EP0052263B1 - Einrichtung zur Abstandhaltung von spurgebundenen Fahrzeugen - Google Patents

Einrichtung zur Abstandhaltung von spurgebundenen Fahrzeugen Download PDF

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Publication number
EP0052263B1
EP0052263B1 EP81108920A EP81108920A EP0052263B1 EP 0052263 B1 EP0052263 B1 EP 0052263B1 EP 81108920 A EP81108920 A EP 81108920A EP 81108920 A EP81108920 A EP 81108920A EP 0052263 B1 EP0052263 B1 EP 0052263B1
Authority
EP
European Patent Office
Prior art keywords
light
vehicles
vehicle
drive control
spacing
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.)
Expired
Application number
EP81108920A
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German (de)
English (en)
French (fr)
Other versions
EP0052263A1 (de
Inventor
Jean-Claude Schick
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Digitron AG
Original Assignee
Inventio AG
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Filing date
Publication date
Application filed by Inventio AG filed Critical Inventio AG
Priority to AT81108920T priority Critical patent/ATE17285T1/de
Publication of EP0052263A1 publication Critical patent/EP0052263A1/de
Application granted granted Critical
Publication of EP0052263B1 publication Critical patent/EP0052263B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S367/00—Communications, electrical: acoustic wave systems and devices
    • Y10S367/909—Collision avoidance

Definitions

  • the invention relates to a device for keeping track-bound vehicles at a distance, with light transmitters arranged on the rear side, emitting modulated light against the direction of travel in the reverse direction, and with light receivers arranged on the front side receiving light uniformly from the front in the direction of travel, which device uses a drive control to control the speed controls a vehicle so that its distance from the vehicle immediately ahead does not fall below a predetermined value, the distance being determined on the basis of the received light intensity.
  • the limit distance that triggers the stop of the trailing vehicle must therefore be selected so that a collision-preventing braking is guaranteed for the most unfavorable combination of the vehicle speeds. For all other speed combinations, the stop is therefore premature and therefore not optimal.
  • German published application DE-A-2 219 204 describes an optoelectronic system which can be used to supply both a central point for coordinating traffic and each individual road user with the necessary information for an undisturbed traffic flow.
  • Each vehicle is equipped with transmitters or receivers that transmit in all directions and receive from all directions, the IR radiation used being modulated for the purpose of information transmission.
  • Similar reception systems are permanently installed at important points in the road network.
  • a disadvantage of this device is the fact that, based on the information obtained that characterizes the traffic situation, the traffic flow is not automatically and correctively intervened, neither by the central unit nor by the vehicle control system. Rather, it is up to the road user to interpret the information obtained and, if necessary, to intervene in the control of his vehicle. This device is therefore not usable as an automatic collision safety device, and certainly not in driverless vehicles.
  • DE-OS 2 646 587 shows a device for vehicles which can be steered automatically by means of a guide cable.
  • the guide cable is laid in the lane and is supplied with a control pulse at regular intervals to keep the vehicles at a safe distance.
  • the control pulse spreads along the guide cable and causes a light pulse to be emitted against the direction of travel when a vehicle is reached.
  • the control pulse and the light pulse originating from the preceding vehicle are detected on the following vehicle and the distance is determined on the basis of the time between the pulses.
  • This device requires elaborate, fixed installations to keep the distance.
  • the fixed installations consist of the guide cable laid in the carriageway and the associated control devices.
  • the control devices must be provided in such a way that the control impulse with respect to the direction of travel of the vehicle propagates in the same direction on each section of the lane, because the transit times of the impulses in the guide cable and in the air have to be added and subtracted depending on the direction.
  • the parts of the device arranged on the vehicles are complex because the times to be evaluated between the pulses are short due to the very high propagation speeds. The device does not reliably evaluate the short times between the pulses if the pulses are distorted or if the times are very short, the distortions of the pulses increasing with increasing roadway length or guide cable length and the times between the pulses decreasing with decreasing distance.
  • the invention is based on the object of proposing a relatively simple device for keeping track-bound vehicles at a distance, which works reliably on tracks of any length, which can be operated without fixed installations and whose reliability increases with decreasing distance.
  • this spacing device ensures collision protection which is based on equalization of the vehicle speeds and not on a vehicle stop.
  • the collision protection is therefore tailored to the normal driving behavior of the vehicles while avoiding interruptions in operation with their disadvantageous consequences for transport performance and operational processes.
  • the distance between two vehicles is proportional to their speed, so that the resulting collision protection works optimally at all speeds.
  • FIG. 1 denotes a battery-operated vehicle of an industrial conveyor system, which can move forward and backward on a carriageway 2 by means of wheels 3, 4.
  • a guide cable 5 can be laid in the underlay of the roadway 2, which cooperates with steering devices of the vehicle 1 (not shown in more detail).
  • load suspension devices 6 On the top of the vehicle 1 there are load suspension devices 6, which can be designed differently depending on the type of loads to be transported.
  • light transmitters and light receivers for both directions of travel are arranged in dustproof glass housings 7, 8.
  • Metal housings 9, 10 are provided directly under the glass housings 7, 8 and contain the electrical devices of the light transmitters and the light receivers described in more detail with reference to the block diagram in FIG. Under the metal housings 9, 10 there are safety contacts embedded in rubber sleeves 11, 12 which switch off the drive of the vehicle 1 in the event of a collision.
  • FIG. 2 denotes a control circuit, to which four items of information AHE, AHL, AHR, AHT originating from a drive control of the vehicle 1, which is not explained in greater detail, and which have five output signals EL, ER, SL, SR, ST generated.
  • the output signals EL, ER are fed to a light receiver denoted by 22, while the output signals SL, SR, ST are fed to a light transmitter denoted by 23, the light receiver 22 and the light transmitter 23 being arranged at the same vehicle end.
  • the output signals EL, ER are present in the light receiver 22 on the one hand both on a first display device 24 optically indicating the operating mode of the light receiver 22 and on the other hand individually on the control inputs of a first and a second electronic switching device 25, 26, with the contacts of the first and the second Switching device 25, 26 two infrared light-sensitive diodes 27, 28 can be connected in parallel to a capacitor of a resonance circuit 29.
  • the two light-sensitive diodes 27, 28 are arranged in a horizontal plane at an equal angle with respect to the direction of travel such that the light receiver 22 receives light in any direction from the sides and from the front.
  • the resonance circuit 29 consisting of a parallel connection of a capacitor, a coil and a resistor is connected to an amplifier 30.
  • the output of amplifier 30 is connected to the input of a demodulator 31.
  • the output signal denoted by AH of the demodulator 31 is proportional to the received light intensity and is supplied to the drive control 21 for influencing the driving speed of the vehicle 1.
  • the output signals SL, SR, ST of the control Circle 20 are in the light transmitter 23 on the one hand fed to a second display device 32 optically indicating the operating mode of the light transmitter 23.
  • the signal ST is present at the control input of a controllable current source 33, the signal SL at the control input of a third electronic switching device 34 and the signal SR at the control input of a fourth electronic switching device 35.
  • the controllable current source 33 feeds a series circuit 36 of twelve infrared light-emitting diodes, of which twelve infrared light-emitting diodes, only four of the twelve light-emitting diodes being shown.
  • the light-emitting diodes are arranged in a fan shape in a horizontal plane in such a way that the light transmitter 23 emits light uniformly in any direction sideways and backwards.
  • the contact of the third switching device 34 is connected in parallel to the six light-emitting diodes of the series circuit 36 that emit to the left, while the contact of the fourth switching device 35 is connected in parallel to the six light-emitting diodes of the series circuit 36 that emit to the right.
  • the light-emitting diodes of the series circuits 36 are not short-circuited by means of the third and fourth switching devices 34, 35, with the result that both partial angles of the light transmitters 23 arranged at the rear are released.
  • the signals ST like the information AHT, change with a frequency of approximately 20 kHz from “0” to “1 and vice versa, which is why the controllable current sources 33 feed the light-emitting diodes of the series circuits 36 with a current that changes in the same cycle.
  • the light transmitters 23 emit modulated infrared light in accordance with the schematically represented transmission characteristics 44, the intensity of the light being proportional to the reciprocal of the distance square.
  • the light-sensitive diodes 27, 28 are connected in parallel with the capacitors of the resonant circuits 29 by means of the first and second switching devices 25, 26, whereby both partial angles of the light receivers 22 arranged at the front are switched on, as schematically illustrated by means of reception characteristics 45 is shown.
  • Voltages are present at the light-sensitive diodes 27, 28, which consist of DC voltage components and AC voltage components.
  • the resonance circuits 29 detuned with respect to the modulation frequency by a certain amount convey the alternating voltage components, which change with the modulation frequency, as reception signals to the amplifiers 30 with a signal attenuation given by the detuning. With increasing ambient light levels, the AC voltage components decrease due to the reduced sensitivity of the diodes 27, 28.
  • the DC voltage components at the diodes 27, 28 decrease, the barrier layer capacitances of the diodes 27, 28 increasing.
  • the increasing junction capacitance of the diodes 27, 28 cause the detuning of the resonance decrease circles 29, whereby the decreasing sensitivity of the diodes 27, 28 are compensated by decreasing signal attenuation of the resonant circuits 29.
  • the received signals are amplified by the amplifiers 30 and demodulated by the demodulators 31.
  • the signals AH occurring at the outputs of the demodulators 31 are dependent on the distances d. Due to a given value e.g. B.
  • the drive controller 21 of a vehicle 41, 42 determines a distance value d1 or d2 according to the course of the curve 46 shown in broken lines in FIG.
  • the determined value d1 or d2 can deviate from the existing distance d, the limits of the possible deviation range Ad1 or Ad2 being represented by curves 47, 48. It can be seen from the curves 46, 47, 48 that the range ⁇ d1, Ad2 becomes narrower with a decreasing distance value d1, d2 because the curves 46, 47, 48 are steeper with a decreasing distance d. As a result, the reliability of the device increases as the distance d decreases.
  • the determined distance value d1 or d2 is used by the drive controller 21 to control the driving speed.
  • two vehicles driving forward on a curved route 51 are designated 52 and 53. Since there are no adjacent lanes, the information and the signals have the same values as in the vehicles 41, 42 of the
  • FIG. 3 The reception characteristics 54 and transmission characteristics 55, which are unchanged compared to FIG. 3, show that the device also functions on the curved path 51.
  • FIG. 6 two vehicles driving forward on a straight line 61 are identified by 62 and 63.
  • the device according to the invention it is advantageous to provide the same devices at the front and rear on vehicles moving forwards and backwards, the information AHL and AHR being fed back to the rear devices and the information AHE being supplied to the rear devices via a device provided in the devices optionally switchable NOT link is supplied.

Landscapes

  • Mechanical Engineering (AREA)
  • Engineering & Computer Science (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Medicines That Contain Protein Lipid Enzymes And Other Medicines (AREA)
  • Replacement Of Web Rolls (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Peptides Or Proteins (AREA)
  • Medicines Containing Material From Animals Or Micro-Organisms (AREA)
  • Road Signs Or Road Markings (AREA)
  • Road Paving Structures (AREA)
EP81108920A 1980-11-14 1981-10-26 Einrichtung zur Abstandhaltung von spurgebundenen Fahrzeugen Expired EP0052263B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT81108920T ATE17285T1 (de) 1980-11-14 1981-10-26 Einrichtung zur abstandhaltung von spurgebundenen fahrzeugen.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH8458/80A CH650738A5 (de) 1980-11-14 1980-11-14 Einrichtung zur abstandhaltung von spurgebundenen fahrzeugen.
CH8458/80 1980-11-14

Publications (2)

Publication Number Publication Date
EP0052263A1 EP0052263A1 (de) 1982-05-26
EP0052263B1 true EP0052263B1 (de) 1986-01-02

Family

ID=4340680

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81108920A Expired EP0052263B1 (de) 1980-11-14 1981-10-26 Einrichtung zur Abstandhaltung von spurgebundenen Fahrzeugen

Country Status (11)

Country Link
US (1) US4473787A (https=)
EP (1) EP0052263B1 (https=)
JP (1) JPS57110559A (https=)
AT (1) ATE17285T1 (https=)
CA (1) CA1196076A (https=)
CH (1) CH650738A5 (https=)
DE (1) DE3173399D1 (https=)
ES (1) ES8206875A1 (https=)
FI (1) FI813197L (https=)
GB (1) GB2089085B (https=)
WO (1) WO1986003612A1 (https=)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59176807A (ja) * 1983-03-25 1984-10-06 Daifuku Co Ltd 自走搬送台車の追突防止装置
EP0132467A1 (en) * 1983-07-28 1985-02-13 Dragan Bukatarevic A control system for an electrically driven vehicle
US4644237A (en) * 1985-10-17 1987-02-17 International Business Machines Corp. Collision avoidance system
FR2621878A1 (fr) * 1987-10-19 1989-04-21 Sysmo Sa Installation modulaire pour le transport controle de pieces ou de produits
GB2211334A (en) * 1987-10-20 1989-06-28 Plessey Co Plc Transportation system having an inter-vehicle distance control arrangement
US4934477A (en) * 1988-08-18 1990-06-19 Dai Yeu J Automatic control device for preventing rear-end collision of motorized vehicles
US4987357A (en) * 1989-12-18 1991-01-22 General Motors Corporation Adaptive motor vehicle cruise control
CA2042133C (en) * 1990-07-10 1997-09-09 Hiroaki Kita Equipment for transporting a load
US5192903A (en) * 1990-07-10 1993-03-09 Daifuku Co., Ltd. Equipment for transporting a load
US5157999A (en) * 1991-07-11 1992-10-27 John Borzym Conveyor for workstations
JP3052539B2 (ja) * 1992-02-28 2000-06-12 石川島播磨重工業株式会社 有軌道台車の衝突防止装置
DE9203121U1 (de) * 1992-03-10 1993-07-15 Pies, Gerrit, 42699 Solingen Schienengebundener Wagen
JP2582209B2 (ja) * 1992-09-11 1997-02-19 大淀ヂ−ゼル株式会社 移動式作業車両
JP3296105B2 (ja) * 1994-08-26 2002-06-24 ミノルタ株式会社 自律移動ロボット
US5574469A (en) * 1994-12-21 1996-11-12 Burlington Northern Railroad Company Locomotive collision avoidance method and system
DE19508141C1 (de) * 1995-03-08 1996-08-14 Atotech Deutschland Gmbh Verfahren und Vorrichtung zur gefahrlosen Annäherung von schienengebundenen Fahrzeugen in Anlagen zur Oberflächenbehandlung
JPH0981236A (ja) * 1995-09-12 1997-03-28 Denso Corp 移動通信装置
US6574536B1 (en) 1996-01-29 2003-06-03 Minolta Co., Ltd. Moving apparatus for efficiently moving on floor with obstacle
JP3633707B2 (ja) * 1996-03-08 2005-03-30 日産ディーゼル工業株式会社 車群走行制御装置
US6116333A (en) * 1999-04-05 2000-09-12 Betzdearborn Inc. Tube cleaner recovery system
DE10152350C1 (de) * 2001-10-24 2003-04-24 Leuze Electronic Gmbh & Co Vorrichtung zum Auffahrschutz bei spurgeführten Fahrzeugen
FR2884626A1 (fr) * 2005-04-19 2006-10-20 Daniel Henri Lucien Jos Martin Dispositif sans contact pour l'accrochage et le controle de vehicules
JP4621073B2 (ja) * 2005-05-23 2011-01-26 本田技研工業株式会社 ロボット制御装置
JP4495252B2 (ja) * 2008-07-09 2010-06-30 パナソニック株式会社 経路危険性評価装置、経路危険性評価方法及びプログラム
DE102009058659A1 (de) * 2009-12-16 2011-06-22 EISENMANN Anlagenbau GmbH & Co. KG, 71032 Fördersysstem
JP6085486B2 (ja) * 2013-01-24 2017-02-22 三和機工株式会社 油圧式作業機

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1747041A (en) * 1928-10-27 1930-02-11 Gen Electric Speed-indicating system
US2762913A (en) * 1955-06-13 1956-09-11 William L Jepson Railway train proximity warning system
US2996137A (en) * 1958-01-29 1961-08-15 Chu Yaohan Automatic radar guided and computer controlled vehicles
US3370166A (en) * 1966-02-21 1968-02-20 Bosch Arma Corp Object detector and control system employing same
DE1950863A1 (de) * 1969-10-09 1971-05-06 Bosch Gmbh Robert Steuervorrichtung fuer Fahrzeuge
DE2114621C3 (de) * 1971-03-26 1979-06-21 Messerschmitt-Boelkow-Blohm Gmbh, 8000 Muenchen Verfahren zur selbsttätigen, abstandgesicherten Brems- und Fahrsteuerung von auf derselben Bahn oder Spur befindlichen Fahrzeugen
DE2156001B2 (de) * 1971-11-11 1975-10-16 Daimler-Benz Ag, 7000 Stuttgart Abstandswarnvorrichtung für Fahrzeuge
DE2219204A1 (de) * 1972-04-20 1973-10-25 Eltro Gmbh Opto-elektronisches system zur erfassung des kraftfahrzeugverkehrs
US4026654A (en) * 1972-10-09 1977-05-31 Engins Matra System for detecting the presence of a possibly moving object
US4028662A (en) * 1976-05-24 1977-06-07 Raymond Donald Young Passing vehicle signalling apparatus
US4028622A (en) * 1976-06-28 1977-06-07 Bell Telephone Laboratories, Incorporated Selective intermodulation distortion measurement

Also Published As

Publication number Publication date
FI813197A7 (fi) 1982-05-15
US4473787A (en) 1984-09-25
FI813197L (fi) 1982-05-15
CH650738A5 (de) 1985-08-15
CA1196076A (en) 1985-10-29
EP0052263A1 (de) 1982-05-26
ES507085A0 (es) 1982-08-16
JPS57110559A (en) 1982-07-09
JPS6316309B2 (https=) 1988-04-08
ES8206875A1 (es) 1982-08-16
GB2089085B (en) 1984-08-30
DE3173399D1 (en) 1986-02-13
ATE17285T1 (de) 1986-01-15
WO1986003612A1 (fr) 1986-06-19
GB2089085A (en) 1982-06-16

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