DE7332016U - DEVICE FOR SELF-DRIVING VEHICLES - Google Patents

Description

Ί PATENT LAWYERS

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DIPL.-ING. DR.-ING DIPL .- »PHY9.

BERTHOLD SCHMID GERHARD BIRN HEINRICH QUARDER

FALBENHENNENSTRASSE 17 ■ 7000 STUTTGART 1 · TELEPHONE (0711) 608893

OUR SIGN

12 563 S / bm

Ernst Wagner KG 7410 Reutlingen

Equipment 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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A transmission pulse emitted in a transmission loop and with a switching device that can be influenced by this transmission pulse for the drive. When using several automatic vehicles or conveyors, so-called Blocking devices applied to the one hand the collision of following vehicles and on the other hand prevent a collision at intersections. Here it is known to divide the route into different To subdivide blocking sections, with switching points in the floor at certain intervals for example consist of a reed contact or initiator. The switching elements installed in the switching point are controlled by an am The vehicle-mounted magnet is influenced by, for example, a relay via a rear blocking section (loop) switched and a possibly following vehicle is stopped using known switching means until the The vehicle in front has reached another switching point in the next blocking section. About another Switching element, the blocking section that was switched last is released again. This becomes analogous Switching is also used at intersections or to switch traffic lights at dangerous spots. Crucial for that

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Functioning of the blocking device is a relatively precise crossing of the switching points, especially in Transverse direction.

Practice has shown that the transmission security is limited, especially when switching points in a Curve must be attached. It is then due to given deviations from the theoretical guideline does not always guarantee that all magnets attached to the various vehicles will certainly all Exactly overrun the switching points installed in the floor.

Occasionally the vehicles would have to be removed from the guideline and put back into operation. Unless this happens between the switching points, the installed switching elements are not driven over, so that switched on or disabled blocking sections are not switched off or not switched on.

Another disadvantage of the known blocking device is that the assembly of the switching elements in the floor and possibly later changes require a lot of work, and that the functional security in some

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Cases, e.g. when exposed to moisture or shock loads, is no longer guaranteed.

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

Accordingly, the object of the present invention is to provide a safety device of the type mentioned at the beginning To create a type that is particularly flexible, reliable and economical, and where the dependence on Exact crossing of a single fixed switching point for switching on or switching off the next Blocking section is eliminated and which is also free of switching devices laid in the ground.

The safety device is used to solve this problem of the type described according to the invention by a loop pair consisting of the transmit loop and a receive loop cooperating with a vehicle transmitter, the length of the The receiving loop corresponds to at least the length of the vehicle or of a train having the vehicle, and the receiving loop is arranged as an extension of the transmitting loop.

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As a transmitter for the receiving loop, for example a low-intensity magnetic wave transmitter can be used which, as long as it is above the loop, a voltage induced therein. The distance between the transmitter and the floor can be, for example, 5 to 10 ent. If the vehicle can be operated either manually or automatically, this transmitter is used with Switching to "Automatic" switched on. It works with a frequency fi. The transmission loop, however, works with a frequency f2, which is generated by the receiver attached to the vehicle or a following vehicle, for example a receiving coil, is recorded. After this the transmission of the frequency f2 is controlled by the vehicle transmitter, it is omitted as soon as the vehicle transmitter has completely passed the receiving loop. At this point in time, the send loop is also on yours full length released. If a following vehicle arrives at the transmission loop, there is a kind of rule there Transmission is silent, and it can therefore continue unimpeded. But if the vehicle in front is still a voltage is induced on the receiving loop, so becomes this via the transmission loop and the recipient of the subsequent

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following vehicle received in the form of the frequency f2. Via suitable devices on the following vehicle, of course, such devices are located on all vehicles, including the one in front - the frequency £ 2 is converted into a switching pulse that 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. For this purpose is in a particularly preferred embodiment of the Invention, the receiving loop with an amplifier and this connected to a switch, in particular switching relay, the switch being in the circuit of a blocking generator with which the transmission loop is connected. The voltage induced in the receiving loop 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 closes the circuit of the transmission loop. The blocking generator for generating the frequency f2 is located in this circuit. The mentioned relay opens as soon as the receiving loop is de-energized. This also interrupts the connection between the transmission loop and its associated blocking generator.

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 switching stage owning amplifier is connected. The amplifier and the blocking generator are located in a control cabinet arranged outside the floor. In the amplifier, the recorded frequency f1 is possibly selected in terms of frequency before it reaches the relay. The blocking generator consists of an oscillator stage and a power output stage.

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Another feature of the invention is that the transmitting and receiving loops, seen in the direction of travel have the same length and the overlap extends over approximately the entire length of the loop. The width can be proportionate be chosen large, so that the transmitter and receiver 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 ensured that the overlap? Train or vehicle length.

Another embodiment of the invention is characterized in that the transmit and / or receive loops are adjacent Loop pairs are laid directly in extension of one another. This achieves a seamless Securing the entire route network and optimal route utilization as well as the possibility of a special dense series of vehicles.

It is particularly advantageous also in that the transmit and receive loop of a loop pair partially shared by egg Aen conductors are formed, the cross-connection is approximately located in the center of the loop pair and the cross connection has only three conductors. To the-

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after that one of the three conductors is used simultaneously for the receiving and transmitting loops of the loop pair in question used. The connection line between the switching amplifier and the blocking generator with the associated one Loop pair only requires three conductors. It is expressly pointed out again that in the strived way in the present invention in the floor only maintenance-free cables are laid, while all mechanically moving parts for monitoring and maintenance installed in an easily accessible control cabinet can be. The wiring harnesses leading to this switch cabinet go together from the middle of a pair of loops from which the length of the lead wires to be laid and the number of floor grooves to be created can be reduced to a minimum.

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

Another feature of the invention is that seen in the direction of travel, the receiver 16 behind the transmitter 12 on Vehicle is mounted. In particular, it is useful if the receiving coil is as far forward as possible on the vehicle so that the pulse of the transmission loop is picked up when the vehicle is driven over it.

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If the receiver hurries ahead in the direction of travel, can also avoid self-switching when using only one transmission frequency f1 and only one reception frequency f2 the vehicle could possibly occur at the transition between receiving and transmitting loops. This continues Of course, it is assumed that the receiver and the transmitter are slightly offset from one another when viewed in the direction of travel are attached.

A security device for intersecting lanes is characterized in a further development of the invention that the receiving loop, in particular 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 means that a stop is set for both intersecting lanes at the same time, so that neither a following vehicle, another vehicle, also to be driven to the intersection, with which this intersection is first

reaching vehicle collides. It is also assumed that there is one-way traffic on both lanes, With two-lane traffic you have to expand the facility accordingly, 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 receiving loop 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 are each mounted in advance on the vehicle, so none holds of the two vehicles to the other, and a collision would then be inevitable.

To prevent this, it is proposed in a further embodiment of 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.

In order to avoid accidentally stopping crossing vehicles and blocking the intersection, it is It is very advantageous that all transmission loops laid in the area of the intersection with at least one in particular half the vehicle width, in particular the vehicle or Train length corresponding distance from the crossing point of the guidelines or the like. This measure could be dispensed with if the transmission loops Crossing guidelines would work with different frequencies - but then several receivers are on a vehicle required, which unnecessarily leads to high additional costs.

The safety device according to the invention has the advantage with it that the vehicles e.g. at an unloading point manually and safely from their guideline or the like. Can be taken and reused. If the receiving loops are in close succession,

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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. ! They depend on the crossing of 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, e.g. if only two vehicles in total on a guideline system or the like. Of course, any distance between the individual Loop pairs can be chosen, unless the vehicles have to be one behind the other for whatever reason circulate.

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

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In the drawing is an embodiment of the invention shown schematically. Show it:

Figure _e 1 a safety device on a straight track section fenden verlau- j, j

2 shows the safety device, insofar as it is installed on vehicle 1

Fig. 3 shows a safety device for two crossing .f Roadways.

Along a route 1, for example from a guideline recorded on the ground, one in the ground embedded guide wire or a track can consist of several in close succession, each consisting of one Send loop 4 and a receive loop 3 existing Loop pairs 2 arranged. In this case, a transmission loop of the one loop pair closes practically without any gaps to the transmit loop of the neighboring loop pairs

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at. The same also applies to the receive loops. From the-

for this reason a practically complete upper

\ coverage of the receiving loop of one loop pair

Ij of the transmission loop of the following loop in the direction of travel

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pair of windows.

Each pair of loops is connected to the amplifier circuit via lines 5 6, the switch 7 of a relay 8 controllable by the amplifier. According to the pair of loops of the pig drawn with dashed lines. 1 four or according 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. With automatic operation of the vehicle, this transmitter is constantly switched on, see above that the transmitting antenna continuously radiates the frequency f1. When driving over a receiving loop 3 is in this a voltage is induced by the frequency f1, which voltage is amplified in the amplifier 6. This energizes relay 8, so that the contacts of the switch 7 are closed. In the circuit of the transmission loop 4 of the relevant Loop pair is a blocking generator 13 with a frequency f2 generating oscillator stage 14 and one Power output stage 15. As soon as switch 7 is closed, sends the relevant transmission loop 4 the frequency f2.

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On the vehicle 10, viewed in the direction of travel 9, there is a receiving coil or antenna behind the transmitting antenna 12 16. It is connected to an amplifier switching stage 17, which in turn is connected to a relay 18 whose switching contacts 19 are in the circuit 20 of the traction drive motor 21.

As soon as the frequency f2 is picked up by the receiving antenna of a following vehicle, its propulsion system is activated 21 with the aid of the amplifier 17 and the relay 18 immediately switched off, so that a collision with the vehicle in front that controls the emission 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 in that its receiving antenna closes 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 receiving loop 3 in addition to the return *

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wärtigen transmission loop 4 another transmission loop 4a of the crossing route 22 is activated. When a pulse f2 is emitted, this stops the onward journey of a vehicle rolling on the route 22 in the direction of the intersection 23 in the same way. It can only continue to move when the other vehicle has completely cleared the intersection. To ensure this, the r receiving loop 3, like the other receiving loop crossing it and forming a loop pair with the sending loop 4a, 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 intersecting Vehicles on the route arrive exactly at the same time at the beginning of their respective receiving loop, an additional fuse must be provided. It consists in the fact that within one of the two, on the

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Intersection of the receiving loops moved forward an additional transmission loop 24 is laid, which is from the crossing Receive loop 3a is also activated. The additional transmission loop then stops the one passing over it Vehicle. It is also proposed that all transmission loops laid in the area of the intersection point 23 with, for example, at least half the driving

tool width corresponding distance 25 from the intersection point end so that crossing vehicles are not stopped unintentionally.

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Claims (8)

New demands 1. Safety device for self-driving vehicles, with a receiver for one of at least one transmission loop emitted transmission pulse, and with a switching device that can be influenced by a transmission pulse for the travel drive, characterized by one from the transmission loop (4, 4a, 24) and one with a vehicle transmitter cooperating receiving loop (3, 3a) existing loop pair (2), the length of the receiving loop at least corresponds to the length of the vehicle or of a train having the vehicle, and the receiving loop is arranged in an extension of the transmission loop. 2. Device according to claim 1, characterized by several pairs of loops (2), the transmitting and receiving loops of adjacent pairs of loops overlapping. 3. Device according to claim 2, characterized in that that the transmitting (4, 4a, 24) and receiving loops (3, 3a), seen in the direction of travel (9), have the same length and are mutually exclusive the overlap extends over approximately the entire length. 7332016 01/12/78 4. Device according to claim 2 or 3, characterized in that that the send and / οdsr receive loops of neighboring Loop pairs (2) directly in extension of one another are arranged. 5. Device according to one or more of the preceding claims, characterized in that the transmitting (4, 4a, 24) and receiving loop (3, 3a) of a loop pair (2) are partially formed by a common conductor, the cross connection is located approximately in the middle of the loop pair and the cross connection (5) only three Has head. 6. Device according to one or more of claims 3 to 5, characterized in that the overlapping loops (3, 4) of adjacent pairs of loops (2) are housed in a common bottom groove. 7. Device according to one or more of the preceding Claims for intersecting lanes, characterized in that the two associated with the intersection Receive loops, overlap in both directions. 7332016 1Z.01.78 8. Device according to claim 7, characterized in that the length of the part going beyond the intersection each receiving loop (3, 3a) corresponds to at least the length of the vehicle or train. 7332015 01/12/78