JP2009025984A - Travel controller for carrier vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve reliability of a running in an unmanned mode by preventing a worker (a driver) from operating the vehicle in the unmanned mode. <P>SOLUTION: In the unmanned mode, when satisfying one of conditions that the driver is detected, that operation of a parking brake is detected, that operation of a regular brake is detected, and that operation of an accelerator lever is detected in a prescribed operation mode, vehicle stop control is executed to stop a running vehicle, and start prohibition control is executed to prohibit start of the stopped vehicle (steps S13-S16). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a travel control device for a transport vehicle that can selectively travel in any one of a manned mode and an unmanned mode.

  Conventionally, a vehicle that transmits a command from a remote controller (transmitter) and travels unattended is known (for example, see Patent Document 1). This Patent Document 1 discloses a safety device that can ensure the safety of a manned vehicle with respect to a traveling system that allows manned vehicles and unmanned vehicles to travel together.

Further, in a transport system for transporting loads, a transport vehicle is run along a guide line (for example, magnetic tape) laid on a floor, and the load loaded on the transport vehicle is transported to a predetermined position. ing. And, on the transport vehicle, the guide line is detected by the guide sensor, and the unmanned operation mode in which the steering wheel is automatically steered based on the detection result, and the operator gets on and operates the steering handle. There is a vehicle having a manned operation mode in which a steered wheel is manually steered to travel. In the following description, the “carrier vehicle” means a vehicle that can travel in the selected operation mode by switching between the unmanned operation mode and the manned operation mode.
JP 2000-315112 A

  By the way, in the transport vehicle in which the unattended operation mode is selected, the worker transmits various commands from a remote controller (transmitter) and controls traveling by remote operation. The transport vehicle for which the unattended operation mode is selected usually travels without the operator getting on. For this reason, even if the unmanned operation mode is selected, if an operator gets on the vehicle and performs an accelerator operation or a brake operation, for example, the traveling of the transport vehicle in the unmanned operation mode is hindered.

  The present invention has been made paying attention to such problems existing in the prior art, and its purpose is to prevent intervention of vehicle operation by an operator (driver) who gets in the unmanned operation mode, An object of the present invention is to provide a traveling control device for a transport vehicle capable of improving the reliability of traveling in the unmanned operation mode.

  In order to solve the above problems, the invention according to claim 1 is directed to a traveling control device for a transport vehicle that can selectively travel in any one of a manned operation mode and an unmanned operation mode. A driver detecting means for detecting whether or not the driver's seat is taken in a posture, a parking brake operation state detecting means for detecting an operating state of a parking brake provided on the vehicle, and a service brake provided on the vehicle. Based on the detection result of each detection means, the unmanned operation mode based on the detection results of the service operation state detection means for detecting the operation state, the accelerator operation state detection means for detecting the operation state of the accelerator operation member that instructs the acceleration of the vehicle Travel control means for controlling the travel state of the vehicle at the time, and the travel control means is a condition for detecting the driver by the driver detection means in the unmanned operation mode. A condition for detecting that the parking brake is operated by the parking brake operation state detection means, a condition for detecting that the service brake is operated by the service brake operation state detection means, and Vehicle stop control for stopping the vehicle when the vehicle is running when one of the conditions for detecting that the accelerator operation member is operated in a predetermined operation mode is satisfied by the accelerator operation state detection means The gist is to execute start prohibition control for prohibiting start of the vehicle when the vehicle is stopped.

  According to this, in the unattended operation mode, the condition for detecting the driver, the condition for detecting that the parking brake is operated, the condition for detecting that the service brake is operated, and the accelerator operation member are predetermined. When any one of the conditions for detecting that the vehicle is operated in the operation mode is satisfied, the travel of the vehicle is limited. In other words, when the unmanned operation mode is selected and the work vehicle gets on and the vehicle is operated or is about to be operated, a restriction is imposed on the travel of the vehicle. For this reason, the intervention of the vehicle operation by the worker (driver) who got on in the unattended operation mode can be prevented. In addition, the transport vehicle in which the unmanned operation mode is selected can be reliably driven in an unmanned state, and the reliability of traveling in the unattended operation mode can be improved.

  According to a second aspect of the present invention, in the travel control device for a guided vehicle according to the first aspect, the predetermined operation mode of the accelerator operation member is that the driver continuously operates the accelerator operation member for a predetermined time. It is a summary.

  According to this, it is possible to avoid a restriction on the traveling of the vehicle in a situation where the accelerator operating member is momentarily operated under the influence of vibration during traveling. Therefore, the driving reliability in the unattended operation mode can be improved.

  According to a third aspect of the present invention, in the traveling control device for a transport vehicle according to the first or second aspect, the invention includes an abnormality canceling operation member for canceling a control state of the vehicle stop control and the start prohibition control, The gist of the travel control means is to release the control states of the vehicle stop control and the start prohibition control when each of the conditions is not satisfied and the abnormality canceling operation member is operated.

  According to this, in order to cancel a restriction | limiting, it is necessary for an operator to be in the state which does not satisfy | fill each condition, and to operate an abnormality cancellation operation member further. Therefore, the restriction can be released while allowing the operator to recognize that the restriction is imposed on the traveling of the vehicle in the unattended operation mode.

  According to a fourth aspect of the present invention, in the travel control device for a transport vehicle according to any one of the first to third aspects, the driver detecting means is provided on a steering handle for steering the vehicle. The gist of the invention is that it includes an optical sensor that detects at least one hand of a driver who holds the steering wheel.

  According to this, it is possible to detect whether or not the driver has taken the driving posture and arrived at the driver's seat.

  ADVANTAGE OF THE INVENTION According to this invention, the intervention of the vehicle operation by the operator (driver | operator) who boarded in unmanned driving mode can be prevented, and the reliability of driving | running | working by unattended driving mode can be improved.

Hereinafter, an embodiment in which the present invention is embodied in a towing vehicle that pulls a load loaded on a carriage will be described with reference to FIGS.
As shown in FIG. 1, a vehicle body 11 of a tow vehicle 10 as a transport vehicle includes a front frame 12 provided on the front side of the vehicle body 11 and a rear frame 13 provided on the rear side of the vehicle body 11. The rear frame 13 is provided with a traction mechanism 14 that pulls a carriage for loading a load. The traction mechanism 14 is disposed on the rear side of the vehicle body 11, and is fixed to the rear frame 13 so as to be positioned substantially at the center in the vehicle width direction. The traction mechanism 14 can cause the traction vehicle 10 to travel by pulling one or more trolleys backward.

  A standing seat type driver's seat 15 is provided in the center of the vehicle body 11 in the front-rear direction. A steering wheel (front wheel) (not shown) is provided at the center of the front lower portion of the vehicle body 11, and one drive wheel (rear wheel) 16 is provided on each of the left and right sides of the rear portion of the vehicle body 11. . The rear frame 13 disposed behind the driver seat 15 is provided with a battery hood 18 that covers an upper portion of a housing portion 17 formed in a box shape for housing the battery BT so as to be opened and closed. As shown in FIG. 3, the accommodating portion 17 is disposed on the right side of the vehicle body 11 and behind the driver seat 15 and is configured to be able to be pulled out in the vehicle width direction. The housing portion 17 cannot be pulled out when the battery stopper 19 as a lock member is locked, and the battery BT cannot be taken out from the housing portion 17. On the other hand, the housing part 17 can be pulled out when the battery stopper 19 is unlocked, and the battery BT can be taken out from the housing part 17. The battery stopper 19 is a rod-shaped member, and is provided so as to be rotatable with respect to the vehicle body 11. As shown by a two-dot chain line in FIG. 3, the state of being rotated toward the driver's seat 15 is an unlocked state. The vehicle body 11 is mounted with a traveling motor MT (shown in FIG. 4) using the battery BT as a driving source, and the driving wheels 16 are given driving force from the traveling motor MT. That is, the tow vehicle 10 of this embodiment is a battery type (electric type) vehicle.

  The driver's seat 15 is provided with a bar handle 20 as a steering handle for an operator (driver) who gets on the vehicle to operate the handle. The bar handle 20 is connected to the axle shaft via a steering shaft (not shown) built in the steering column 21. Thereby, the tow vehicle 10 can steer the steered wheel by the driver operating the bar handle 20 (rotating operation in the left-right direction), and can make the manned traveling in the manned driving mode (manual driving mode). It has become.

  The tow vehicle 10 is configured to be able to travel in the unmanned operation mode (automatic travel mode) in addition to traveling in the manned operation mode. In the unmanned operation mode, the traveling motor MT constituting the traveling mechanism 23 is driven and controlled by the traveling controller (control device) 22 shown in FIG. 4, and the steering wheel for steering wheels constituting the steering mechanism 25 is controlled by the remote controller 24. A motor (not shown) is driven and controlled. The traveling mechanism 23 includes a traveling motor MT and a motor electromagnetic brake. The steering mechanism 25 includes a steering motor and an electromagnetic clutch (for example, an electromagnetic tooth clutch) that switches between a transmission state in which the power of the steering motor is transmitted to the axle shaft and a non-transmission state in which the power is not transmitted. . The travel controller 22 and the remote controller 24 are composed of a microcomputer and are mounted on the vehicle body 11.

  In addition, as shown in FIG. 2, an operator who gets on the driver's seat 15 in the vicinity of the bar handle 20 on the right side instructs the acceleration (travel) of the towing vehicle 10 and adjusts the travel speed. An accelerator lever 26 is provided as an accelerator operating member. The accelerator lever 26 of the present embodiment instructs “forward travel” by tilting from the neutral position (neutral position) to the front of the vehicle (in the direction of arrow A shown in FIG. 2), and moves forward by the amount of tilt operation. It is comprised so that the vehicle speed at the time of driving | running | working can be adjusted. Further, the accelerator lever 26 of the present embodiment instructs “reverse travel” by tilting from the neutral position (neutral position) to the rear of the vehicle (in the direction of arrow B shown in FIG. 2), and the amount of tilt operation Thus, the vehicle speed during reverse travel can be adjusted. An operator who has boarded the towing vehicle 10 of the present embodiment grips the right bar handle 20 and the accelerator lever 26 with the right hand, and grips the left bar handle 20 with the left hand, and operates in a standing posture.

  Further, as shown in FIG. 2, the driver's seat 15 is provided with a travel switching lever 27 as operation mode selection means for selectively switching the operation mode of the tow vehicle 10 to either the manned operation mode or the unmanned operation mode. It has been. The vehicle body 11 is equipped with a parking brake (parking brake) used during parking, in addition to a speed control during traveling of the tow vehicle 10 and a service brake used when the tow vehicle 10 is stopped. Is provided with a parking brake lever 28 as a parking brake operating member for operating the parking brake. Further, as shown in FIG. 2, the driver seat 15 (steering column 21) is provided with a start switch key 29 as a start operation member that starts (powers on) and stops (power off) the towing vehicle 10. ing. Further, as shown in FIG. 2, the driver seat 15 is switched to the “unmanned operation mode” by operating the travel switching lever 27, and then the driving seat 15 is driven to stand by in a state where it can travel in the unmanned operation mode. An operation preparation button 30 as a preparation operation member is provided. Further, as shown in FIG. 2, the driver's seat 15 is provided with an abnormality release button (reset button) 31 as an abnormality release operation member for releasing various abnormal states (error states) generated in the tow vehicle 10. It has been.

  Further, as shown in FIG. 1A, a floor switch pedal 32 as a driver detection operation member is provided on the floor of the driver seat 15. The floor switch pedal 32 is configured to be depressed. In the towing vehicle 10 of the present embodiment, the operator (driver) who gets on the vehicle takes the driving posture by stepping on the floor switch pedal 32 in the standing posture and arrives at the driver's seat 15. A state in which the operator has arrived at the driver's seat 15 is a seated state, and a state in which the operator has not arrived at the driver's seat 15 (including a state in which the floor switch pedal 32 is not operated even if the operator is in the driver's seat 15). Be seated. For this reason, in the tow vehicle 10 of the present embodiment, whether or not the driver takes the driving posture and sits on the driver's seat 15 (whether or not he / she is seated) is detected according to the operation state of the floor switch pedal 32.

  Further, as shown in FIG. 3, a brake pedal 33 as a service brake operation member that operates a service brake that applies a braking force to the towing vehicle 10 is provided on the floor of the driver seat 15. An operator who has boarded in the manned operation mode operates the brake pedal 33 during traveling to apply a braking force to decelerate or stop the towing vehicle 10. Further, the vehicle body 11 includes an indicator lamp 34 as a warning means that is lit while the towing vehicle 10 is traveling in the unmanned operation mode, and a signal horn 35 as a warning means that emits various warning sounds such as a horn (illustrated only in FIG. 4). Is provided).

  In the unattended operation mode, various commands are sent to the remote controller 24 by remote operation by a transmitter (remote controller) 36. The transmitter 36 is provided with various operation buttons 37 such as a travel instruction button for instructing inching and continuous travel as the travel form of the tow vehicle 10. The jogging traveling is a traveling form in which the operator operates the operation button 37 of the transmitter 36 and causes the towing vehicle 10 to travel during the button operation. In jogging travel, when loading and unloading a truck that is towed, the stop position of the tow truck 10 is finely adjusted, for example, when the carriage is aligned with a parts shelf that is a loading source and a loading destination. Used when. On the other hand, the continuous running is used when the towing vehicle 10 is continuously run to a predetermined stop position, such as when it is desired to run the towing vehicle 10 toward a load carry-in source or a load carry-out destination.

  The rear frame 13 is provided with a receiver 38 that receives a command transmitted by the transmitter 36 via a receiving antenna 38a, and the tow vehicle 10 can issue a travel instruction by remote control from the transmitter 36. It is configured as follows. When the tow vehicle 10 travels in the unmanned operation mode, the position of the guide tape GT as a guide member laid on the travel route of the tow vehicle 10 is detected by a guide sensor GS (shown in FIG. 4), Based on the detection signal, the remote controller 24 controls the steering mechanism 25 (steering motor) to steer the steered wheels. In this embodiment, a magnetic tape is used as the guide tape GT.

Next, the electrical configuration of the tow vehicle 10 will be described with reference to FIG.
A remote controller 24 is connected to the traveling controller 22 and controls the traveling mechanism 23 in response to an instruction from the remote controller 24 to cause the towing vehicle 10 to travel and stop. A steering mechanism 25, a receiver 38, a travel changeover switch 39, and a guide sensor GS are connected to the remote controller 24. The travel changeover switch 39 detects the operation position of the travel changeover lever 27 and outputs an electrical signal corresponding to the detection result to the remote controller 24. The remote controller controller 24 receives the electrical signal from the travel changeover switch 39 and sets the operation mode of the tow vehicle 10. In the present embodiment, the travel changeover switch 39 is turned on when the travel changeover lever 27 is in the unmanned operation mode and is turned off in the manned operation mode.

  The guide sensor GS detects the guide tape GT, converts the amount of deviation between the guide tape GT and the traction vehicle 10 into an electrical signal, and transmits the electrical signal to the remote controller 24. The remote controller 24 receives an electrical signal from the guide sensor GS in the unattended operation mode, and controls the steering mechanism 25 to control the direction of the steered wheels. The remote controller 24 is connected to an indicator lamp 34 and a signal horn 35 provided on the vehicle body 11. The remote controller 24 controls the lighting mode of the indicator lamp 34 according to the traveling state of the towing vehicle 10 and the warning sound output of the signal horn 35 in the unmanned operation mode.

  Further, the remote controller 24 detects the operation position of the start switch key 29, detects the operation position of the key switch 40 that outputs an electric signal corresponding to the detection result, and the operation preparation button 30, and displays the detection result. An operation preparation switch 41 for outputting the corresponding electric signal is connected. The remote controller 24 detects whether the power is on or off by inputting an electric signal from the key switch 40. Further, the remote controller 24 detects the operation state of the operation preparation button 30 by inputting an electric signal from the operation preparation switch 41. When the operation preparation button 30 is operated, the remote controller 24 causes the tow vehicle 10 to stand by in the unmanned operation mode under the condition that the operation mode is switched to the unmanned operation mode by the travel switching lever 27. In the present embodiment, the operation preparation switch 41 is turned on when the operation preparation button 30 is operated, and is turned off when the operation preparation button 30 is not operated.

  The remote controller 24 is connected to an accelerator switch 42 that detects the operation position of the accelerator lever 26 and outputs an electrical signal corresponding to the detection result. The accelerator switch 42 detects whether the operation position of the accelerator lever 26 is a neutral position, a forward position instructing forward travel, or a reverse position instructing reverse travel. Then, the remote controller 24 detects the operation state of the accelerator lever 26 by inputting an electric signal from the accelerator switch 42. In the present embodiment, the accelerator switch 42 is turned on when the accelerator lever 26 is in the forward position and the reverse position, and is turned off when the accelerator lever 26 is in the neutral position.

  The remote controller 24 is connected to a parking switch 43 that detects an operation position of the parking brake lever 28 and outputs an electrical signal corresponding to the detection result. The parking switch 43 detects whether the operation position of the parking brake lever 28 is a release position where the parking brake is released or a non-release position where the parking brake is applied. The remote controller controller 24 detects an operation state of the parking brake lever 28 (parking brake) by inputting an electric signal from the parking switch 43. In the present embodiment, the parking switch 43 is turned on when the parking brake lever 28 is in the non-released position, and is turned off when the parking brake lever 28 is in the released position.

  The remote controller 24 is connected to a brake switch 44 that detects the operation position of the brake pedal 33 and outputs an electrical signal corresponding to the detection result. The brake switch 44 detects whether the operation position of the brake pedal 33 is a release position where the service brake is released or a non-release position where the service brake is applied. The remote controller controller 24 detects the operation state of the brake pedal 33 (service brake) by inputting an electric signal from the brake switch 44. In the present embodiment, the brake switch 44 is turned on when the brake pedal 33 is in the non-released position, and is turned off when the brake pedal 33 is in the released position.

  The remote controller 24 is connected to a floor switch 45 that detects an operation position of the floor switch pedal 32 and outputs an electrical signal corresponding to the detection result. The floor switch 45 detects whether the operation position of the floor switch pedal 32 is a depression position where the depression operation is performed or a non-depression position where the depression operation is not performed. Then, the remote controller 24 detects an operation state of the floor switch pedal 32 by inputting an electric signal from the floor switch 45, that is, whether or not the driver has taken the driving posture and arrived at the driver seat 15. In the present embodiment, the floor switch 45 is turned on when the floor switch pedal 32 is in the depressed position, and is turned off when the floor switch pedal 32 is in the non-depressed position.

  The remote controller 24 is connected to a battery stopper switch 46 that detects the operation position of the battery stopper 19 and outputs an electrical signal corresponding to the detection result. The battery stopper switch 46 detects whether the operation position of the battery stopper 19 is a locked position or an unlocked position. Then, the remote controller 24 detects the operation state of the battery stopper 19 by inputting an electric signal from the battery stopper switch 46. In this embodiment, the battery stopper switch 46 is turned on when the battery stopper 19 is in the locked position, and is turned off when the battery stopper 19 is in the unlocked position.

  The remote controller 24 is connected to an abnormality release switch 47 that detects the operation position of the abnormality release button 31 and outputs an electrical signal corresponding to the detection result. The remote controller controller 24 detects an operation state of the abnormality release button 31 by inputting an electric signal from the abnormality release switch 47. In the present embodiment, the abnormality release switch 47 is turned on when the abnormality release button 31 is operated, and is turned off when the abnormality release button 31 is not operated.

Next, the control contents of the remote controller 24 relating to the unattended operation mode will be described with reference to FIG.
As shown in FIG. 5, in step S10, the remote controller 24 determines whether or not the key switch 40 is in the ON state. If the determination result is affirmative, the process proceeds to step S11, and the determination result is negative. In the case of, the process ends.

  Next, in step S11, the remote controller 24 determines whether or not the travel changeover switch 39 is in the ON state, that is, whether or not the operation mode is switched to the unmanned operation mode. If this determination result is negative, the remote controller 24 ends the process. On the other hand, when the determination result of step S11 is affirmative, in step S12, the remote controller 24 determines whether or not the operation preparation switch 41 is in an ON state, that is, whether or not the operation preparation button 30 is operated. If this determination result is negative, the remote controller 24 ends the process.

  On the other hand, if the determination result in step S12 is affirmative, the remote controller 24 can drive the tow vehicle 10 in the unmanned operation mode because the operation mode is set to the unmanned operation mode and the operation preparation button 30 is operated. Wait in state. In other words, the remote controller controller 24 is in a state of permitting reception of a travel instruction signal for instructing travel from the transmitter 36. For this reason, when the remote control controller 24 inputs the travel instruction signal from the transmitter 36 when the process of step S12 is completed, the travel controller 22 controls the travel mechanism 23 to drive based on the travel instruction signal. The steering mechanism 25 is driven and controlled, and the tow vehicle 10 is caused to travel. Then, the remote controller 24 proceeds to step S13 when the determination result of step S12 is affirmative.

  Next, in step S13, the remote controller 24 determines whether or not a predetermined unattended operation condition is satisfied in the unattended operation mode. In this embodiment, five conditions described below are defined as unmanned operation conditions.

  First, as the first unattended operation condition, the accelerator switch 42 is in the OFF state, that is, the accelerator lever 26 is operated to the neutral position. Next, the second unattended operation condition is that the parking switch 43 is in an OFF state, that is, the parking brake lever 28 is operated to the release position. Next, the third unattended operation condition is that the brake switch 44 is in an OFF state, that is, the brake pedal 33 is operated to the release position. Next, the fourth unmanned driving condition is that the floor switch 45 is in an OFF state, that is, the driver does not arrive at the driver's seat 15. Next, the fifth unattended operation condition is that the battery stopper switch 46 is in the ON state, that is, the battery stopper 19 is operated to the locked position.

  The remote controller 24 then pulls in the unmanned operation mode until the operation mode is switched to the manned operation mode when all of the five conditions as the unmanned operation conditions are satisfied. Until the vehicle 10 is turned off, the process of step S13 is repeated.

  On the other hand, if any one of the five conditions as the unmanned driving conditions is not satisfied, the remote controller 24 is in step S13 when the towing vehicle 10 is running or stopped. Is negatively determined, and the travel of the tow vehicle 10 is limited in the processes of steps S14 to S16. The case where the remote controller 24 makes a negative determination in step S13 is as described below.

  First, regarding the operation state of the accelerator lever 26, when the accelerator switch 42 is turned on in the unmanned operation mode, the remote controller 24 measures the time after detecting the ON state, and the accelerator lever 26 is operated for a predetermined time (for example, 1 to 3 seconds), it is determined whether or not the operation is continued. The accelerator lever 26 is arranged in a neutral position when not operated, and is configured such that when the driver's operating force (gripping force in the present embodiment) is weakened during operation, the accelerator lever 26 returns to the neutral position by a spring force. Has been. Therefore, depending on the strength of the set spring force, the accelerator switch 42 may momentarily turn on the accelerator switch 42 due to vibration during traveling of the towing vehicle 10. Therefore, regarding the operation state of the accelerator lever 26 in the determination of step S13, in addition to the accelerator switch 42 being turned on, the operation time of the accelerator lever 26 is referred to to determine whether or not the unmanned operation condition is satisfied. It is like that. The predetermined time (operation time) used for the determination is set to a time during which it can be determined that the driver has operated the accelerator lever 26 with the intention of driving. The predetermined time (operation time) used for the determination is set in consideration of the structure of the accelerator lever 26 (spring force and the like).

  Then, when the accelerator switch 42 is in the ON state and the accelerator lever 26 is continuously operated for a predetermined time, the remote controller controller 24 makes the unattended operation condition not established and makes a negative determination in step S13.

  The remote controller 24 detects that the parking brake lever 28 is operated to operate the parking brake when the parking switch 43 is turned on in the unattended operation mode with respect to the operation state of the parking brake. The condition is not satisfied. As a result, the remote controller 24 makes a negative determination in step S13.

  Further, the remote controller 24 detects that the brake pedal 33 is operated to operate the service brake when the brake switch 44 is turned on in the unattended operation mode with respect to the operation state of the service brake. Is not established. As a result, the remote controller 24 makes a negative determination in step S13.

  Further, the remote controller 24 detects whether the driver is seated in the driver's seat 15 by operating the floor switch pedal 32 when the floor switch 45 is turned on in the unattended operation mode. The unmanned operation condition is not established. As a result, the remote controller 24 makes a negative determination in step S13.

  The remote controller 24 detects that the battery stopper 19 is unlocked when the battery stopper switch 46 is turned off in the unattended operation mode with respect to the operation state of the battery stopper 19, and the unattended operation condition is not satisfied. To do. As a result, the remote controller 24 makes a negative determination in step S13.

  Then, if any one unattended operation condition is not satisfied, the remote controller 24 makes a negative determination in step S13 and proceeds to step S14. On the other hand, the remote controller 24 makes a positive determination in step S13 when all the unmanned operation conditions are satisfied, and repeats the process of step S13 while the unmanned operation mode is set as the operation mode.

  The remote controller 24 that has proceeded to step S14 determines whether or not the unmanned operation condition is not satisfied while the towing vehicle 10 is traveling. Then, if the unmanned driving condition is not established during traveling, the remote controller 24 proceeds to step S15 and executes control related to traveling stop, warning sound output and lighting of the indicator lamp. In step S <b> 15, the remote controller 24 outputs an instruction signal to the travel controller 22 instructing to stop traveling due to the unmanned driving condition being not established. Then, the travel controller 22 having received the instruction signal controls the travel motor MT so as to apply regenerative braking to the vehicle. As a result, the towing vehicle 10 does not stop suddenly, but slowly stops due to a longer braking distance due to the regenerative braking force of the traveling motor MT. In step S15, the remote controller 24 controls the signal horn 35 to output a warning sound for a predetermined time. In step S15, the remote controller 24 controls the indicator lamp 34 so that the indicator lamp 34 is turned on as a warning. Note that the remote controller 24 lights the indicator lamp 34 until the state where the unattended operation condition is not established is canceled.

  On the other hand, when the unattended operation condition is not established during the stop, the remote controller 24 proceeds to step S16 and executes control related to the warning sound output and the lighting of the indicator lamp. In step S16, the remote controller 24 controls the warning sound output and the lighting of the indicator lamp in the same manner as in step S15. Further, if the remote controller 24 makes a negative determination in step S14, the remote controller 24 does not accept the travel instruction from the transmitter 36 so that the stopped tow vehicle 10 does not start traveling due to the travel instruction from the transmitter 36. That is, the remote controller 24 prohibits the towing vehicle 10 from starting.

  In the present embodiment, by executing the processing of step S13 of FIG. 5, the remote controller 24 and the accelerator switch 42 constitute an accelerator operation state detection means, and the remote controller 24 and the parking switch 43 serve as a parking brake operation state. A detection means is configured. Further, in the present embodiment, by executing the process of step S13 in FIG. 5, the remote control controller 24 and the brake switch 44 constitute a service brake operation state detection means, and the remote control controller 24 and the floor switch 45 constitute a driver. A detection means is configured. Further, in the present embodiment, a lock operation detecting means is configured by the remote controller 24 and the battery stopper switch 46 by executing the process of step S13 in FIG.

  Further, in this embodiment, the remote control 24 that makes a negative determination in step S13 and executes the processes in steps S14 to S16 functions as a travel control unit, the control content in step S15 is the vehicle stop control, and the process in step S16 is performed. Start prohibition control. In the present embodiment, the remote controller 24, the accelerator switch 42, the parking switch 43, the brake switch 44, the floor switch 45, and the battery stopper switch 46 are used to control the travel of the towing vehicle 10 as a transport vehicle. Is configured.

Next, the negative conditions for step S13 in FIG. 5 will be described, and the restriction release condition when the travel of the towing vehicle 10 is restricted in the processes of steps S14 to S16 will be described.
In the present embodiment, the restriction release condition is that all unmanned driving conditions are satisfied and that the abnormality release button 31 provided in the driver's seat 15 is operated. For this reason, the remote controller 24 determines whether or not all unmanned operation conditions are satisfied. If the determination result becomes affirmative and the abnormality release switch 47 is turned on, the abnormality release button 31 is operated. The restriction is lifted when this happens. That is, the remote controller 24 cancels the control state executed in step S15 and step S16.

  Thereafter, the remote controller 24 causes the tow vehicle 10 to stand by in the unmanned operation mode under the condition that the operation mode is switched to the unmanned operation mode by operating the operation preparation button 30 again. In this standby state, the remote controller 24 receives a travel instruction from the transmitter 36, and when the travel instruction is received, causes the tow vehicle 10 to travel in the unmanned operation mode.

Hereinafter, the operation of the towing vehicle 10 of this embodiment will be described.
When the operator causes the tow vehicle 10 to travel in the unmanned operation mode, the operator operates the start switch key 29 in the power ON state, switches the travel switching lever 27 to the unattended operation mode side, and operates the operation preparation button 30 to operate the tow vehicle. 10 is made to stand by in the state which can drive | work in unattended operation mode. When the unattended operation condition is not established in this standby state, the control unit 24 controls the remote controller 24 so that a warning sound is output and the indicator lamp 34 is lit, indicating that the unmanned operation condition is not established. Informed. For this reason, an operator operates each part so that unmanned driving conditions are satisfied. For example, if the operation position of the parking brake lever 28 is the non-release position, the parking brake lever 28 is operated so that the operation position is the release position.

  Then, the tow vehicle 10 that is on standby in a state where the unmanned operation condition is satisfied starts traveling in response to a traveling command from the transmitter 36 by the operator. The tow vehicle 10 that has started traveling travels along the guide tape GT laid on the travel path by the control of the travel mechanism 23 by the travel controller 22 and the control of the steering mechanism 25 by the remote controller 24. In addition, the tow vehicle 10 that has started traveling stops traveling in response to a travel stop command from the transmitter 36 by an operator or arrival at a predetermined stop position.

  When the unmanned driving condition is not satisfied during traveling, the tow vehicle 10 decelerates and stops under the control of the traveling controller 22 and the remote controller 24. Also, under the control of the remote controller 24, a warning sound is output and the indicator lamp 34 is turned on to notify the operator that the unattended operation condition is not satisfied. For this reason, an operator operates each part so that unmanned driving conditions are satisfied. For example, when an operator gets on during unmanned driving and operates the accelerator lever 26 or the floor switch pedal 32, these operations are stopped and the passenger gets off. Then, the operator operates the abnormality release button 31 and also operates the operation preparation button 30 to make the tow vehicle 10 stand by in a state where it can travel in the unmanned operation mode. As a result, the tow vehicle 10 can travel again in the unmanned operation mode based on the travel command from the transmitter 36 by the operator on the assumption that the unmanned operation condition is satisfied.

Therefore, according to the present embodiment, the following effects can be obtained.
(1) In the unattended operation mode, the remote controller 24 restricts traveling of the vehicle if any one of the predetermined unattended operation conditions is not satisfied. That is, when the work vehicle gets on when the unmanned operation mode is selected and the vehicle is operated or is about to be operated, a restriction is imposed on the traveling of the towing vehicle 10. For this reason, the intervention of the vehicle operation by the worker (driver) who got on in the unattended operation mode can be prevented. In addition, the tow vehicle 10 for which the unmanned operation mode is selected can be reliably traveled in an unmanned state, and the traveling reliability in the unattended operation mode can be improved.

  (2) Further, as unmanned driving conditions, traveling system conditions (operation state of the accelerator lever 26), braking system conditions (operation state of the parking brake lever 28, operation state of the brake pedal 33), and presence / absence of an operator on board The conditions that affect the driving of the vehicle, such as the conditions of, were set. For this reason, the intervention of the vehicle operation by the worker (driver) who got on in the unattended operation mode can be prevented. In addition, the tow vehicle 10 for which the unmanned operation mode is selected can be reliably traveled in an unmanned state, and the traveling reliability in the unattended operation mode can be improved. That is, by increasing the conditions, it is possible to improve the driving reliability in the unattended operation mode.

  (3) Moreover, the conditions regarding the operation state of the battery stopper 19 were added in the unattended operation conditions. For this reason, during traveling in the unattended operation mode, it is possible to avoid a situation in which the accommodating portion 17 of the battery BT is detached (dropped off) from the vehicle body 11.

  (4) Further, regarding the operation state of the accelerator lever 26, in addition to the detection of the ON state and the OFF state of the accelerator switch 42, the accelerator lever 26 is operated continuously for a predetermined time. For this reason, it is possible to avoid the restriction of the traveling of the towing vehicle 10 under a situation where the accelerator lever 26 is momentarily actuated by the influence of vibration during traveling and the accelerator switch 42 is turned on. . Therefore, the reliability of traveling in the unattended operation mode can be improved.

  (5) The release condition when the travel is restricted is returned to satisfy the unattended operation condition that is not satisfied, and the release button 31 is operated. For this reason, the operator needs to return the state of the tow vehicle 10 so that the unmanned driving condition is satisfied and further operate the release button 31 in order to release the restriction. Therefore, the restriction can be released while allowing the operator to recognize that the restriction is imposed on the traveling of the towing vehicle 10 in the unmanned operation mode.

In addition, you may change this embodiment as follows.
The embodiment may be embodied in a seat-type transport vehicle in which a driver seat is provided. In this case, the steering handle is a steering handle. In the case of a seat-type transport vehicle with a seat provided in the driver's seat, the driver takes the driving posture and sits in the driver's seat by sitting on the seat. For this reason, a seat switch may be provided in the seat, and based on the detection result of the seat switch, it may be detected whether or not the driver has taken the driving posture and arrived at the driver's seat.

  In the embodiment, the bar handle 20 is provided with an optical sensor, and the driver's hand holding the bar handle 20 is detected by the optical sensor, thereby detecting whether or not the driver has taken the driving posture and arrived at the driver's seat. You may make it do. That is, when the driver drives the tow vehicle 10 in the manned operation mode, the steering wheel is steered by the bar handle 20, so that the posture at which the bar handle 20 is gripped becomes the driving posture. The optical sensor may be provided on either one of the pair of left and right bar handles 20 or on both bar handles 20. That is, at least one hand of the driver may be detected. In addition, when providing an optical sensor in the any one bar handle 20 side, it is preferable to provide in the side in which the accelerator lever 26 is not provided (in the embodiment, the left bar handle 20 side). The detection by the optical sensor can also be applied when the steering handle described above is changed to a steering handle.

  In the embodiment, when a restriction is imposed on the travel of the towing vehicle 10 by making a negative determination in step S13 in FIG. 5, the restriction release condition may be changed. For example, the restriction may be released when the travel switching lever 27 is operated to the manned operation mode side, or the start switch key 29 is operated once to the power OFF state and then to the power ON state again. You may make it cancel | release the said restriction | limiting at the opportunity.

  In the process of step S13 of FIG. 5 in the embodiment, whether or not the unmanned driving condition is satisfied based on the detection results of the accelerator switch 42, the parking switch 43, the brake switch 44, and the floor switch 45 is determined. It may be determined. In other words, based on the above four detection results, when any one unmanned driving condition is not established, a restriction may be imposed on traveling.

  In the embodiment, the accelerator lever 26 and the parking brake lever 28 may be changed to an accelerator pedal or a parking brake pedal disposed on the floor of the driver's seat 15. Further, the brake pedal may be changed to a brake lever.

In the embodiment, the travel controller 22 and the remote controller 24 may be configured by a single controller.
In the embodiment, a warning sound that is output when the unattended operation condition is not established may be output until the restriction is released. Further, when the unattended operation condition is not established, the lighting mode of the indicator lamp 34 may be changed, for example, the indicator lamp 34 is blinked. Further, when the unattended operation condition is not established, the warning may be performed by either outputting a warning sound or lighting the indicator lamp 34.

  The embodiment may be embodied in a transport vehicle that transports loads by transporting instead of a transport vehicle that transports loads by towing. Moreover, you may actualize to the conveyance vehicle which conveys load with the form of both towing and conveyance.

  The embodiment may be embodied in an engine-type vehicle in which the driving wheels 16 are driven by the driving force of the engine, or may be embodied in a vehicle that is driven by the driving force of both the traveling motor and the engine.

Next, a technical idea that can be grasped from the above embodiment and another example will be added below.
(A) The vehicle is an electric vehicle capable of traveling by a driving force generated by a traveling motor using a battery mounted on the vehicle body as a drive source, and the vehicle body is provided with a housing portion for the battery. In addition, a lock member is provided that can be operated in an unlocked state in which the battery can be taken out from the housing part and in a locked state in which the battery cannot be taken out from the housing part, and detects the operating state of the lock member. Provided with a detection means, wherein the travel control means satisfies the vehicle condition when satisfying any one of the four conditions and a condition for detecting an unlocked state by the lock operation detection means in the unattended operation mode. The travel control device for a transport vehicle according to any one of claims 1 to 5, wherein stop control or start prohibition control is executed.

  (B) A transport vehicle including the travel control device for a transport vehicle according to any one of claims 1 to 3 and the technical idea (a).

(A) is a perspective view which shows the outline of the tow vehicle of this embodiment, (b) is a front view which shows a traction mechanism. The front view which shows a driver's seat front. The perspective view which shows the right side surface of a tow vehicle. The block diagram which shows the electric structure of a tow vehicle. The flowchart which shows the control content of the remote controller in the unattended operation mode.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Towing vehicle, 15 ... Driver's seat, 19 ... Battery stopper, 20 ... Bar handle, 24 ... Remote control controller, 26 ... Accelerator lever, 27 ... Travel switch lever, 28 ... Parking brake lever, 31 ... Abnormal release button, 32 ... Floor switch pedal, 33 ... brake pedal, 42 ... accelerator switch, 43 ... parking switch, 44 ... brake switch, 45 ... floor switch, 46 ... battery stopper switch.

Claims (4)

In the travel control device for a transport vehicle capable of selectively traveling in any one of the manned operation mode and the unmanned operation mode,
Driver detection means for detecting whether or not the driver has taken a driving posture and arrived at the driver's seat;
Parking brake operation state detecting means for detecting an operation state of a parking brake provided on the vehicle;
Service brake operation state detection means for detecting the operation state of the service brake provided in the vehicle;
An accelerator operation state detection means for detecting an operation state of an accelerator operation member for instructing acceleration of the vehicle;
Based on the detection result of each detection means, a travel control means for controlling the travel state of the vehicle in the unmanned operation mode, and
In the unmanned operation mode, the travel control unit detects a condition for detecting the driver by the driver detection unit, and detects that the parking brake is operated by the parking brake operation state detection unit. A condition, a condition for detecting that the service brake is operated by the service brake operation state detection means, and a detection that the accelerator operation member is operated in a predetermined operation mode by the accelerator operation state detection means If any one of the conditions is satisfied, vehicle stop control for stopping the vehicle is executed when the vehicle is running, and start prohibition control for prohibiting vehicle start is executed when the vehicle is stopped. A traveling control device for a transporting vehicle.   The travel control device for a transport vehicle according to claim 1, wherein the predetermined operation mode of the accelerator operation member is that the driver continuously operates the accelerator operation member for a predetermined time. An abnormality canceling operation member for canceling the control state of the vehicle stop control and the start prohibition control,
The said travel control means cancels | releases the control state of the said vehicle stop control and the said start prohibition control when the said each conditions are not satisfy | filled and the said abnormality cancellation operation member is operated. 3. A traveling control device for a transport vehicle according to 2.   The driver detection means is provided on a steering handle for steering the vehicle, and includes an optical sensor for detecting at least one hand of a driver holding the steering handle. The traveling control device for the described transport vehicle.

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