JPS60103413A - Trip controller of unmanned truck - Google Patents
Trip controller of unmanned truckInfo
- Publication number
- JPS60103413A JPS60103413A JP58211550A JP21155083A JPS60103413A JP S60103413 A JPS60103413 A JP S60103413A JP 58211550 A JP58211550 A JP 58211550A JP 21155083 A JP21155083 A JP 21155083A JP S60103413 A JPS60103413 A JP S60103413A
- Authority
- JP
- Japan
- Prior art keywords
- line
- battery
- unmanned vehicle
- truck
- storage
- 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
Links
- 230000005611 electricity Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 235000010627 Phaseolus vulgaris Nutrition 0.000 description 1
- 244000046052 Phaseolus vulgaris Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Near-Field Transmission Systems (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、走行駆動モータの電源の他、各種の制御回路
や１ＩＩＩＪ御対象駆動機の電源としてバッテリーを搭
載しである無人車の連行ｍｌＪ御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an unmanned vehicle MLJ control device which is equipped with a battery as a power source for a travel drive motor, various control circuits, and a 1IIIJ target drive machine.
この種の無人車の逆行制御装置としては、従来から次の
（ＩＪ 、 １ｌｌｌで記載の構成を要旨とするものが
存在する。As this type of reversing control device for an unmanned vehicle, there has conventionally been one that has the gist of the configuration described in the following (IJ, 1llll).
１）無人車の主走行ラインに、ｔｊｒ ｆｊ台欽の無人
車をストレージラインなラインと引込みラインとが接続
され、そのうち、前記引込みライン脇には、無人車に装
置されるバッテリーの複数個を保管＋ｊＪ能で、かつ、
無人車のバッテリーと充電済みバッテリーとを父侠０」
能な手段を備えた充電保管装置が設けられている。1) TJR FJ Taiwan's unmanned vehicle storage line and a lead-in line are connected to the main running line of the unmanned vehicle, and a plurality of batteries installed in the unmanned vehicle are connected to the side of the lead-in line. storage + jj ability, and
The battery of the unmanned car and the charged battery are the same.
A charge storage device is provided with a means to enable this.
四 〇ｕ記引込みラインの所定位置に無人車が到着した
とき、この無人車のバッテリーを取出し、かつ、充電済
みバッテリーｆ：槓込むための作動制御信号を充電保管
装置に出力する手段を備えた制御装置が設けられている
。(4) Equipped with a means for outputting an operation control signal to the charging storage device to take out the battery of the unmanned vehicle and to insert the charged battery f: when the unmanned vehicle arrives at the predetermined position on the lead-in line described in 0u. A control device is provided.
これによる場合は、主走行ライン」ユに位置する無人車
からバッテリー交換要求信号が発せられたとき、この無
人車を引込みラインに誘憂して直ちに蓄電Ｊ′代が少な
くなったバッテリーと充電尿管装置内の充電済みバッテ
リーとを交換する次め、次のような問題があった。In this case, when a battery replacement request signal is issued from an unmanned vehicle located on the main driving line, the unmanned vehicle is pulled into the lead-in line and the battery whose stored power is low is immediately replaced with the charged battery. After replacing the charged battery in the tube device, the following problem occurred.
即ち、主走行ラインでのｉｉｔ ＃Ｊ 静水がない場合
には、バッテリー交換された無人車がストレージライン
にＭ導されてストレージされるため、そのストレージの
あいだにバッテリーのｖｖ電ｍが自然放電によって次第
に減少する仁とは免れず、その結果、６無入車の運転可
能時間が大きくばらつくため、無人車の連行管理が難し
くなる。In other words, if there is no still water on the main running line, an unmanned vehicle with a replaced battery will be led to the storage line and stored, and during storage, the vv electricity of the battery will be lost due to natural discharge. As a result, the number of hours that unmanned vehicles can be driven varies widely, making it difficult to manage the number of unmanned vehicles.
しかも、バッテリー交換直後に主走行ラインでの無人車
静水信り゛があった場合、ストレージライン上の無人車
を呼びだし、かつ、引込みライン上のバッテリー又換後
の無人車をストレージラインに訪専するとなれば複雑な
連行制御を呼び田さずにバッテリー交換直後の無人車を
そのまま再使用する運行手一段が採られているため、前
述の自然放電による無人車のＭ ＩＰｉ ’Ｏｆ能時同
のほらつきが助長されるばかりでなく、各無人車の琢＃
Ｊ効率にも大きなほらつきを生じ、無人車の保守・点検
といった管理にも好ましくない結果を招く問題があった
。In addition, if there is an unmanned vehicle static water problem on the main driving line immediately after battery replacement, the unmanned vehicle on the storage line will be summoned, and the unmanned vehicle on the lead-in line after the battery has been replaced will be visited to the storage line. If this is the case, a method of operation is adopted that reuses an unmanned vehicle immediately after battery replacement without requiring complicated entrainment control, so that the M IPi 'Of function of an unmanned vehicle due to the aforementioned natural discharge is reduced. Not only is it encouraged to stumble, but also the height of each unmanned vehicle is
There was a problem that caused large fluctuations in J efficiency and led to unfavorable results in management such as maintenance and inspection of unmanned vehicles.
本発明は、上述の問題点を改古する点に目的を竹う〜る
。The present invention aims to solve the above-mentioned problems.
かかる目的を達１祝するためになされた本発りｊによる
無人車の連行１ｌｉｌＪＩ＋１装置の特徴構成は、無人
車の主走行ラインに、少なくとも一台の無人半金ストレ
ージラインなラインが接続され、このストレージライン
脇ｉｃＵ、ｙ＋ｌＬ人車に装飾されるバッテリーの複数
１圃を保管＝＝ｆ叱で、がっ、無人車のバッテリーと充
電済みバッテリーとを又換ｉｆ叱な手段を備えた光゛屯
保管装隨が設けられているとともに、ｇｉＪｋストレー
ジラインのＴｊｒ定位ｌｄＫ無人車が到着しｌヒとき、
この７１（（入車のバッテリーを収出すための作ｗＪル
１」御（ｄ号を充電保管装置に出力する手段と、前記主
走行ライン上に位置する無人車からバッテリー又換′＆
末値号が発せられたとき、ｇｉｌ＆！、充電保管装置に
対して、＠１１記ストレージラインに停止された無人車
に九′屯済みバッテリーを槓込むための作助ｔｆ＋ｌＪ
御信号を出力する手段とｒ鋪えた制御装置が備けられて
いる点にある。The characteristic configuration of the 1lilJI+1 device for unmanned vehicle transport by Honbori J, which was created to achieve this purpose, is that at least one unmanned half-kin storage line is connected to the main traveling line of the unmanned vehicle, Alongside this storage line icU, y+lL stores a plurality of batteries to be decorated on a passenger car == with a light equipped with a means to change the battery of an unmanned car and a charged battery again. A storage facility was installed, and when the giJk storage line's Tjr localization ldk unmanned vehicle arrived,
This 71 ((operation wJle 1) (operation for collecting incoming batteries) control (means for outputting d to the charging storage device, and battery replacement from the unmanned vehicle located on the main traveling line) &
When the closing price number was issued, gil&! , For the charging storage device, support tf+lJ for loading the 9′ battery into the unmanned vehicle stopped at the storage line @11.
It is equipped with a means for outputting a control signal and a control device.
上記特＆４＃成による作用幼果は次の辿シである。The effect young fruit produced by the above-mentioned special &4# formation is as follows.
主走行ライン上に位置する無人車からバッテリー交換要
求信号が発せられたときのみ、ストレージラインにバッ
テリーを降した状態でストレージされている無人単に充
電保管装置内の充電済今バッテリーが積込まれて主走行
経路に同かつて発進され、他力、ストレージラインに進
入してきた無人車は、その放電間隙のバッテリーを光’
ｔｅｌ保管装置に収シ出した状忌でストレージされる。Only when a battery replacement request signal is issued from an unmanned vehicle located on the main driving line, the unmanned unmanned vehicle that is stored with the battery unloaded on the storage line is automatically loaded with a charged battery in the charging storage device. An unmanned vehicle that was launched at the same time as the main driving route and then entered the storage line will light up the battery in the discharge gap.
It is stored in the tel storage device in the same condition as when it was taken out.
従って、従来のように無人車のストレージ中Ｖこバッテ
リーの蓄電量が自然放電によって減少丁ゐことがなく、
無人車ｒはぼ叔疋時１１辿り使用することができるから
、無人車の連行管理の圓累化及びおキルを図ることがで
きる。 しかも、各無人車の体動効率の均一化（＋−檀
方力促進ることが”Ｉ能となり、６無入車の保守・点検
等の管理にも好結果をもたらすに生った。Therefore, unlike in the past, the amount of electricity stored in the battery during storage of an unmanned vehicle does not decrease due to natural discharge.
Since the unmanned vehicle R can be used at any time during an emergency, it is possible to integrate the management of unmanned vehicles and to kill them. Moreover, it has become possible to equalize the body movement efficiency of each unmanned vehicle (promoting the physical movement efficiency), which has resulted in good results in the management of maintenance, inspection, etc. of the six unmanned vehicles.
以ト、末完ＩＪＩＪの去施例を１聞に基いて祝り１−Ｊ
−◇０
第１図でボすように、電＜ａ ＃ｊ導式無人東（１）の
主走行ライン（２）に、一台の無人単（１）をストレー
ジ用艶で、かつ、打す充用のノ（イバスライン部分（＋
５ａ）’！ｉ：形成しであるストレージライン（３）を
接続し、このストレージライン（幻脇にＣよ、無人車＋
１）に装備ａれるバッチ！Ｊ −＋＋＋（１）仮奴１固
を載置収納げ能な保管都（５ａ）及び充電器（５ｂ）を
備えた旋回式バッテリー保管装置品（５Ａ）と、」ニＦ
刀回及び水平方間に駆動往復移動ならびに縦軸芯向シで
駆動回動可能なフィンガ一式移械装置ｉＪ ｆｉｌｓ
（５Ｂ ）とからなる充電保管装置（旬を配備して、Ｎ
１）記ストレーシライン（３）のＩ）ｒ正位置に同右し
た無人車ｉｌ＋の、放屯終了間１至のバッテリー（４）
全バッテリー移載装置ｉ、ｉｉｉ （５Ｂ ）に収出し
、仁れ全バッテリー保管装置）イ都（５Δ）の蘭きバッ
テリー保パばｔｄｓ（５ａ）にｇ ＋！’；くするとと
もに、ｃｉ＋Ｊ１３己バッテリー保’ｅ＆ ｉｌ’ｌｓ
（５ａ ）内の充′屯ｒｋみバッテリー（４）をバッ
テリー移載装置、、＜ （５Ｂ ）に収出し、これを無
人車（１）に槓込むべく構成している。Hereinafter, congratulations 1-J based on the first example of the final completion of IJIJ.
-◇0 As shown in Figure 1, one unmanned vehicle (1) is installed in the main running line (2) of the unmanned east (1) for storage purposes and Sujuyo no (Ibus line part (+
5a)'! i: Connect the storage line (3) that is formed, and connect this storage line
1) Batch equipped with a! J-+++ (1) A revolving battery storage device (5A) equipped with a storage cap (5a) capable of storing and storing a temporary battery (5a) and a charger (5b), and
IJ fils is a finger set moving device capable of reciprocating drive movement in the sword rotation and horizontal direction, as well as drive rotation in the vertical axis direction.
(5B) A charging storage device consisting of a
1) The battery of the unmanned vehicle il+, which is in the same right position as shown in the trace line (3) (4)
Transfer all batteries to the battery transfer equipment i, iii (5B), and transfer all the batteries to the battery storage equipment (5Δ). ';In addition to saving, ci+J13 self-battery maintenance 'e &il'ls
The fully charged battery (4) in (5a) is transferred to a battery transfer device (5B), which is then loaded into the unmanned vehicle (1).
Ｎｉｌ記無人屯ｆｌ＋には、９〜２図で不丁ように１１
１記王走行うイン（２）及びストレージライン（３）に
旧って床面に敷設されたトクバスワイヤに対する機体の
横愛イ１量を左右の電圧九として１噴出する追従用セン
サー（６）と、搭載バッテリー（４）の蓄電量が設定値
以」二に減少したことを検出するセンサー（７）と、！
１１１ Ｗ主走何ライン（２１のＩｆｆｒ 稗ｔｕｂ
ｒ）ｒに構成された仕業ステーション（ＳＴ□）、（Ｓ
Ｔ２） との聞で各種の（ｒ−ｆ Ｊ、１． （無人車
（１１のナンバー、同層検出１ｄ号、１・「業終了伯号
、行先データ、バクテリーダ換盟氷イｊ４号など）金技
党するための送受１ｄ器篭８）ならびに、由Ｊ配ノ目従
用センサー（６）の検出信号及びｌＪ＋Ｊ記送受イａ器
（８）の入力（０けに括ついて走行駆則楓構（９）及び
ステアリング駆動機構（１０１に制御（ｇ＋ｊを出力す
るマイクロコンピュータ利用の制６１１１寅算装置（川
とが装備されている。In Nil Ki Mujintun fl+, there are 11, which is incorrect in figures 9 to 2.
1. A follow-up sensor (6) that ejects 1 amount of left and right voltage as 9 of the aircraft's horizontal bias against the Tokubasu wire that was previously laid on the floor in the inn (2) and storage line (3) where the main run is carried out. , a sensor (7) that detects when the amount of electricity stored in the on-board battery (4) has decreased below a set value, and!
111 W main running line (21 Iffr 稗tub
r) Work stations (ST□), (S
T2) I heard various (r-f J, 1. (unmanned vehicle (number 11, same layer detection number 1d, number 1, number 1, end of work, destination data, Bacterida exchange ice number 4, etc.) The transmission/reception 1d device 8) for the metal technique, the detection signal of the Y-J alignment sensor (6), and the input of the lJ+J record transmission/reception device (8) (driving driving rule Kaede The control system (9) and steering drive mechanism (101) are equipped with a microcomputer-based control device (6111) that outputs control (g+j).
＋ｔ＋ｉ記作業ステーション（ＳＴ、 ） 、 （５Ｔ
２）及び無人車！１１・・からの各種値＋ｊを受（ｉ４
する手段及び、その受Ｇｌ結果と各種プログラムに基つ
いて作業ステーション（ＳＴ１）、（ＳＴ２）及びブ１
（（入車ｍ・・に指令を与える手段とｆ （ＩｉＶえた
コンピュータ利用の中央制御簑直賭を収け、この中央制
御装置四をもって、０１Ｊ記ストレージライン（３１の
析定位随に無人車ｔｌ）が同浴したとき、このＪ漱人阜
（１）のバッチＩＪ−１４１を収出すイ′Ｉｌ：！ｌめ
１ト１」御侶す古寺を充電保管装置＋′Ａｆｉｌに出力
する手段と、前記主走行ライン（２）上に位＋１１する
無人車＋ＩＩからバッテリー又換費氷４８す゛が発せら
れたとき、ｇｌＪ記充軍保営装置ｆｆ１ｌｆｉｌに対し
て、ｒＪＵ記ストレージライン１３１ Ｋ停止された無
人車（１）に充電済みバッテリーｆ４１Ｋ”槓込むだめ
の作動制御４ｇ号を出力する手段とを備えた制御装匝會
兼用構成している。+t+i work station (ST, ), (5T
2) And driverless cars! Receive various values +j from 11... (i4
Based on the received Gl results and various programs, the work stations (ST1), (ST2) and block 1
((Means for giving commands to vehicle m... ) takes a bath at the same time, the means to output the batch IJ-141 of this J. , when the unmanned vehicle+II located +11 above the main running line (2) emitted 48 s of ice from the battery, the rJU storage line 131K was stopped for the glJ storage military storage device ff1lfil. It also serves as a control system, including a means for outputting the operation control signal No. 4G for inserting a charged battery F41K into the unmanned vehicle (1).
次に、別夫ｈｉ例について列記する。Next, examples of divorced husbands will be listed.
ビ） ｒｉｉＪ６己バッテリー保管装置１Ｙムｌ５（Ｆ
ＩＡ）として、直保」二に債に皿載され、かつ、仮数階
にＭ、ｄさｎたバッテリー保管都ｔもつものから４ｆＩ
民すめ０
（ロ） ロ１１記パンテリー俵候装置都（５Ｂ）’とし
て、フィンガ一式のものに代え、ｌ［ＩＪ式コンベア又
はダッシュプルフィンガー付出退枠などを採用する。B) riiJ6 battery storage device 1Yml5 (F
IA), from the battery storage capital t that is placed on the bond in the second direction and has M, d and n on the mantissa floor, 4fI
(b) As the pantry storage device (5B) in B11, instead of a set of fingers, use an IJ type conveyor or an exit/exit frame with a dash pull finger.
（ハ） 前記Ｊ［１従用センサー（６）として、未聞に
敷設の光反射データに肘する侃坏の横友位瓦を恢υ」す
ゐ光センサー？用いる。(c) As the J [1 service sensor (6)], we used a roof tile from Yokotomo, which is based on the previously unheard of installation light reflection data. use
にＡ ｔＪｉｌ ＆！ ４ ｂ’Ｌ用セン丈−１６）々
して、地Ｊ： Ｉｔりから発せられるレーザー光線分受
光して該ンｅ憬にメ１する機体の４１７ｉ友位ｈ（を検
出するセンサーケ用いる。To A tJil &! 4 b'L length - 16) Then, a sensor is used to receive the laser beam emitted from the ground and detect the 417i position of the aircraft that is on the ground.
図【川は末完］夕］に保る無人車の連わ制御装置の夫施
例γ不し、第１図は走何ラインの４＋１ｔ １１５半開
図、第２凶は運行１１ｉ１１仙１系統図である。
ｉｌ＋・・・・・・無人車、（２）・・・・邊企行ライ
ン、（３）・・・・・・ストレージライン、１４１・・
・・・・バッテリー、（６ｊ・・・・・・充電保管装置
。Figure 1 shows the 4+1t 115 half-open diagram of the running line, and the second figure shows the operation 11i11sen1 system diagram. It is. il+...Unmanned vehicle, (2)...Bean planning line, (3)...Storage line, 141...
...Battery, (6j...Charging storage device.
Claims (1)
の無人ＺＪｔｆｌ）をストレージ可能なライン（３）が
接続され、このストレージライン＋３１１Ｍには、無人
車（１）に装備されるバッテリー（４）の複＆個を保管
Ｆ＝Ｊ能で、かつ、ソ１＆人車＋１１のバッテリーと充
電済みパッチ’） −１４１と１に又換可能な手段を姉
えた充電保管装置（６）が設けられているとともに、前
記ストレージライン（３）のＦｊｒ定位置に無人車（１
）が到イｔしたとき、この無人車＋１１のバッテリー（
４）を収出すための作動制御ｉＥ１号を充電保管装置（
６）に出力する手段上、前記主走行ライン（２）上に位
置する無人車（１）からバッテリー父換昏氷イＢ″８′
が発せられたとき、１ｉＪｇｔＡ充電保管装＋＆１５１
に対して、ｊｕ記ストレージライン（３）に停止された
無人ｇ ｏｒ Ｋ充電済みバッテリー＋４１（ｉ−槓込
むための作動制御信号を出力する手段とを備えた制御装
置が設けられている無人車の連行制＃１ｌ（ｊ。A line (3) capable of storing at least one unmanned ZJtfl is connected to the main traveling line (2) of the unmanned vehicle (1), and this storage line +311M is connected to the main traveling line (2) of the unmanned vehicle (1). A charging storage device (6) is capable of storing multiple & pieces of (4), and has a means for converting batteries of 1 & passenger car + 11 batteries and charged patches')-141 and 1. An unmanned vehicle (1) is provided at the Fjr fixed position of the storage line (3).
) arrives, this unmanned vehicle + 11 batteries (
4) The operation control iE1 for retrieving the battery is connected to the charging storage device (
6) means for outputting ice from the unmanned vehicle (1) located on the main traveling line (2) to the battery evaporator ice B″8′
When the is issued, 1iJgtA charging storage device +&151
In contrast, an unmanned vehicle that is equipped with a control device equipped with a means for outputting an operation control signal for loading an unmanned vehicle parked in the storage line (3) with a charged battery + 41 (i) Take-away system #1l (j.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58211550A JPS60103413A (en) | 1983-11-09 | 1983-11-09 | Trip controller of unmanned truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58211550A JPS60103413A (en) | 1983-11-09 | 1983-11-09 | Trip controller of unmanned truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60103413A true JPS60103413A (en) | 1985-06-07 |
| JPH039482B2 JPH039482B2 (en) | 1991-02-08 |
Family
ID=16607668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58211550A Granted JPS60103413A (en) | 1983-11-09 | 1983-11-09 | Trip controller of unmanned truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60103413A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001147718A (en) * | 1999-11-19 | 2001-05-29 | Sony Corp | Information communication robot device, information communication method and information communication robot system |
-
1983
- 1983-11-09 JP JP58211550A patent/JPS60103413A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001147718A (en) * | 1999-11-19 | 2001-05-29 | Sony Corp | Information communication robot device, information communication method and information communication robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH039482B2 (en) | 1991-02-08 |
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