JPH0782387B2 - Emergency stop control device for moving vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a mobile vehicle used when, for example, in a factory or the like, various tools, works and the like are automatically conveyed between desired stations, More specifically, the present invention relates to an emergency stop control device for safely and automatically driving a vehicle. The detection signal is emitted to a moving vehicle that automatically travels along a guidance line toward the front side of the vehicle and is directed toward the vehicle body. An emergency stop means for providing an emergency stop to the moving vehicle when the obstacle sensor detects the presence of an obstacle. The present invention relates to a mobile vehicle emergency stop control device.

[Conventional technology]

In the emergency stop control device for a moving vehicle of this type, if a person or other object enters the traveling route of the moving vehicle, there is a danger of the moving vehicle colliding. An obstacle sensor for detecting whether or not there is an obstacle is provided, and when the presence of the obstacle is detected, the vehicle is automatically stopped so that the collision is automatically avoided.
However, when the obstacle becomes absent, the obstacle is automatically restarted.

In addition, as a structure for automatically moving the moving vehicle, a light reflecting tape for forming a line for guiding the moving vehicle is provided along the running route, and an optical sensor for receiving light from the light reflecting tape is provided on the moving vehicle side. Induction type, or embedding an electromagnetic induction wire for forming a guide line for a moving vehicle that emits an electromagnetic wave for induction on the ground side, and providing a pickup coil on the moving vehicle side to detect the electromagnetic wave emitted from the wire, Alternatively, there are various configurations such as a magnetic induction type in which a magnetic strip or the like is provided along the traveling route and a magnetic sensor for detecting the magnetism from the strip is provided on the moving vehicle side.

The reflection type obstacle sensor has various configurations such as an ultrasonic type using an ultrasonic wave as a detection signal, a radio type using a radio wave, and an optical type using light such as infrared rays.

However, for example, as shown in FIG. 4, the obstacle sensing area (ii) of the obstacle sensor is set to have substantially the same width as the vehicle body lateral width even when the width along the vehicle body lateral width direction is the minimum. .

Then, when the moving vehicle (A) is automatically driven in a factory or the like, the traveling layout may be set such that the moving vehicles traveling in opposite directions are rubbed with each other. In that case, it is desired to arrange the two guide lines (L) as close to each other as possible to reduce the passage area for traveling the moving vehicle as much as possible.

However, when the two guide lines (L) are brought close to each other,
The obstacle sensor provided in each of the two moving vehicles traveling in the opposite direction directly receives the detection signal emitted from the obstacle sensor on the other side, and accordingly, each obstacle sensor causes an obstacle. There is also a case where the existence is erroneously detected, and as a result, there is a risk of causing a trouble in which both of the two moving vehicles make an emergency stop. Moreover, once such an emergency stop occurs, the obstacle sensor of each of the two moving vehicles maintains the reception state of the detection signal, and the emergency stop is continued. Therefore, the worker himself / herself restarts. You need to take special measures for.

Therefore, it is difficult to install the two moving vehicle guide lines (L) sufficiently close to each other in order to suppress the occurrence of the above trouble.

By the way, when an obstacle sensor that uses ultrasonic waves as a detection signal is taken as an example to explain that both of two moving vehicles traveling in opposite directions make an emergency stop, this obstacle sensor is The presence / absence of an obstacle is detected based on whether or not an ultrasonic wave intermittently emitted with a predetermined intensity is received within a preset time at a preset intensity or higher. Even when the width of the obstacle sensing area (ii) along the lateral direction of the vehicle body is set to be approximately the same as the lateral width of the vehicle body, the ultrasonic waves are transmitted to the laterally outward region of the sensing area (ii). Will be projected. That is,
It is practically difficult to project ultrasonic waves only within a limited range, and when trying to project ultrasonic waves with desired intensity within a desired range, ultrasonic waves are also projected outside the desired range. Will be. Of course, the intensity of the ultrasonic wave projected outside the desired range is the attenuation at the time of reflection by an obstacle,
The ultrasonic wave is set to a strength at which it is determined that there is no obstacle due to attenuation and the like caused by going back and forth between the vehicle body and the obstacle.

However, when another obstacle sensor directly receives an ultrasonic wave projected outside the desired range, the attenuation of the above signal may decrease, and the obstacle sensor may falsely detect the presence of an obstacle. There is a risk of In other words, for example, as shown in FIG. 4, the false detection area (ii) where the ultrasonic wave is projected at an intensity which may cause false detection by another obstacle sensor.
i) exists on the front side in the traveling direction in a region that is wider than the desired obstacle sensing area (ii) and extends in the lateral direction of the vehicle body.

Therefore, even if the traveling layout is set so that the obstacle sensing areas (ii) of the moving vehicles (A) traveling in opposite directions do not interfere with each other, both moving vehicles (A) cause an emergency stop. There is a fear that, in practice, the false detection area (ii
i) It is necessary to install the two guide lines (L) at a large distance so that they do not interfere with each other.

Therefore, in order to prevent the trouble that the moving vehicles traveling in the opposite direction are both stopped due to an emergency, it is possible to install the moving vehicle guiding lines for the moving vehicles as close as possible to each other. Among the obstacle detection sensors provided in each of the moving vehicles traveling toward, the obstacle detection sensor on the moving vehicle side that receives the detection signal first is kept in a state of receiving the detection signal. By stopping the moving vehicle in an emergency and stopping the emission of the detection signal until the detection signal is not received, both obstacle sensors directly output the detection signal emitted from each of the moving vehicles traveling in the opposite direction. We have previously proposed an emergency stop control device configured to eliminate the disadvantage that both moving vehicles stop when received (see Japanese Patent Application No. 60-298907).

[Problems to be solved by the invention]

However, in the above-proposed device, in order to stop the emission of the detection signal for detecting the obstacle on one side of the moving vehicle traveling in the opposite direction, the movement of the side on which the emission of the detection signal is stopped is stopped. On the vehicle side, there is a disadvantage that it cannot be determined whether or not there is an obstacle in front of it. Further, since the moving vehicle is stopped while the emission of the detection signal is stopped, there is a disadvantage that the operation efficiency of the stopped moving vehicle is lowered.

The present invention has been made in view of the above circumstances, and an object of the present invention is that moving vehicles traveling oppositely directly receive an obstacle detection signal emitted from the other, and both are brought to an emergency stop. While suppressing troubles, it is possible to efficiently travel without stopping each moving vehicle.

[Means for solving problems]

The characteristic configuration of the emergency stop control device for a mobile vehicle according to the present invention is as follows.
The obstacle sensor is capable of switching the detection signal format between a normal format and a facing section format, and in each format, an obstacle is formed only on the basis of the reception of a unique detection signal for each format. 1 to correspond to an oncoming section in which the moving vehicle travels in an oncoming state.
An instruction means for instructing that the moving vehicle traveling on one of the pair of guide lines is traveling in the opposite section is provided on the ground side, and the detection is performed based on the instruction from the instruction means. The signal format switching means for switching the signal format from the normal format to the opposing section format while traveling in the opposite section is provided, and its operation and effect are as follows.

[Action]

In the facing section in which the moving vehicle runs in the facing state, the moving means running in one of the pair of guiding lines corresponding to the facing section is running in the facing section from the instruction means provided on the ground side. The format of the detection signal of the obstacle sensor of the moving vehicle instructed is switched from the normal format to the opposing section format while traveling in the opposing section by the signal format switching means.

Therefore, while the traveling vehicle is traveling in the opposing section in the opposing state, the format of the detection signal of the obstacle sensor in one traveling vehicle is the format for the opposing section, and the format of the detection signal of the obstacle sensor in the other traveling vehicle is Since it is a normal type, the format of the detection signal of the obstacle sensor of each oncoming mobile vehicle is different, so the obstacle sensor of each oncoming mobile vehicle maintains a state in which the presence or absence of the obstacle can be detected. However, it is possible to avoid malfunction by directly receiving the detection signal emitted from the other party.

As a result, when the traveling layout is set so that the moving vehicles traveling in opposite directions are rubbed against each other, the detection signal emitted from the obstacle sensor of one moving vehicle is used as the obstacle sensor of the other moving vehicle. Since the signal format is different even when it is directly received, the moving vehicle traveling in the opposite direction is not erroneously detected as an obstacle.

In addition, the obstacle sensor can switch the detection signal format between the normal format and the facing section format, and in each format, the obstacle is detected only when a unique detection signal is received for each format. It is configured to detect the presence of an object, and while traveling in the opposite section, the format of the detection signal of the obstacle sensor in one of the moving vehicles traveling in the opposite state is changed from the normal format to the opposite section. By configuring to switch to the form, for example, even if three or more moving vehicles are automatically driven in opposite sections in an unspecified state, the obstacle sensors of all the moving vehicles are It can be configured the same.

〔The invention's effect〕

Therefore, while the moving vehicle is traveling in the facing section in the facing state, the format of the detection signal of the obstacle sensor in one moving vehicle is switched from the normal format to the facing section format, so that the obstacles of the facing moving vehicles are blocked. When the sensor directly receives the detection signal for obstacle detection from the other side, the trouble that both moving vehicles stop together is detected by the obstacle sensors of both moving vehicles. It can be avoided without stopping the function.

Further, since it is not necessary to stop the obstacle existence detection function by the obstacle sensors of both moving vehicles, it is not necessary to stop one side of the moving vehicles facing each other, and the operation efficiency of the moving vehicles is not reduced.

Therefore, the disadvantage that one moving vehicle side directly receives the detection signal from the other moving vehicle side and the two moving vehicles make an emergency stop, considering only the avoidance of contact between the two moving vehicles, By installing the mobile vehicle guide line as close as possible, it has become possible to reduce the passage area of the mobile vehicle as much as possible.

Furthermore, since the obstacle sensors of all moving vehicles can be configured in the same way, the obstacle sensor configuration is extremely simple,
As a result, the device price can be reduced.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 4, a light-reflecting tape (L) for forming a line for guiding a moving vehicle (A) is attached to a traveling road surface side along a traveling route of the moving vehicle (A), and then a load transfer station. (S
A plurality of (T) are provided on the lateral side of the travel route, so that various types of vehicles (A) can be run while facing each other on the travel routes that are adjacent to each other across each station. It is configured to carry loads.

In the mobile vehicle (A), a pair of left and right propulsion wheels (2) and (2) can be separately driven by a pair of electric motors (M) as shown in FIGS. 4 and 5. And a pair of left and right caster type idler wheels (3) are provided at the front and rear ends of the vehicle body so that the rotational speeds of the left and right propulsion wheels (2) and (2) are different from each other. (M),
It is configured such that (M) is operated by changing gears.

Explaining the traveling control means for automatically moving the moving vehicle (A) along the light reflecting tape (L), as shown in FIGS. 3 and 4, the projector for illuminating the light reflecting tape (L). (5) and an optical sensor (S _L ) equipped with an image sensor (6) for receiving the reflected light from the light reflection tape (L) and detecting the light reflection tape (L), A) a host controller (7) provided at each of the front and rear ends of A) to control the traveling of the moving vehicle (A), an image processing controller (8) for processing information detected by the image sensor (6), and the electric motor A digital servo controller (9) for controlling the operations of (M) and (M) is provided on the moving vehicle side. Then, the encoders (10) and (10) attached to the both electric motors (M) and (M) are
The servo amplifier (11) for both the electric motors (M), (M) is connected to the digital servo controller (9) via a servo amplifier driver (12) while being connected to the digital servo controller (9). Accordingly, while the image processing controller (7) calculates and determines the lateral displacement amount of the vehicle body with respect to the center of the light reflection tape (L), the both electric motors (M) are set to zero the lateral displacement amount. , (M) are operated to shift the moving vehicle (A) automatically along the light reflecting tape (L). However, as for the optical sensor (S _L ), the front side sensor is used when moving forward and the rear side sensor is used when moving backward.

Further, a stop position of the moving vehicle (A) with respect to the station (ST), and a pair of guide lines (L) corresponding to an opposing section in which the moving vehicle (A) travels in an opposing state, which will be described later in detail.
A mark (m ₁ ) for displaying traveling control information such as marks (m ₁ ) and (m ₂ ) as instruction means for instructing that the traveling vehicle (A) traveling on one side is traveling in the opposite section ( m) is provided on the light reflection tape (L) so that it can be read by the light sensor (S _L ). In the following description, when the two guide lines (L) are provided in a state having parallel sections, the opposing section when the moving vehicles (A) travel in a state where they rub each other is referred to as a cross-rubbing section. To do.

Further, an infrared transmitter (a) is provided so that various information such as destination data can be transmitted from the station side to the moving vehicle side and various information such as station arrival data can be transmitted from the moving vehicle side to the station side. ) And a receiver (b) are provided on the moving vehicle side and the station side, respectively, and the moving vehicle side optical communication device (13) is provided on the host controller (7). Also, the optical communication device (14) on the station side is connected to the central control device (C) on the ground side, respectively, so that various information such as information input to the central control device (C) or information stored in advance is stored. Based on the above, the moving vehicle (A) can be automatically driven to a desired station (ST).

That is, the image processing controller (8) transmits a mark determination signal to the host controller (7), and the host controller (7) transmits traveling speed information, turning information, forward / backward traveling information, etc. to the digital servo controller (9). Then, the digital servo controller (9) transmits the selection information of the optical sensor (S _L ) to be used to the image processing controller (8), and whether the digital servo controller (9) is traveling or not. Each controller (7), such as transmitting information to the host controller (7),
The traveling control of the moving vehicle (A) is performed while exchanging information between (8) and (9).

However, the command information input section for the central controller (C) is
It is prepared for moving vehicles (A) and stations (ST).

Further, as shown in FIGS. 3 to 5, three pieces of reflective obstacle sensors, which detect whether or not an obstacle exists within a set distance on the front side of traveling of the moving vehicle (A), are provided. The ultrasonic sensors (Sx) are provided at three positions, namely, the left and right ends of the front and rear of the moving vehicle (A) and the central part.

Explaining the configuration of each ultrasonic sensor (Sx),
As shown in FIGS. 1 and 3, a transmitter (15) that emits ultrasonic waves (S) as an obstacle detection signal toward the front side of traveling, and ultrasonic waves that travel toward the vehicle body, that is, the transmission. A receiver (16) for receiving a reflected wave of an ultrasonic wave emitted from a device (15) and reflected by an obstacle, and the receiver (16) is an ultrasonic wave emitted from the transmitter (15). The presence or absence of the obstacle is detected based on whether or not the ultrasonic wave having the same frequency as the sound wave is received with the intensity equal to or higher than the set threshold value. However, in FIG. 3, the illustration of the three ultrasonic sensors (Sx) on the rear side is omitted.

The obstacle sensing area (ii) of the obstacle sensor composed of the three ultrasonic sensors (Sx) will be described. As shown in FIG. Is formed as a combined area of the sensing areas (i) of the ultrasonic sensor (Sx), and the width of the obstacle sensing area (ii) in the lateral direction of the vehicle body is substantially equal to the vehicle body width. Is set to be

Then, each of the ultrasonic sensors (Sx) is connected to the host controller (7), and the format of the detection signal of each of the ultrasonic sensors (Sx) is changed by the host controller (7), which will be described in detail later. In order to switch between the normal type and the oncoming section type, the frequency of the ultrasonic waves emitted and received is set to the normally used frequency (f ₁ ) and the oncoming section frequency (f ₂ ) used while traveling in the oncoming section. Along with switching, determining the presence of an obstacle as the receiver (16) receives ultrasonic waves with an intensity equal to or higher than a set threshold (abbreviated as ultrasonic reception in the following description), and Along with this, the moving vehicle (A) is brought to an emergency stop, and each of them is performed. That is, while using the host controller (7), various control means for avoiding obstacles are configured as described later.

Further, in response to a command from the host controller (7), the three ultrasonic sensors (Sx) on the front side when moving forward and the three ultrasonic sensors (Sx) on the rear side when moving backward correspond to the traveling direction of the moving vehicle (A).
The individual ultrasonic sensors (Sx) are configured to be switched to the detection operating state and the switching of the detection signal format is automatically performed.

That is, as shown in FIG. 1, the ultrasonic sensor (S
x) is two transmitters (15a) and (15b) that emit ultrasonic waves (S) of different frequencies (f ₁ ) and (f ₂ ), and the frequencies (f ₁ ) and (f ₂ ). ) Two receivers (16a) and (16b) for selectively receiving respective ultrasonic waves are provided, operation commands for the two transmitters (15a) and (15b), and the two receivers (16a) ), (16b) received signals,
A transmitter that emits ultrasonic waves of one frequency and a receiver that receives ultrasonic waves of the same frequency as the frequency of the ultrasonic waves emitted from the transmitter are in operation as a pair, and,
A switch (SW) for changing the signal format is provided so that the other side is inactivated. Accordingly, by switching the switch (SW) in response to a command from the host controller (7), the frequency of the ultrasonic wave as the obstacle detection signal (S) is changed to the normal frequency (f ₁ ) and the facing section. The frequency (f ₂ ) for use, that is, the normal type and the opposed section type are freely switchable.

Next, various control means for avoiding obstacles, which are configured by using the host controller (7), will be described.

The image processing controller (8) determines that the optical sensor (S _L ) has read the mark (m), and the mark (m) indicates the start point of the mutually rubbed section (m ₁ ). As it is determined that
In order to switch the frequency of the ultrasonic wave used by the ultrasonic sensor (Sx) from the normal frequency (f ₁ ) to the facing section frequency (f ₂ ), the one transmitter (15a) and the receiver (16a)
And the other transmitter (15b) and receiver (1
6b) is switched to the operating state, and when it is determined that it is the mark (m ₂ ) indicating the end point of the frictional section, the signal format is returned to the normal frequency (f ₁ ) of the base. The marks (m ₁ ) and (m ₂ ) are configured so as to output a signal for operating a switching switch (SW).
The signal format switching means is configured to switch the format of the detection signal (S) from the normal format to the opposing section format during traveling in the frictional section based on the instruction from the.

In addition, when the ultrasonic waves are received, both electric motors (M),
The emergency stop means for transmitting the command information for stopping (M) to the digital servo controller (9) to automatically stop the moving vehicle (A) in an emergency is configured.

When it is determined that the ultrasonic wave is not received or the ultrasonic wave reception state is canceled, the both electric motors (M),
The restart control means for transmitting the command information for activating (M) to the digital servo controller (9) to automatically restart the moving vehicle is configured.

Regarding each of the control means, as shown in FIG. 4, two moving vehicles (A) are connected to each other by two guide lines (L) parallel to each other.
Refer to the case of running along the
If the explanation is added based on the flowchart shown in the figure, one of the moving vehicles (A) traveling opposite to each other arrives at the start point of the frictional difference section, and the optical sensor (S _L ) starts the frictional difference section. with the reading mark (m ₁₎ which is provided at a point, a transmitter for emitting ultrasonic waves for normal frequency (f ₁₎ (15a) and a receiver for receiving the ultrasonic waves of the normal frequencies (f ₁₎ (16a) to the non-operating state, and, a transmitter for emitting an ultrasonic wave of a frequency for a counter section (f ₂₎ (15b) and the opposing section for frequency (f ₂₎ of a receiver for receiving ultrasonic waves (16
Switch b) to the operating state.

Next, as the moving vehicle (A) arrives at the end point of the cross-rubbing section and the optical sensor (S _L ) reads the mark (m ₂ ) provided at the end point of the cross-rubbing section, the moving section (A) travels to the opposite section. use frequency (f ₂₎ of the ultrasonic transmitter to fire (15b) and the opposing section for frequency (f ₂₎ of a receiver for receiving ultrasonic waves (16b) in a non-operating state, and usually for the frequency ( The transmitter (15a) that emits the ultrasonic wave of f ₁ ) and its normal frequency (f
_The receiver (16a) that receives the ultrasonic wave of ₁ ) is returned to the operating state.

That is, the frequencies of the ultrasonic waves emitted from and received by the ultrasonic sensors (Sx) of the moving vehicles (A) traveling opposite to each other in the cross-rubbed section are switched to different frequencies, and the moving vehicles (A) respectively. The ultrasonic sensor (Sx) is configured so as not to detect the reception of the ultrasonic waves emitted from the opposing moving vehicle (A) directly,
Even if the ultrasonic sensors (Sx) of both moving vehicles (A) rub against each other in the operating state, both moving vehicles (A) will not stop together.

However, when there is an obstacle on the front side of the traveling, the ultrasonic sensor (Sx) receives the ultrasonic wave of the frequency that is switched to the operating state, so that the emergency stop is automatically performed.

[Another embodiment]

In the above-described embodiment, the case where two guide lines (L) are provided in a state having parallel sections in order to allow the traveling of the moving vehicle to face each other has been exemplified, but, for example, as shown in FIG. , There is an opposing section in which two curved guide lines (L) are provided close to each other and a moving vehicle (A) traveling along both guide lines (L) faces each other. Also, the present invention can be applied.

Further, in the above-described embodiment, the light-reflecting tape is used to form the moving vehicle guiding line, but as described above, the present invention embeds the electromagnetic induction type wire and induces the wire in the wire. Various changes can be made, such as providing a pickup coil for detecting the generated electromagnetic wave. In addition, the moving vehicle guidance line is
Besides being provided on the traveling road surface side, it may be provided on a side wall surface or a ceiling surface along the traveling path.

Further, in the above embodiment, an example in which ultrasonic waves are used as the obstacle detection signal is shown, but the present invention is a radar type using radio waves, or light such as infrared rays is projected on the front side of traveling and reflected light thereof. A light reflection type or the like that detects a reflection signal of a signal propagating in space may be used, and various signal media can be used.

Further, in the above embodiment, in order to switch the format of the detection signal,
Different frequencies _{(f 1), (f 2} ) of the two transmitters to emit ultrasound (15a), and (15b), their different frequencies _{(f 1), (f 2} ) of selectively ultrasound Two receivers (16a) and (16b) for receiving are provided and the transmitter and the receiver of the same frequency are configured to operate as a pair. However, for example, one set of transmitter and receiver is used. And may be used to switch between the frequencies of the emitted ultrasonic wave and the received ultrasonic wave. Furthermore, for example, the obstacle sensor is constituted by a plurality of types of sensors, each of which uses a different signal medium, such as an ultrasonic sensor and a light reflection type sensor that uses light such as infrared rays. The sensor used may be switched to detect an obstacle, and the specific configuration of the obstacle sensor and the obstacle detection signal used therefor can be variously changed.

Further, in the above embodiment, in the signal format switching means, marks (m ₁ ) and (m ₂ ) indicating the start point and the end point of the frictional difference section are provided as the indicating means, and the marks (m ₁ ) and Although the case where the signal format is switched based on the detection information of (m ₂ ) has been illustrated, for example, as the instruction means, the start point and the end point of the frictional difference section are connected to the central control unit (C) on the ground side. The optical communication device (14) is provided so that the central control unit (C) can instruct the moving vehicle (A) to switch the signal format, and various other changes can be made.

Further, the specific configuration of each part such as a sensor and a control configuration for automatically traveling the moving vehicle along the guide line is variously changed according to the configuration of the moving vehicle to which the present invention is applied. Is not limited to the above embodiment.

[Brief description of drawings]

FIG. 1 shows an embodiment of an emergency stop control device for a moving vehicle according to the present invention, FIG. 1 is a block diagram showing the configuration of detection signal switching means of an obstacle sensor, FIG. 2 is a flow chart of detection signal switching operation, and FIG. FIG. 3 is a block diagram showing the overall configuration of the control device, FIG. 4 is a plan view showing the arrangement of the traveling route of the moving vehicle, FIG. 5 is a side view of the moving vehicle, and FIG. 6 is a guide line of another embodiment. It is drawing which shows a layout. (M ₁ ), (m ₂ ) ... instruction means, (L) ... guidance line, (A) ... moving vehicle, (Sx) ... obstacle sensor,
(S) ... Detection signal.

Claims (4)

[Claims] 1. A detection signal (S) directed to a front side of a moving vehicle (A) which is automatically driven along a guide line (L).
Is provided and a reflection type obstacle sensor (Sx) for detecting the presence / absence of an obstacle on the front side of the traveling is provided based on the reception of the detection signal (S) directed to the vehicle body side, and the obstacle sensor (Sx)
Is an emergency stop control device for a moving vehicle, which is provided with an emergency stop means for making an emergency stop of the moving vehicle (A) when the presence of an obstacle is detected, wherein the obstacle sensor (Sx) detects the obstacle. The format of the signal (S) can be switched between the normal format and the opposing section format, and in each format, the presence of the obstacle is based only on the reception of the detection signal (S) unique to each format. Is detected, the moving vehicle (A) travels in one of a pair of guide lines (L) corresponding to an opposing section in which the moving vehicle (A) travels in an opposing state, Instruction means (m ₁ ) and (m ₂ ) for instructing that the vehicle is traveling in the opposite section are provided on the ground side, and the detection is performed based on the instruction from the instruction means (m ₁ ) and (m ₂ ). The signal (S) format is changed from the normal format to the opposite section while traveling in the opposite section. Emergency stop control apparatus for a mobile vehicle is provided with a signal format switching means for switching the expression. 2. The detection signal (S) is an ultrasonic wave, and the signal format switching means is a means for switching the signal format by switching the frequency of the ultrasonic wave. An emergency stop control device for a mobile vehicle according to the item. 3. The detection signal (S) is light, and
The emergency stop control device for a moving vehicle according to claim 1, wherein the signal format switching means is means for switching the signal format by switching the wavelength of the light. 4. The emergency stop control for a moving vehicle according to claim 1, wherein the signal format switching means is means for switching the signal format by switching the detection signal (S) to a different signal medium. apparatus.