JP2787382B2 - Trackless vehicle guidance system - Google Patents
Trackless vehicle guidance systemInfo
- Publication number
- JP2787382B2 JP2787382B2 JP3154863A JP15486391A JP2787382B2 JP 2787382 B2 JP2787382 B2 JP 2787382B2 JP 3154863 A JP3154863 A JP 3154863A JP 15486391 A JP15486391 A JP 15486391A JP 2787382 B2 JP2787382 B2 JP 2787382B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- steering
- traveling
- output
- signal
- 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 - Fee Related
Links
- 230000006698 induction Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 241001590997 Moolgarda engeli Species 0.000 description 1
- 241000981595 Zoysia japonica Species 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Landscapes
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【０００１】[0001]
【産業上の利用分野】この発明は、走行路に誘導線を敷
設し、誘導線からの誘導信号により走行路を走行する無
軌道車両を誘導する誘導方式に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guidance system for laying a guide line on a traveling path and guiding a trackless vehicle traveling on the traveling path by a guidance signal from the guidance line.
【０００２】[0002]
【従来の技術】従来、走行路に誘導線を敷設し、地上か
らの誘導信号により車両を走行させる方式では、車両に
設置した空中線により地上に敷設した誘導線からの誘導
信号を受信し、その受信した信号の出力が常に同じ値と
なるように車両を操舵することにより、地上の誘導線と
車両の空中線との距離を一定に保つことで、車両が走行
路を走行している。Conventionally, it laid guide wire to the travel path, in a manner to drive the vehicle by induction signal from the ground, to receive the induction signal from the induction line laid on the ground by the air line installed in the vehicle, When the output of the received signal is always to steer the vehicle so as to have the same value, to keep the distance between the aerial line of ground guide line and the vehicle constant, the vehicle is traveling on a roadway.
【０００３】[0003]
【発明が解決しようとする課題】しかし、走行路の左右
に誘導線を敷設しているため、走行路の幅が異なってい
る走行路を乗り継いで連続して走行する場合、つまり、
狭い走行路から広い走行路に合流する場合や、広い走行
路から狭い走行路に分岐する場合、地上の誘導線と車両
の空中線との距離を一定に保つことができなくなる。However, since the guide lines are laid on the left and right sides of the traveling path, the vehicle travels continuously while transiting over traveling paths having different traveling path widths.
If you want to join the wide roadway from a narrow roadway, if branched to narrow roadway from a wide roadway, it becomes impossible to keep the distance between the aerial line of ground guide line and the vehicle constant.
【０００４】したがって、異なった走行路同志では、車
両の空中線の受信する信号の出力が大きく異なり、車両
が異なった走行路に分岐合流する場合に、分岐合流点で
は急激な操舵による車両の揺れや、蛇行が発生するため
分岐合流点で、車両を一旦停止させ、必要な誘導線に切
替えてから車両を発進させなければならなく、異なった
走行路を乗り継いで連続して走行させることは困難であ
り効率も悪かった。[0004] Therefore, the output of the signal received by the aerial of the vehicle is greatly different between different traveling roads, and when the vehicle branches and merges on different traveling roads, the vehicle shakes due to sharp steering at the branch junction. Because of the occurrence of meandering, the vehicle must be stopped once at the junction, the vehicle must be switched to the required guidance line, and the vehicle must be started, and it is difficult to continuously travel on different routes. There was poor efficiency.
【０００５】この発明は、前記事情に着目してなされた
もので、その目的とするところは、幅の異なった走行路
の分岐合流点で、異なった走行路の操舵用誘導線を切替
えることにより、目的の走行路を走行させることがで
き、異なった走行路を乗り継ぐ場合に、連続して走行可
能で効率的な無軌道車両の誘導方式を提供することにあ
る。The present invention has been made in view of the above circumstances, and an object of the present invention is to switch steering guidance lines on different running roads at branching junctions of running roads having different widths. Another object of the present invention is to provide an efficient method for guiding a trackless vehicle that can travel on a target traveling path and can be continuously driven when transiting on different traveling paths.
【０００６】[0006]
【課題を解決するための手段】この発明は、前記目的を
達成するために、走行路に沿って敷設された操舵用誘導
線から出力される操舵用信号を受信し、受信する信号の
強さに基づいて車両の操舵が行われる無軌道車両と、幅
が異なる走行路の分岐合流点で前記それぞれの走行路に
沿って敷設された操舵用誘導線に前記操舵用信号を供給
する操舵用信号発生器と、この操舵用信号発生器からの
出力を前記幅が異なる走行路に敷設された操舵用誘導線
のいずれかに供給するよう切替制御器の出力に基づいて
切替る切替器と、前記切替制御器と連動し、前記車両が
走行路の所定の位置で受信する前記操舵用信号の強さが
ほぼ一定となるよう操舵用信号の出力を可変する可変減
衰器とを備えるものである。 SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a steering guide laid along a traveling path.
Receive the steering signal output from the line, and
Trackless vehicles where the vehicle is steered based on strength and the width
At the junctions of different running paths
Supply the steering signal to the steering guide line laid along
Signal generator for steering, and a signal from the signal generator for steering.
The output of the steering guide wire laid on the running path having the different width
Based on the output of the switching controller to supply either
A switching device for switching, and the vehicle is operated in conjunction with the switching controller.
The strength of the steering signal received at a predetermined position on the traveling path is
Variable reduction to vary the output of the steering signal so that it is almost constant
It has an attenuator.
【０００７】[0007]
【作用】狭い幅の走行路から広い幅の走行路へ合流する
場合に切替器によってそれぞれの走行路に敷設された操
舵用誘導線を切替接続し、これと連動して可変減衰器を
変化させることにより、常に車両の空中線の受信する信
号の強さはほぼ一定となり効率よく安定して走行する。When a narrow road is merged with a wide road, a switching device switches and connects a steering guide line laid on each of the roads, and the variable attenuator is changed in conjunction with this. This ensures that the signal received by the vehicle's antenna always
The strength of the No. travels efficiently and stably in substantially constant.
【０００８】[0008]
【実施例】以下、この発明の一実施例を図面に基づいて
説明する。図１および図２に示すように、７は幅の狭い
走行路で、８は幅の広い走行路であり、７ａは走行路７
と８との分岐合流点である。走行路７の左右には走行路
７に沿って操舵用誘導線５が敷設され、走行路８の左右
には走行路８に沿って操舵用誘導線４が敷設されてい
る。An embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, reference numeral 7 denotes a narrow traveling road, 8 denotes a wide traveling road, and 7 a denotes a traveling road 7.
And 8 are the junctions. Steering guide lines 5 are laid on the left and right of the running path 7 along the running path 7, and the steering guide lines 4 are laid on the left and right of the running path 8 along the running path 8.
【０００９】また、１は地上に設置された操舵信号発生
器で、この操舵信号は可変減衰器２を介して切替器３に
入力される。切替器３は切替制御器６からの指令により
前記走行路８の誘導線４または走行路７の誘導線５のい
ずれかに供給される。Reference numeral 1 denotes a steering signal generator installed on the ground. This steering signal is input to a switch 3 via a variable attenuator 2. The switch 3 is supplied to either the guide line 4 of the traveling path 8 or the guide line 5 of the traveling path 7 according to a command from the switching controller 6.
【００１０】無軌道車両としての車両９は、空中線１０
により受信した操舵用信号により、車両９の操舵が行わ
れ、常に空中線１０の受信する信号の強さが一定になる
ように制御して車両９を走行させる。[0010] trackless vehicle 9 as a vehicle, the air line 10
The steering signal received by the steering of the vehicle 9 is carried out, to run the vehicle 9 constantly controlled to the strength of the received signal of the air line 10 is constant.
【００１１】図２に示すように、走行路７と走行路８で
は走行路の幅が異なるため、操舵用誘導線４および５と
車両９の距離が異なり、車両９の空中線１０の受信する
信号の強さは走行路７の方が走行路８よりも大きな値と
なる。As shown in FIG. 2, since the width of the traveling path is different between the traveling path 7 and the traveling path 8, the distance between the steering guide lines 4 and 5 and the vehicle 9 is different, and the antenna 10 of the vehicle 9 receives the signal.
The signal strength of the traveling path 7 is larger than that of the traveling path 8.
【００１２】この状況を図３に示す。走行路８を走行し
ている車両９がまったく振動がなく走行路８の幅を任意
の一点で走行している場合は、受信する信号はほぼ点Ａ
の付近となる。また、走行路７の幅の任意の一点で走行
している場合は、受信する信号はほぼ点Ｂの付近とな
る。FIG. 3 shows this situation. When the vehicle 9 traveling on the travel path 8 has no vibration at all and travels at an arbitrary point over the width of the travel path 8 , the signal to be received is substantially at the point A.
Near. When the vehicle is traveling at an arbitrary point of the width of the traveling path 7 , the signal to be received is substantially in the vicinity of the point B.
【００１３】しかし、車両９が実際に走行路７および８
を走行する場合、走行路７および８の凹凸により車両の
振動やカーブ等による車両９の傾きにより操舵用誘導線
４および５と車両９の空中線１０との距離が変化し、車
両９は走行路７および８を若干蛇行しながら走行する。However, when the vehicle 9 is actually driven on the traveling paths 7 and 8
When traveling the distance between the air line 10 of the steering guide line 4 and 5 the vehicle 9 is changed by the inclination of the road 7 and 8 vehicle 9 due to vibration and curves of the vehicle due to irregularities of the vehicle 9 is traveling The vehicle travels while slightly meandering on the roads 7 and 8.
【００１４】走行路８では点Ｃより点Ｄまで変化し、走
行路７では点Ｅより点Ｆまで変化する。図３の縦軸に空
中線１０の受信する信号の強さを、横軸に車両９の操舵
による走行路７および８の中心よりの変位量を示す。車
両９が走行路７および８の幅の任意の一点を走行してい
る場合は、走行路７および８の凹凸により車両９の振動
やカーブ等による車両の傾きによる車両９の振動や、カ
ーブ等による車両９の傾きによる蛇行は、走行路７およ
び８の乗り移り点での受信する信号の大きな変化と併
せ、車両９が蛇行したり、走行路７および８よりはみ出
す原因となる。On the traveling path 8 , the point changes from the point C to the point D, and on the traveling path 7 , the point changes from the point E to the point F. The vertical axis in FIG. 3 is empty
The horizontal axis indicates the strength of the signal received by the middle line 10 and the displacement from the center of the traveling paths 7 and 8 due to the steering of the vehicle 9. When the vehicle 9 is traveling at an arbitrary point in the width of the traveling paths 7 and 8, the vibration of the vehicle 9 due to the inclination of the vehicle 9 due to the vibration or curve of the vehicle 9 due to the unevenness of the traveling paths 7 and 8, and the curve The meandering caused by the inclination of the vehicle 9 due to the above causes the vehicle 9 to meander or run off the traveling paths 7 and 8 together with a large change in the signal received at the transition point of the traveling paths 7 and 8.
【００１５】このため、走行路８から走行路７へ移動す
る場合には走行路の切替制御器６と連動して可変減衰器
３を変化させ、走行路７の中心を走行する時の受信信号
点Ｂが点Ａになるように設定する。従って、異なった走
行路７及び８を連続して走行する場合でも、常に車両９
の空中線１０の受信する信号の強さは、ほぼ一定となり
効率よく安定した走行が可能となる。For this reason, when moving from the traveling path 8 to the traveling path 7 , the variable attenuator 3 is changed in conjunction with the traveling path switching controller 6, and the received signal when traveling the center of the traveling path 7 is received. Set so that point B becomes point A. Therefore, different runs
Even when traveling continuously on paths 7 and 8 , vehicles 9
The strength of the received signal of the air line 10 is enabled is running stably efficiently becomes substantially constant.
【００１６】なお、可変減衰器３の変化量は異なった走
行路７および８での点Ａおよび点Ｂを予め測定してその
値を求めてもよく、また車両９の空中線１０の受信する
信号を一定周期でサンプリングし平均値を求め、地上に
伝送してもよい。[0016] The change amount of the variable attenuator 3 is previously measured points A and point B at different traveling path 7 and 8 may be determined that value, and receives the air line 10 of the vehicle 9 The signal may be sampled at a fixed period to obtain an average value and transmitted to the ground.
【００１７】[0017]
【発明の効果】以上説明したように、この発明によれ
ば、広い幅の走行路から狭い幅の走行路へ合流する場合
に切替器によってそれぞれの走行路に敷設された操舵用
誘導線を切替接続し、これと連動して可変減衰器を変化
させることにより、常に車両の空中線の受信する信号の
強さはほぼ一定となり、異なった走行路を乗り継ぐ場合
でも、効率よく安定して走行できるという効果がある。As described above, according to the present invention, when merging from a wide traveling road to a narrow traveling road, the switching guide switches the steering guide lines laid on the respective traveling roads. connect, by changing the variable attenuator in conjunction with this, always the strength of a signal received aerial line of the vehicle substantially constant, even for travels different travel path, can travel efficiently and stably by This has the effect.
【図１】この発明の一実施例に係わる無軌道車両の誘導
方式を示す構成図。FIG. 1 is a configuration diagram showing a guide system for a trackless vehicle according to an embodiment of the present invention.
【図２】同実施例の走行路の分岐合流部の平面図。FIG. 2 is a plan view of a branch junction of the traveling path according to the embodiment.
【図３】同実施例の車両での受信空中線の信号出力の偏
差と操舵による走行路の中心よりの変位を示す図。FIG. 3 is a diagram showing a deviation of a signal output of a reception antenna and a displacement from a center of a traveling road due to steering in the vehicle of the embodiment.
１…操舵信号発生器、２…可変減衰器、３…切替器、
４，５…操舵用誘導線、６…切替制御器、７，８…走行
路、９…車両、１０…空中線。1: steering signal generator, 2: variable attenuator, 3: switcher,
4,5 ... steering guide wire, 6 ... switching controller, 7,8 ... traveling road, 9 ... vehicle, 10 ... air line.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 早舩 一弥 東京都港区芝五丁目33番８号 三菱自動 車工業株式会社内 (72)発明者 横瀬 藤彦 東京都千代田区神田駿河台四丁目６番地 株式会社日立製作所内 (72)発明者 鈴木 秀夫 埼玉県大宮市蓮沼1406番地 八木アンテ ナ株式会社大宮工場内 (72)発明者 実松 猷二 埼玉県大宮市蓮沼1406番地 八木アンテ ナ株式会社大宮工場内 (56)参考文献 特開 平２−79107（ＪＰ，Ａ) (58)調査した分野(Int.Cl.6，ＤＢ名) G05D 1/02──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Kazuya Hayafune 5-33-8 Shiba, Minato-ku, Tokyo Inside Mitsubishi Motors Corporation (72) Inventor Fujihiko Yokose 4-6-1 Kanda Surugadai, Chiyoda-ku, Tokyo Stock (72) Inventor Hideo Suzuki 1406 Hasunuma, Omiya City, Saitama Prefecture Yagi Antenna Co., Ltd.Omiya Plant (72) Inventor Yuji Minematsu 1406 Hasunuma, Omiya City, Saitama Prefecture Yagi Antenna Co., Ltd.Omiya Plant ( 56) References JP-A-2-79107 (JP, A) (58) Fields investigated (Int. Cl. 6 , DB name) G05D 1/02
Claims (1)
から出力される操舵用信号を受信し、受信する信号の強
さに基づいて車両の操舵が行われる無軌道車両と、 幅が異なる走行路の分岐合流点で前記それぞれの走行路
に沿って敷設された操舵用誘導線に前記操舵用信号を供
給する操舵用信号発生器と、 この操舵用信号発生器からの出力を前記幅が異なる走行
路に敷設された操舵用誘導線のいずれかに供給するよう
切替制御器の出力に基づいて切替る切替器と、 前記切替制御器と連動し、前記車両が走行路の所定の位
置で受信する前記操舵用信号の強さがほぼ一定となるよ
う操舵用信号の出力を可変する 可変減衰器とからなる無
軌道車両の誘導方式。(1)Steering guidance lines laid along the traveling path
Receive the steering signal output from the
A trackless vehicle in which the vehicle is steered based on the Each of the traveling paths at the junction of the traveling paths having different widths
The steering signal is supplied to the steering guide line laid along
A steering signal generator, The output from the steering signal generator is used to drive
Supply to any of the steering guidance lines laid on the road.
A switch that switches based on the output of the switch controller; In conjunction with the switching controller, the vehicle is moved to a predetermined position on a traveling path.
The strength of the steering signal received by the
Variable output of steering signal Variable attenuator
Guide system for rail vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3154863A JP2787382B2 (en) | 1991-06-26 | 1991-06-26 | Trackless vehicle guidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3154863A JP2787382B2 (en) | 1991-06-26 | 1991-06-26 | Trackless vehicle guidance system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH052419A JPH052419A (en) | 1993-01-08 |
| JP2787382B2 true JP2787382B2 (en) | 1998-08-13 |
Family
ID=15593567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3154863A Expired - Fee Related JP2787382B2 (en) | 1991-06-26 | 1991-06-26 | Trackless vehicle guidance system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2787382B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635591B (en) * | 2015-02-04 | 2017-07-04 | 北京科技大学 | A kind of trackless electric car of public traffic intelligence separated time system and method for splitting |
-
1991
- 1991-06-26 JP JP3154863A patent/JP2787382B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH052419A (en) | 1993-01-08 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19980414 |
|
| LAPS | Cancellation because of no payment of annual fees |