DE2344435A1 - DEVICE FOR SELF-DRIVING VEHICLES - Google Patents

Description

Patent attorney DIPL.-ING.BERTHOLD SCHMID

7000 STUTTGART 1 FALBENHENNENSTRAS SE 17 TELEPHONE (0711) 608893

OUR SIGN

11 052 B / R

Ernst Wagner KG

7410 Reutlingen

Facility for self-driving vehicles

The invention relates to a safety device for self-propelled vehicles Vehicles with a receiver for one of at least

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transmit pulse emitted in a transmit loop and with a switching device for the drive which can be influenced by this transmission pulse. When using several automatic Conveyor or vehicles are often used so-called blocking devices on the one hand to prevent the collision of following vehicles and, on the other hand, a collision at intersections. Here is it is known to divide the route into different blocking sections, with certain in the floor Sehaltpunkts are located at a distance, which for example consist of a reed contact or initiator. The ones installed in the switching point Switching elements are operated by one on the vehicle; Affixed magnet affected by for example over a relay switched a rear blocking section (loop) and thus a possibly following vehicle is stopped via known switching means until the vehicle in front has another switching point in the next Has reached the blocking section. The blocking section that was switched last is activated via a further switching element released again. Such a circuit is also used analogously at intersections or for switching traffic lights used in danger spots. Crucial for that

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The functioning of the perforation device is relative precise crossing of the switching points, especially in the transverse direction.

Practice has shown that the security of transmission is limited, especially when switching points have to be placed in a curve. It is then due to given Deviations from the theoretical guideline do not always ensure that everyone adopts the different Magnets attached to vehicles are sure to pass over all switching points installed in the floor.

Occasionally “rent the vehicles from the Leitlinie removed and reinserted. If this happens between the switching points, the installed Do not run over switching elements, so that switched-on or switched-off blocking sections are not switched off or not switched on.

Another disadvantage of the known locking device is that the ^{i /!} Ontage of the switching elements in the floor and possibly later changes require a lot of work, and that the puncture safety in some

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Cases, ζ. B. in the case of humidity influences or shock loads is no longer guaranteed.

In the known designs, it is also disadvantageous that, for. B. the magnets attract metal chips and thereby the function is adversely affected.

Accordingly, there is the object of the present invention in creating a safety device of the type mentioned above that is particularly flexible and reliable and is economical, and in which the dependency on the exact crossing of a single fixed switching point for switching on or off the subsequent block section is eliminated and beyond is free from switchgear installed in the floor.

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To solve this problem, a security device proposed according to the invention of the type described, that the vehicle has a transmitter for a receiving loop possesses and, seen in the direction of travel, the receiver loop is arranged after a transmission loop, the Län;, e der ~ npf an.vsschleif e at least the length of the vehicle or corresponds to a train containing the vehicle, and da.o the transmitter of the transmission loop only when excited

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Receiving loop is switched on, with send and Er.pfanrsschleife work on different frequencies. As a transmitter for the receiving loop, for example, a low intensity IIapnetv: ellensender can be used which, as long as it is above the loop, induces a voltage in it. The distance of the The transmitter to the floor can be, for example, 5 to 10 cm. If the vehicle can be operated either manually or automatically, this transmitter is activated at the '

Switching to "Automatic" switched on. It works with a frequency fl. The transmission loop, on the other hand, works with a frequency f2, which differs from that on the vehicle bzx \ ^T. A receiver attached to a following vehicle, for example a receiver coil, is received. After the transmission of the frequency f2 from the vehicle

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which is controlled, it does not apply as soon as the vehicle transmitter has completely driven over the receiving loop. to At this point in time, the entire length of the transmission loop is released. If now a following vehicle reaches the transmission loop, there is, as it were, transmission silence there, and it can therefore continue unimpeded. But if the vehicle in front still induces a voltage on the receiving loop, then this via the send loop and the emo receiver of the subsequent

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following vehicle received in the form of the frequency f2. Such devices are of course located on all vehicles via suitable devices on the following vehicle, i.e. the frequency £ 2 is also converted into a switching pulse on the vehicle ahead, which interrupts the traction current. The following vehicle remains stationary as long as the transmission loop is activated. The length of the receiving loop is expediently matched to the length of the vehicle or train.

The transmitter of the transmission loop can preferably be controlled by means of the excited reception loop. To this end is. in a particularly preferred embodiment of the Invention the receiving loop with an amplifier and connect this with a switch, in particular a switching relay

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tied, the switch in the circuit of a blocking generator with which the transmit loop is connected. The voltage induced in the receiving loop vi is due to the electrically conductive connection in the

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stronger amplified, which in turn actuates the switch or the switching relay, which the circuit of the Send loop closes. The blocking generator for generating the frequency f2 is located in this circuit. That mentioned relay opens as soon as the receiving loop

is de-energized, which also closes the connection between the Transmission loop and its associated blocking generator interrupted.

Another feature of the invention is that along at least a part, but especially the entire Route several pairs of loops consisting of a receiving and a sending loop are arranged, whereby the transmit and receive loops of adjacent loop pairs overlap. It goes without saying each transmission loop is connected to a blocking generator, as is each receiving loop with an amplifier holding stage owning amplifier is connected. The amplifier and the blockage generator are located in a switch cabinet arranged outside the floor. In the amplifier, if necessary, the recorded frequency fl selected in terms of frequency before it reaches the relay. The blockage generator consists of an oscillator stage and a power output stage.

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Another thing of the kr * al of the invention is that the Press send and receive loops in the direction of travel have the same length and the overlap extends to etx «/ a extends the entire length of the loop. The width can be proportional cc large can be selected so that transmitter and Εποfinger even if the vehicle deviates from the theoretical guideline work safely. At this point, however, it should be emphasized that the inventive Safety device is not only suitable for trackless vehicles, but also for track-bound vehicles. In any case, it should be guaranteed that the Overlap of assigned transmit and receive loops corresponds to the train or vehicle lcinge.

Another embodiment of the invention is characterized in that the sending and / or receiving loops are adjacent Loop pairs directly in line with one another are relocated. This achieves a complete and optimal security of the entire route network Route utilization as well as the possibility of a particularly dense vehicle field.

It is also particularly advantageous that the transmitting and receiving loops of a loop pair partially through one common conductors are formed, the cross connection is located approximately in the middle of the loop pair, and the cross connection has only three conductors. The-

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according to one of the three conductors is used on the same side for the receiver and the sensor loop of the loop pair in question. The connection service; between the switching amplifier and the blocking generator with the associated pair of loops only requires three conductors. in the. Floor only maintenance-free cables are laid, while all mechanically moving parts are used for monitoring purposes. and maintenance can be installed in an easily accessible control panel. The leading to this cabinet INTR ^r: ssträn: e rrehen jointly by the center of a Schleifennaaren, whereby the length of the can be reduced to verlebenden lead wires and the number of bottom grooves to be applied to a minimum.

It is also of particular advantage in this regard that the overlapping loops of adjacent loop pairs are housed in a remeinsaraen codennut.

Another feature of the invention is that in The receiver can see the direction of travel behind the transmitter on Vehicle is mounted. In particular it is zwecl: mf "ßi-, if you have the 7th fan coil as close to the front of the vehicle as possible is located, so that the pulse of the transmission loop is picked up when the Fahrseurcbuf * is passed over.

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If the receiver runs ahead in the direction of travel, can also avoid self-switching when using only one transmission frequency and only one reception frequency f2 possibly the vehicle at the transition from Receive and send loop could occur. Of course, this assumes that the receiver and the sender are in Seen in the direction of travel are attached slightly offset from one another.

A safety device for intersecting lanes is in development; the invention is characterized that the receiving loop, especially that of the intersection Adjacent receiving loop of one lane in addition to the transmitting loop that forms a pair of loops with it Another transmission loop of the intersecting lane is activated.

This simultaneously sets a stop for both intersecting lanes, so that neither a following vehicle Another vehicle that is also to be driven onto the intersection with the one that will reach this intersection first Vehicle collides. It is also assumed that there is one-way traffic on both lanes, With two-lane traffic you have to set the facility accordingly expand, that is, the right of way

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The train or car would have to make a stop at the branches of the intersecting lane.

Another feature of the invention provides that the two receiving loops assigned to the intersection are mutually exclusive overlap in both directions. The length of the part that goes beyond the intersection corresponds to this Each reception command is at least the length of the vehicle or train.

Theoretically, two vehicles arriving at intersecting lanes at the same time could be accurate arrive at the beginning of their respective receiving loop at the same time. If so, how in particular provided, the receiving devices each leading are attached to the vehicle, neither vehicle will stop the other, and a collision would then be inevitable.

In order to prevent this, a further refinement proposed the invention in the area of one of the. an additional receiving loops located at the intersection, The transmit loop that ends before the intersection can be activated by the crossing receiving loop

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is arranged. This additional transmission loop then stops the train or vehicle passing over it, see above that then the other train or the other vehicle retains free travel. The further transmission loop is located within the receiving loop crossing the intersection, namely, it begins near the rear receiving loop of the loop pair lying behind it and of course ends before the intersection.

An "unintentional stopping of crossing vehicles and to avoid blocking the intersection, it is very beneficial that all laid in the area of the intersection Send loops with one in particular at least half the vehicle width, in particular the vehicle or Train length corresponding distance from the crossing point of the guidelines or dprl. end up. On this measure could per se waived v / grounding if the transmission loops intersecting guidelines with different frequencies were working. But then several receivers are required on one vehicle, which unnecessarily leads to high additional costs leads.

The safety device according to the invention bingt the advantage with it that the vehicles z. B. at an unloading point manually as desired and safely from their guideline Or the like. Can be taken and used again.

With close succession of the receiving loops

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the associated transmission loop immediately "clears the way" when a vehicle is taken away and immediately when it is put back into operation Signal "Stop" for the following vehicles. The dependency on passing a certain stop point is omitted.

If, for spatial or other reasons, vehicles are removed and put back on at certain sections is impossible, can of course on these on a close stringing of reception and / or Send loops are dispensed with. Furthermore, in exceptional cases, for. B. if only a total of two vehicles be used on a guideline system or the like, Of course, any distance between the individual loop pairs can be selected, unless the vehicles have to travel one after the other for whatever reason.

In such cases, for example, only the receiving loops are preferably used over a longer route section in a row, while the transmission loops in between can be very short.

The invention described is also applicable to the switching of traffic lights at danger spots or to open them of doors and to secure crossings.

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An exemplary embodiment of the invention is shown schematically in the drawing. Show it:

1 shows a safety device on a straight line Route section,

Fig. 2 the safety device, insofar as it is on the vehicle is appropriate

3 shows a safety device for two crossing Roadways.

Several pairs of loops 2 each consisting of a transmit loop H and a receive loop 3 are arranged in close succession along a route 1, which can consist, for example, of a guideline recorded on the ground, a guide wire embedded in the ground or a track. In this case, a transmission loop of the one loop pair follows the transmission loop of the neighboring loop pairs with almost no gaps. The same also applies to the receive loops. For this reason, a practically complete overlap of the receiving loop of one loop pair with the transmitting loop of the following loop in the direction of travel is achieved.

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pair of windows.

Each pair of loops is connected to the amplifier switching stage via lines 5 6, the switch 7 of a relay 8 controllable by the amplifier. According to the with broken lines drawn loop pair of Fig. 1 four or corresponding to the others Representations can also be three lines. In the latter case it becomes part of the receive and transmit loops formed by one and the same conductor.

On the vehicle 10 traveling in the direction of travel 9 there is a transmitter 11, in particular a magnetic wave transmitter with a transmitting antenna 12. When the vehicle is in automatic operation, this transmitter is constantly switched on so that the transmitting antenna continuously emits the frequency fl. When passing over a receiving loop 3, a voltage is induced in this by the frequency fl, which voltage is amplified in the amplifier 6. This energizes the relay & so that the contacts of the switch 7 are closed. In the circuit of the transmission loop 4 of the loop pair in question there is a blocking generator 13 with an oscillator stage I ¹ J generating a frequency f 2 and a power output stage 15. As soon as the switch 7 is closed, the transmission loop 4 in question transmits the frequency f2.

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On Fahrzeus Io is viewed in the direction of travel 9, behind the transmitting antenna 12, a receiving coil or antenna lo. It is connected to an amplifier switching stage 17, which in turn is connected to a relay 18 j whose switching contacts 19 in: Circuit 2o of the Fahrantriebi.iotors 21 lying.

As soon as the frequency f2 from the receiver antenna - one following vehicle is recorded, its traction drive will be 21 immediately switched off with the aid of the amplifier 17 and the relay 18, so that a collision occurs with the vehicle in front that controls the outside sowing of the frequency f2 is avoided. A recording of the Frequency f2 by the antenna 16 of the vehicle in front, In other words, automatic shutdown of the drive is avoided by the fact that its receiving antenna interferes with the transmission loop has already passed before the vehicle's transmitting antenna reaches the receiving loop.

When crossing two guidelines or routes 1 and 22 special precautions must be taken to prevent a collision to be hit. These consist primarily in the fact that the reception, "ssehleif e 3" in addition to the return

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wärtigen transmission loop k another transmission loop * YES -crossing route 22 activated. When a pulse f 2 is emitted, this stops the onward journey of a vehicle rolling along the route 22 in the direction of the intersection 23 in the same way. It can only continue to drive when the other vehicle has completely cleared the intersection. To ensure this, the receiving loop 3, like the other receiving loop crossing it and forming a loop pair with the sending loop k a, extends beyond the intersection 23 by an amount corresponding to the length of the vehicle or train. At this point it should be pointed out that all pairs of loops should have the same width, and that in the drawing the individual pairs of loops have been drawn with different widths for the sake of clarity.

Since it cannot be ruled out that two vehicles on the intersecting routes are exactly at the same time arrive at the beginning of their respective Erapfangslexfe, an additional fuse must be provided. It consists in the fact that within one of the two, on the

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Crossing laid receiving loops an additional sending loop 2k is laid ₃ which is activated by the crossing receiving loop 3 a. The additional transmission loop then stops the vehicle driving over it. Furthermore, it is proposed that all transmission loops laid in the area of the intersection 23 with a z. B. at least half the vehicle width corresponding distance 25 from the intersection end so that crossing vehicles are not stopped unintentionally.

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Claims (1)

Expectations 1. Safety device for self-driving vehicles """with a receiver for a transmission pulse emitted by at least one transmission loop and with a switching device for the drive which can be influenced by this transmission pulse, characterized in that the vehicle has a transmitter (12) for a reception loop (3j _s 3a) and viewed in the direction of travel (9) according to a transmission loop (4, 4a, 24) the EmofanfsE loop (3 _S 3a) is arranged wherein the Länpe the Empfanccsschleife least equal to the length of the vehicle or the B'ahrzeug having Zuckes , and that the transmitter of the transmission loop is only switched on when the finrofanESS loop is excited, with the transmission and reception loop being tuned to different frequencies. 2. Device according to claim I ₉ , characterized in that the transmitter (IH ₉ 15) of the transmission loop (4, 4a, 24) can be controlled by means of the received loop (3, 3a). 3. Device according to claim 2, characterized in that - 20 509811/0595 BATH ORIGINAL that the receiver loop (3, 3a) with an amplifier (υ) and this with a switch (7), in particular Switching relay (8) is connected, the switch in the circuit of a block unit. ^ Enerators (13) lierrt with which the transmission loop (4, 4a, 24) in connection stands. 4. Device according to one or more of the preceding claims, characterized in that along at least part, but in particular the entire route, several of a receiving (5 _S 3a) and a transmitting loop (4, 4a, 24) existing loop aare ( 2) are arranged so that the sending and receiving loops of adjacent loop pairs overlap. 5. Device according to claim 4, characterized by r ^ ekerinseichnet, that the send (4, 4a, 24) and the receive loop (3,3a) seen in the direction of travel (9), have the same length, and the overlap extends to about the length of the rance. ο. Einrichtun · ": according to claim 4 or 3, characterized by ^ ekennzeiciinet, then the transmit and / or receive loops of neighboring Loops.paaro (2) directly in a verliin ^ erunn from one another are verler.t. - 21 - 509811/0595 BATH ORIGINAL 7. ^ inri.chturt; ¹ : according to one or more of the preceding claims, characterized in that the transmitting (4, ^ a, 2k) and receiving loops (3, 3d) of a loop circuit (2) partially travel through a ^r ueinsr'.ir.cn conductors are formed, the cross-connection ctvjR in litte of, grinding ennaares (2) _(ele '"is on, unrJ aie Querverbindum; (ti) only three L eit he nu t'v; eist. .. /.-iiirir.htur.-: after one or more of the speeches ^h nia 7, characterized by r: e denotes that the overlapping loops (3, * 0 of neighboring L'chleifen-D.iare (2) in a core single Bottom groove housed ninri. ί · ί. iLinriuhtim'i; after one or more of the previous ones Claims, characterized in that seen in the direction of travel (9) the receiver (lü) behind the transmitter (12) is mounted on the vehicle (10). 10. Execution after one or more of the preceding Claims for intersecting lanes, characterized in that the receiving loop (3 »3a), - 22 509811/0595 BATH ORIGINAL In particular, the Emnfanr.sschleii'e adjacent to the intersection of one lane (1) activates a further transmission loop (4a) crossing lane {22) in addition to the transmission loop ( ^L \) which forms a pair of loops with it. 11. Device according to claim 10, characterized in that the two associated with the intersection. Overlap the end face loops (3 _S 3a) in both directions. 12. Device according to claim 11, characterized in that that the length of the part of each receiving loop (3j 3a) going beyond the intersection is at least in each case corresponds to the length of the vehicle or train. 13. Device according to claim 12, characterized in that in the area of one of the at the intersection ¹ ; located ampfanrsschleifen (3) an additional, from the crossing receiver loop (3a) activatable, before the crossing ending turning loop (2 * 0 an? Ik. Device according to one or more of Claims 10 to 13, characterized in that all transmission loops (4) laid in the area of the intersection are at a distance (25) from the intersection (23) of the guidelines (1,22) or do-l. end up. 50981 1/0595 BAD ORIGINAL