁の内側上方に位置する左右2個
の磁気感知式スイッチ(S2) 、 (Sl)と、前記
誘導帯(L)の左右各端縁の外側上方に位置する2個の
磁気感知式スイッチ(Sl)、(S4)の4個の磁気感
知式スイッチ(Sl)〜(S4)を、車体横幅方向に並
べて配置しである。
To configure the guide zone detection sensor (6), as shown in FIGS. 1 and 2, the center of the guide zone detection sensor (6) is aligned with the center of the guide zone (L), Two left and right magnetic sensing switches (S2) and (Sl) located above the inner side of each left and right edge of the induction band (L), and two magnetic sensing switches (S2) and (Sl) located on the outer side of each left and right edge of the induction band (L). Four magnetic sensing switches (Sl) to (S4), two magnetic sensing switches (Sl) and (S4), are arranged side by side in the width direction of the vehicle body.

そして、前記制御装置(8)により、前記4個の磁気感
知式スイッチ(S、)〜(S4)の0N10FF状態の
組み合わせに基づいて、前記誘導帯(L)に対する誘導
帯検出センサ(6)の車体左右方向での位置関係を判別
させながら、前記操向用モータ(4)並びに走行用モー
タ(3)の作動を制御することにより、前記移動車(A
)が誘導帯(いに沿って自動走行するように制御するの
である。
Then, the control device (8) controls the induction zone detection sensor (6) for the induction zone (L) based on the combination of the 0N10FF states of the four magnetic sensing switches (S,) to (S4). The moving vehicle (A
) controls the vehicle to automatically travel along a guidance zone.

但し、本実施例では、直線状の誘導帯(L)に沿って走
行させる場合や一つの誘導帯(L)から左方向へ分岐す
る場合は、前記誘導帯(1、)の左端縁の内外」1方に
位置する2個の磁気感知式スイッチ(SI)、(S2)
の0N10FF状態の組み合わせに基づいて、且つ、一
つの誘導帯(l、)から右方向へ分岐する場合や右方向
から合流する場合は、前記誘導帯(L)の右端縁の内外
上方に位置する2個の磁気感知式スイッチ(S3) 、
 (sa)の0N10FF状態の組み合わせに基づいて
、誘導帯(L)に対する車体横幅方向の偏位を判別する
ようにしてあり、誘導帯(L)の内側に位置する磁気感
知式スイッチ(S2) 、 (S3)がON状態を維持
し、且つ、外側に位置する磁気感知式スイッチ(Sl)
、(S4)がOFF状態を維持するように、誘導帯(L
)の左右何れかの端縁に沿って、移動車(A)が走行す
るように操向制御するようにしである。
However, in this embodiment, when running along a straight guide strip (L) or branching to the left from one guide strip (L), the inside and outside of the left edge of the guide strip (1,) ” Two magnetically sensitive switches (SI) located on one side (S2)
Based on the combination of 0N10FF states, and when branching from one guiding zone (l) to the right or merging from the right, the guiding zone (L) is located inside and outside the right edge of the guiding zone (L). 2 magnetically sensitive switches (S3),
Based on the combination of 0N10FF states of (sa), the deviation in the vehicle width direction with respect to the guide band (L) is determined, and a magnetic sensing switch (S2) located inside the guide band (L), (S3) maintains the ON state, and the magnetic sensing switch (Sl) located on the outside
, (S4) maintains the OFF state.
The vehicle (A) is steered so that it travels along either the left or right edge of the vehicle (A).

又、前記交差点(CR)において、一方の誘導帯(La
)側の移動車(A)を、この誘導帯(La)に合流する
他方の誘導帯(Lb)側を走行する移動車(A)よりも
優、先して通過させることにより、交差点(CR)での
移動車同士の衝突を自動的に回避させるべく、優先的に
交差点(CR)を通過させる誘導帯を優先誘導帯(La
)として、且つ、この優先誘導帯(La)に合流する誘
導帯を、前記交差点(CR)を通過中又は接近中の移動
車(A)がある場合には非常停止して待機させる非優先
誘導帯(Lb)として設定すると共に、その優先関係を
判別させるために、前記優先誘導帯(La)側から非誘
導帯(1、b)側の移動車(A)に向けて交差点(CI
?)に接近中であることを報知する優先信号(P)とし
ての赤外光を走行前方側の所定範囲に向けて発射する優
先信号発射手段としての投光器(11)、及び、この投
光器(11)から発射される優先信号(P)を受光する
受光手段としての受光器(12)の夫々を、車体の前部
に設けてある。
Also, at the intersection (CR), one of the guidance zones (La
) side of the intersection (CR), by allowing the moving vehicle (A) on the side of the intersection (CR ) In order to automatically avoid collisions between moving vehicles at intersections (CR), priority guidance belts (La
), and non-priority guidance that makes an emergency stop and waits in the guidance zone that merges with this priority guidance zone (La) if there is a moving vehicle (A) passing through or approaching the intersection (CR). In order to determine the priority relationship, the intersection (CI
? ), and this floodlight (11) as a priority signal emitting means that emits infrared light as a priority signal (P) toward a predetermined range in front of the vehicle. Light receivers (12) serving as light receiving means for receiving the priority signal (P) emitted from the vehicle body are provided at the front of the vehicle body.

次に、前記制御装置(8)の動作を説明しなが11  
’ ら、前記交差点(CR)の手前側箇所において、前記非
優先誘導帯(Lb)側の移動車(A)が優先誘導帯(L
a)側の移動車(A)から発射される優先信号(P)を
受信するに伴って非常停止させる停止制御手段、並びに
、前記マークセンサ(7)が減速開始マーク兼用の合流
マーク(m2)を検出するに伴って、非優先誘導帯(L
b)側の移動車(A)を減速させる減速制御手段の構成
について詳述する。
Next, the operation of the control device (8) will be explained.
', at a location on the near side of the intersection (CR), the moving vehicle (A) on the side of the non-priority guide zone (Lb) is in the priority guide zone (Lb).
a) a stop control means that performs an emergency stop upon receiving a priority signal (P) emitted from the moving vehicle (A) on the side; and a merging mark (m2) whose mark sensor (7) also serves as a deceleration start mark. As the
The configuration of the deceleration control means for decelerating the moving vehicle (A) on the b) side will be described in detail.

すなわち、第3図に示すように、移動車(A)の走行が
開始されるに伴って、前記超音波センサ(刊)の検出情
報に基づいて、走行前方側の障害物存否を判別する。障
害物が存在する場合は、直ちに非常停止させると共に、
障害物が存在しない場合は、前記誘導帯検出センサ(6
)による検出情報に基づいて、前記操向用モータ(4)
の作動を制御することにより、移動車(A)が誘導帯(
I、)に沿って自動走行するように操向制御する。但し
、前記誘導帯検出センサ(6)が誘導帯(L)を検出で
きなかった場合は、直ちに非常停止させるようにしであ
る。次に、前記マークセンサ(7)が検出したマーク(
111)の内容を判別して、その検出したマーク(m)
に対応した処理を行うようにしである。・つまり、検出
したマーク(m)が分岐マーク(glI)である場合は
、前記誘導帯検出センサ(6)が検出すべき誘導帯(1
4)の端縁を、分岐する方向に対応して左右何れか一方
に切り換えて、移動車(A)を分岐させる分岐処理を行
う。又、前記合流マーク(m2)である場合は、後述す
る合流処理を行い、停止マーク(m4)である場合は、
ステーション(ST)に到着したものとして、前記走行
用モータ(3)を駆動停止して、車体を停止させる停止
処理を行って、前記ステーション(ST)での荷の移載
作業を行う。そして、この荷の移載作業の間に、前記通
信装置f(la)。
That is, as shown in FIG. 3, when the vehicle (A) starts traveling, it is determined whether or not there is an obstacle in front of the vehicle based on the detection information of the ultrasonic sensor. If there is an obstacle, immediately make an emergency stop and
If there is no obstacle, the guidance zone detection sensor (6
), the steering motor (4)
By controlling the operation of the moving vehicle (A), the moving vehicle (A)
Steering control is performed so that the vehicle automatically travels along I, ). However, if the guide zone detection sensor (6) fails to detect the guide zone (L), an emergency stop is immediately performed. Next, the mark (
111) and detect the detected mark (m).
The process is to be performed accordingly.・In other words, if the detected mark (m) is a branch mark (glI), the guidance zone detection sensor (6) should detect the guidance zone (1).
A branching process is performed in which the moving vehicle (A) branches by switching the edge of 4) to either the left or right side depending on the branching direction. Also, if it is the merge mark (m2), perform the merge process described below, and if it is the stop mark (m4),
Assuming that the vehicle has arrived at the station (ST), the drive motor (3) is stopped, a stop process is performed to stop the vehicle body, and the load is transferred at the station (ST). During the load transfer operation, the communication device f(la).

(1b)を介して、次のステーション(ST)までの前
記交差点(CR)に設けた分岐マーク(IIll)や合
流マーク(m=)の個数、並びに、そのマーク検出に伴
って、前記誘導帯(L)の左右何れの端縁に沿って走行
するかのセンサ切り換え情報等の、各種走行制御情報が
移動車側に指令された後、走行を再開するための起動指
令を待つこととなる。
(1b), the number of branching marks (IIll) and merging marks (m=) provided at the intersection (CR) up to the next station (ST), and the number of mark detection After various travel control information such as sensor switching information indicating whether to travel along the left or right edge of (L) is given to the moving vehicle, the vehicle waits for an activation command to resume traveling.

従って、前記制御装置(8)は、前記マークセンサ(7
)がマーク(m)を検出する毎に、前記通信装置(la
) 、 (lb)を介して与えられた情報に基づいて、
前記誘導帯検出センサ(6)の切り換え処理及びそれに
伴う操向方向の切り換え処理等を行って、前記誘導帯(
L)の左端縁又は右端縁に沿って自動走行しながら、交
差点(CR)での所定方向への分岐・合流処理を行うこ
ととなる。
Therefore, the control device (8) controls the mark sensor (7).
) detects a mark (m), the communication device (la
), based on the information given via (lb),
The guidance belt (
While automatically traveling along the left edge or right edge of L), branching/merging processing in a predetermined direction at an intersection (CR) will be performed.

前記合流処理について説明すれば、第4図に示すように
、前記非優先誘導帯(Lb)側を走行する移動車(A)
が、前記交差点(CR)に接近するに伴って、前記合流
マーク(m2)を検出すると、直ちに非常停止可能な速
度まで前記走行用モータ(3)を減速すると共に、前記
投光器(11)からの優先信号(P)の発射を停止して
、減速終了マーク(m3)を検出するまで、その減速状
態を維持しながら前記受光器(12)のみを作動状態に
維持して、優先誘導帯(La)側を交差点(CR)に接
近又は通過中の移動車(A)が存在するか否かを監視さ
せるようにしてあり、もって、前記非優先誘導帯(Lb
)側を走行する移動車(A)を合流部子前側箇所にて減
速させる減速制御手段を構成しである。そして、前記非
優先誘導帯(Lb)側の移動車(A)の受光器(12)
が、前記優先誘導帯(Ltd)側の移動車(A)から発
射される優先信号(P)を受光すると、その受光が無く
なるまで停止させることにより、交差点(CR)での衝
突を自動的に回避させるようにしてあり、もって、停止
制御手段を構成しである。但し、前記受光器(12)が
、優先信号(P)を受光しなかった場合、及び、優先信
号(P)を受光しても、優先誘導帯(La)側の移動車
(A)が交差点((:R)を通過するに伴って、その受
光状態が終了すると、減速状態のままで走行を再開し、
前記減速終了マーク(、o+−)を検出するに伴って、
前記投光器(11)からの優先信号(P)の発射を再開
すると共に、通常の速度に復帰して前記優先誘導帯(L
a)に合流することとなる。
To explain the merging process, as shown in FIG.
As it approaches the intersection (CR), when it detects the merging mark (m2), it immediately decelerates the traveling motor (3) to a speed that allows for an emergency stop, and also reduces the The emission of the priority signal (P) is stopped, and the priority guidance zone (La ) side is monitored to see if there is a moving vehicle (A) approaching or passing through the intersection (CR).
) constitutes deceleration control means for decelerating the moving vehicle (A) traveling on the side in front of the merging section. and a light receiver (12) of the moving vehicle (A) on the side of the non-priority guidance zone (Lb).
When the vehicle receives the priority signal (P) emitted from the moving vehicle (A) on the priority guidance zone (Ltd) side, it automatically stops the vehicle until the signal is no longer received, thereby automatically preventing a collision at the intersection (CR). It is designed to avoid this, and thus constitutes a stop control means. However, if the light receiver (12) does not receive the priority signal (P), or even if the priority signal (P) is received, the moving vehicle (A) on the priority guide zone (La) side will not be able to stop at the intersection. (As it passes through (:R), when the light reception state ends, it resumes driving while remaining in the deceleration state,
Upon detecting the deceleration end mark (,o+-),
The emission of the priority signal (P) from the floodlight (11) is resumed, and the speed is returned to normal and the priority guidance zone (L) is resumed.
It will join a).

尚、この合流処理の間においても、前記超音波センサ(
10)が作動した場合は、直ちに非常停止5 止することとなる。
Note that even during this merging process, the ultrasonic sensor (
If 10) is activated, an emergency stop will be made immediately.

又、前記優先誘導帯(La)側を走行する移動車(A)
は、前記投光器(10)から優先信号(P)を発射する
状態を維持させたままで、減速並びに停止させることな
く交差点(CR)を通過させることとなる。但し、前記
非優先誘導帯(1、b)側の移動車(A)が、先に交差
点(CR)に進入している場合は、前記超音波センサ(
10)が作動して、この優先誘導帯(La)側の移動車
(A)が非常停止し、非優先誘導帯(Lb)側の移動車
(A)が交差点(CR)を通過するまで待機することと
なり、優先誘導帯(La)及び非優先誘導帯(Lb)何
れの側の移動車(A)が交差点(CR)に先に到着して
も、移動車(A)同士が衝突することはない。
Moreover, a mobile vehicle (A) traveling on the priority guide zone (La) side
The vehicle is allowed to pass through the intersection (CR) without decelerating or stopping while maintaining the state in which the priority signal (P) is emitted from the floodlight (10). However, if the moving vehicle (A) on the side of the non-priority guidance zone (1, b) enters the intersection (CR) first, the ultrasonic sensor (
10) is activated, the moving vehicle (A) on this priority guide zone (La) side makes an emergency stop, and waits until the moving vehicle (A) on the non-priority guide zone (Lb) side passes the intersection (CR). Therefore, no matter which side of the priority guide zone (La) or non-priority guide zone (Lb) the moving vehicle (A) arrives at the intersection (CR) first, the moving vehicles (A) will not collide with each other. There isn't.

従って、非優先誘導帯(Lb)側の移動車(A)を、交
差点(CR)つまり優先誘導帯(La)と非優先誘導帯
(Lb)の合流部子前側箇所で、減速させるだけの筒車
な制御で、優先誘導帯(La)側の移動車(A)から発
射される優先信号(P)を受信するに伴って、直ちに停
止させることが可能な距離を短くできるので、非優先誘
導帯(Lb)側の移動車(A)を合流部に対して接近さ
せても、つまり、優先誘導帯(La)側から発射される
優先信号(P)の発射範囲を狭くしても、移動車同士が
衝突することなく、その優先順序に従って合流させるこ
とができるのである。
Therefore, a cylinder that only decelerates the moving vehicle (A) on the non-priority guidance zone (Lb) side at the intersection (CR), that is, in front of the confluence of the priority guidance zone (La) and the non-priority guidance zone (Lb). With vehicle control, the distance at which it can be stopped immediately can be shortened by receiving the priority signal (P) emitted from the moving vehicle (A) on the priority guidance zone (La) side, so non-priority guidance Even if the moving vehicle (A) on the belt (Lb) side approaches the merging point, that is, even if the firing range of the priority signal (P) emitted from the priority guidance belt (La) side is narrowed, the vehicle will not move. This allows cars to merge according to their priority order without colliding with each other.

〔別実施例〕[Another example]

上記実施例では、優先信号(P)を発射する優先信号発
射手段並びにそれに対する受信手段を、赤外光の投光器
(11)と受光器(12)を設けるように構成した場合
を例示したが、超音波や電磁波等を用いてもよく、装置
の具体構成は各種変更できる。
In the above embodiment, the priority signal emitting means for emitting the priority signal (P) and the receiving means therefor are configured to include an infrared light projector (11) and a light receiver (12). Ultrasonic waves, electromagnetic waves, etc. may be used, and the specific configuration of the device can be modified in various ways.

又、上記実施例では、移動車誘導帯(l、)を構成する
に、磁性材を混入した樹脂を薄帯状に形成したものを走
行経路に沿って設けるようにした場合を例示したが、光
反射テープを走行経路に沿って設けて光誘導式に構成し
たり、電磁誘導式のワイヤを設けて電磁誘導式に構成す
る等、移動車誘導帯の構成、その誘導帯を抽出するセン
サの構成、並びに、合流部での減速指令等の各種走行制
御用情報を移動車に与えるマーク(m)の構成等、移動
車を誘導帯に沿って自動走行させるための各部の具体構
成は、各種変更できるものであって、本発明は、上記実
施例の構成のみに限定されるものではない。
In addition, in the above embodiment, a thin strip of resin mixed with a magnetic material is provided along the travel route to constitute the vehicle guide belt (l), but the light The structure of the moving vehicle guidance zone, such as the configuration of a light guidance system by installing reflective tape along the travel route, or the configuration of an electromagnetic induction system by installing an electromagnetic induction wire, and the configuration of the sensor that extracts the guidance zone. , as well as the configuration of the mark (m) that provides the moving vehicle with various travel control information such as deceleration commands at merging points, etc., and the specific configuration of each part for automatically driving the moving vehicle along the guide zone. However, the present invention is not limited to the configuration of the above embodiment.

【図面の簡単な説明】[Brief explanation of drawings]

図面は本発明に係る移動車の走行制御設備の実施例を示
し、第1図は走行経路の概略構成を示すレイアウト図、
第2図は制御システムの構成を示すブロック図、第3図
は制御装置の全体的な動作を示すフローチャート、第4
図は合流処理のフローチャート、第5図は従来例の説明
図である。 (A)・・・・・・移動車、(L)・・・・・・移動車
誘導帯、(La)・・・・・・優先誘導帯、(Lb)・
・・・・・非優先誘導帯、(P)・・・・・・優先信号
、(11)・・・・・・優先信号発射手段、(12)・
・・・・・受信手段。
The drawings show an embodiment of the travel control equipment for a mobile vehicle according to the present invention, and FIG. 1 is a layout diagram showing a schematic configuration of a travel route;
Fig. 2 is a block diagram showing the configuration of the control system, Fig. 3 is a flow chart showing the overall operation of the control device, and Fig. 4 is a block diagram showing the configuration of the control system.
The figure is a flowchart of the merging process, and FIG. 5 is an explanatory diagram of a conventional example. (A)...Moving vehicle, (L)...Moving vehicle guide zone, (La)...Priority guide zone, (Lb)...
...Non-priority guidance zone, (P) ...Priority signal, (11) ...Priority signal emitting means, (12).
...Receiving means.

Claims (1)

【特許請求の範囲】[Claims] 移動車誘導帯(L)を、移動車(A)が優先的に走行す
る優先誘導帯(La)と、その優先誘導帯(La)に合
流する非優先誘導帯(Lb)とを有する状態で設けると
共に、前記移動車(A)に、他の移動車(A)に対して
優先走行状態を報知する優先信号(P)を発射する優先
信号発射手段(11)、及び、他の移動車(A)から発
射される優先信号(P)を受信する受信手段(12)を
設け、前記移動車(A)が非優先誘導帯(Lb)側を走
行中に、前記受信手段(12)が優先信号(P)を受信
するに伴って、非常停止させる停止制御手段を設けてあ
る移動車の走行制御設備であって、前記非優先誘導帯(
Lb)側の移動車(A)が前記優先誘導帯(La)への
合流部手前側箇所に達するに伴って、前記非優先誘導帯
(Lb)側の移動車(A)を減速させる減速制御手段を
設けてある移動車の走行制御設備。
The mobile vehicle guidance zone (L) is configured to have a priority guidance zone (La) where the mobile vehicle (A) preferentially travels, and a non-priority guidance zone (Lb) that merges with the priority guidance zone (La). a priority signal emitting means (11) for emitting a priority signal (P) to the mobile vehicle (A) to notify other mobile vehicles (A) of a priority traveling state; Receiving means (12) for receiving a priority signal (P) emitted from A) is provided, and while the moving vehicle (A) is traveling on a non-priority guidance zone (Lb) side, the receiving means (12) receives a priority signal (P). A traveling control equipment for a moving vehicle, which is provided with a stop control means for making an emergency stop upon receiving a signal (P), and the equipment is equipped with a stop control means for making an emergency stop when a signal (P) is received,
deceleration control that decelerates the moving vehicle (A) on the non-priority guide zone (Lb) side as the moving vehicle (A) on the Lb) side reaches a location on the near side of the confluence with the priority guide zone (La); Travel control equipment for mobile vehicles equipped with means.
JP61133227A 1986-05-09 1986-06-09 Travel control equipment for mobile vehicles Expired - Lifetime JPH0789295B2 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP61133227A JPH0789295B2 (en) 1986-06-09 1986-06-09 Travel control equipment for mobile vehicles
GB8710459A GB2191607B (en) 1986-05-09 1987-05-01 Running control system for conveyor cart
US07/046,871 US4817750A (en) 1986-05-09 1987-05-04 Running control system for conveyor cart
DE19873715025 DE3715025A1 (en) 1986-05-09 1987-05-06 DRIVE CONTROL SYSTEM FOR TRANSPORT CARS
FR878706482A FR2601158B1 (en) 1986-05-09 1987-05-07 AUTOMATIC STEP CONTROL SYSTEM FOR CARRIER CARRIAGE THROUGH MAGNETIC GUIDANCE LINES, PARTICULARLY SUITABLE FOR TRACKS WITH BIFURCATION OR COMING TO ANOTHER TRACK
KR1019870004556A KR900005684B1 (en) 1986-05-09 1987-05-09 Running control system for conveyor cart
NL8701334A NL193546C (en) 1986-06-09 1987-06-09 Driving control system for transport trolley.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61133227A JPH0789295B2 (en) 1986-06-09 1986-06-09 Travel control equipment for mobile vehicles

Publications (2)

Publication Number Publication Date
JPS62288910A true JPS62288910A (en) 1987-12-15
JPH0789295B2 JPH0789295B2 (en) 1995-09-27

Family

ID=15099702

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61133227A Expired - Lifetime JPH0789295B2 (en) 1986-05-09 1986-06-09 Travel control equipment for mobile vehicles

Country Status (1)

Country Link
JP (1) JPH0789295B2 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01123213U (en) * 1988-02-12 1989-08-22
JPH03131911A (en) * 1989-10-18 1991-06-05 Murata Mach Ltd Method for preventing generation of collision on curve of unmanned carrier system
JPH0587606U (en) * 1991-05-28 1993-11-26 村田機械株式会社 Intersection monitoring device for automated guided vehicles
US5525884A (en) * 1995-02-10 1996-06-11 Yazaki Industrial Chemical Co., Ltd. Automatically guided vehicle
JP2019034306A (en) * 2017-08-21 2019-03-07 浙江大学Zhejiang University Device for work on inclined plane and cleaning method therefor when applying same to solar power generation plant

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5980804U (en) * 1982-11-16 1984-05-31 平田機工株式会社 Control device at the merging point of unmanned carrier vehicles

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5980804U (en) * 1982-11-16 1984-05-31 平田機工株式会社 Control device at the merging point of unmanned carrier vehicles

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01123213U (en) * 1988-02-12 1989-08-22
JPH03131911A (en) * 1989-10-18 1991-06-05 Murata Mach Ltd Method for preventing generation of collision on curve of unmanned carrier system
JPH0587606U (en) * 1991-05-28 1993-11-26 村田機械株式会社 Intersection monitoring device for automated guided vehicles
US5525884A (en) * 1995-02-10 1996-06-11 Yazaki Industrial Chemical Co., Ltd. Automatically guided vehicle
JP2019034306A (en) * 2017-08-21 2019-03-07 浙江大学Zhejiang University Device for work on inclined plane and cleaning method therefor when applying same to solar power generation plant

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