JP2836314B2 - Self-propelled bogie collision prevention control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vehicle having a rearward reflecting surface provided at a rear end of the self-propelled vehicle traveling on a fixed traveling route and having a constant distance from a preceding vehicle at a front end of the self-propelled vehicle. A self-propelled vehicle is provided with a reflective photoelectric sensor that detects the preceding vehicle using the rear end reflection surface of the preceding vehicle when the following condition occurs, and controls the stop of the self-propelled vehicle based on a detection signal of this sensor. The present invention relates to a collision prevention device.

[0002]

2. Description of the Related Art In a collision prevention device of this type, even when a self-propelled vehicle is traveling on a curved path, the vehicle is not affected by obstacles provided outside the curved path. Examples of the collision prevention device that can reliably detect the preceding bogie and perform the collision prevention control include, for example, Japanese Utility Model Application Laid-Open No. H3-1656.
No. 8 discloses an anti-collision device.

In this conventional collision prevention device, a straight-ahead coaxial reflection type photoelectric sensor that detects only a preceding vehicle on a straight path and a right coaxial reflection sensor that detects a preceding vehicle on a right curve path are used as the reflection type photoelectric sensors. Type photoelectric sensor and a left-facing coaxial reflective photoelectric sensor that detects the preceding bogie on the left curve path are arranged side by side. From the control device that receives the detection signals of these sensors and controls the stop of the self-propelled bogie Since all of the three sensors are always in operation, there is an object having a reflective surface that happens to be detected by the rightward or leftward sensor on the side of the straight path section, or a curved path section. When there is an object with a reflective surface that happens to be detected by a sensor in the opposite direction to the curve direction or a sensor in the straight direction, Despite the absence of prior bogie in the detection range, the control device is given prior dolly detection signal, autonomous guided vehicle, there is a possibility to stop due to malfunction.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and its features are indicated by reference numerals in the embodiments described later. The collision prevention control method for a self-propelled bogie according to the present invention provides a rearward reflecting surface 2 at a rear end of the self-propelled bogie 1 that self-propelled on a fixed traveling route, and a front end of the self-propelled bogie 1 When the distance between them becomes less than a certain value, there is provided a reflective photoelectric sensor for detecting the preceding bogie using the rear end reflecting surface 2 of the preceding bogie.
A straight forward coaxial reflective photoelectric sensor 3 for detecting a preceding bogie above, a right coaxial reflective photoelectric sensor 4 for detecting a preceding bogie on a right curve path section 15, and a left curve path section 16
In a collision prevention device for a self-propelled bogie in which a left-facing coaxial reflective photoelectric sensor 5 for detecting the preceding bogie above is juxtaposed, and the self-propelled bogie is controlled to stop by the detection signals of these sensors. At the entrance of each of the left and right curve path sections 15 and 16 and at the entrance of the straight path section 14, detected sections 14 a to 16 a for transmitting the route type are arranged, and on the self-propelled vehicle 1 side, the detected sections 14 a Detectors 6 to 8 are provided for detecting the route type from 16a to ａ16a. After the detectors 6 to 8 detect the detected portion 14a at the entrance of the straight route portion, the straight route of the three sensors 3 to 5 is selected. Only when the part sensor 3 detects the preceding vehicle, the self-propelled vehicle 1 is controlled to stop.
The detectors 6 to 8 are detected portions 15 at the entrance of the right curve path portion.
After detecting a, the self-propelled vehicle 1 is controlled to stop only when the right curve path sensor 4 of the three sensors 3 to 5 detects the preceding vehicle.
After the detection of the detected portion 16a at the entrance of the left curve route portion, the stop of the self-propelled vehicle 1 is performed only when the left curve route portion sensor 5 detects the preceding vehicle among the three sensors 3 to 5. The feature is that control is performed.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. Is driven by electric power supplied from a power supply rail stretched along the vehicle. At the rear end of the self-propelled carriage 1, a rearward reflecting surface 2 wide in the left and right direction is provided.
The self-propelled vehicle 1 has a front end of the self-propelled vehicle 1 on the front end of the self-propelled vehicle 1 and a coaxial reflective photoelectric sensor 3 for detecting a preceding vehicle on a straight path and a preceding vehicle on a right curve path. A rightward coaxial reflective photoelectric sensor 4 and a leftward coaxial reflective photoelectric sensor 5 for detecting a preceding bogie on a left curve path are juxtaposed with the straight ahead sensor 3 at the center. The self-propelled carriage 1 is provided with a detector 6 for identifying a straight path, a detector 7 for identifying a right curve path, and a detector 8 for identifying a left curve path. .

Further, as shown in FIG. 2, the self-propelled carriage 1 has a control device 9 comprising a microcomputer or the like.
Is installed. The control device 9 includes a sensor switching unit 10, a traveling control unit 11, and a motor controller 1.
2, the sensor switching unit 10 selectively connects the three sensors 3 to 5 to the traveling control unit 11 corresponding to the identification routes based on the detection signals of the route identification detectors 6 to 8. The travel control unit 11 compares the set destination with a current position from a current position detection unit (not shown), a shift command given from the ground, or the sensors 3 to 5. A gear shift command or a stop command is given to the motor controller 12 based on a stop command or the like given from one of the above. Motor controller 1
Reference numeral 2 denotes a shift stop control of the motor 13 for driving the traveling drive wheels of the self-propelled trolley 1 in accordance with a given command.

As shown in FIG. 3, the traveling route of the self-propelled bogie 1 is composed of a combination of a straight traveling route portion 14, a right curved route portion 15, and a left curved route portion 16.
At the entrance of No. 4, a detected portion 14 a for straight path identification detected only by the straight path identification detector 6 is disposed on the floor side. A right curve path identification detected part 15a detected only by the identification detector 7 is provided on the floor side, and an entrance of the left curve path part 16 is provided only by the left curve path identification detector 8. The detected part 16a for left curve path identification to be detected is disposed on the floor side.

According to the above configuration, when the self-propelled vehicle 1 arrives at the entrance of the right curve path section 15 (or the left curve path section 16) from the straight path section 14, the right curve path identification target on the floor surface is detected. Unit 15a (or the left curved path identifying detected unit 1)
6a) is detected by the right curve path identification detector 7 (or the left curve path identification detector 8), and based on the detection signal, the sensor switching unit 10 controls only the right sensor 4 (or the left sensor 5). The connection is switched to connect to the unit 11. When the self-propelled vehicle 1 arrives at the entrance of the straight path section 14 from the right curve path section 15 (or the left curve path section 16), the detection section 14a for the straight path identification on the floor surface is detected by the detector for the straight path identification. 6, the sensor switching unit 10 switches based on this detection signal so that only the straight ahead direction sensor 3 is connected to the travel control unit 11.

[0009] The self-propelled vehicle 1
When the vehicle travels on the straight path section 14, the straight direction sensor 3
Only the self-propelled trolley 1 is in the operating state,
5, only the right sensor 4 is in the operating state, and when the self-propelled trolley 1 runs on the left curve path section 16, only the left sensor 5 is in the operating state.

Thus, when the self-propelled vehicle 1 is traveling on the straight path section 14, the distance between the self-propelled car 1 and the preceding vehicle at the straight ahead position on the same straight path section 14 is detected. When the distance is within a predetermined distance L1, the rearward reflecting surface 2 of the preceding bogie is detected.
When the self-propelled trolley 1 is traveling on the right curve path section 15 and the distance from the preceding trolley at the right front position on the same right curve path section 15 is within a certain distance L2,
The leftward sensor 5 detects the rearward reflection surface 2 of the preceding bogie on the right front, and the self-propelled bogie 1 is on the same left curve path section 16 when the self-propelled car 1 is traveling on the left curve path section 16. When the distance to the preceding bogie at a certain left front position is within a predetermined distance L2, the rearward reflecting surface 2 of the preceding front bogie is detected.

Therefore, when the self-propelled truck 1 is traveling on the straight traveling route portion 14 and the distance between the self-propelled truck 1 and the preceding truck at the straight ahead position on the same straight traveling route portion 14 is within a certain distance L1. The rectilinear direction sensor 3 detects the rearward reflecting surface 2 of the preceding bogie, and the travel control unit 11 gives a stop command to the motor controller 12 based on the detection signal,
The motor 13 automatically stops before the self-propelled truck 1 collides with the preceding truck when the motor 13 stops. Further, when the self-propelled vehicle 1 is traveling on the right curve path section 15 (or the left curve path section 16), the right front position (or on the same right curve path section 15 (or the left curve path section 16)). When the distance from the preceding bogie at the left front position) is within a certain distance L2,
The rightward sensor 4 (or the leftward sensor 5) detects the rearward reflecting surface 2 of the preceding bogie, and based on this detection signal, the traveling control unit 11 gives a stop command to the motor controller 12, and the motor 13 stops and self-propelled. The truck 1 automatically stops before colliding with the preceding truck.

It is also possible to arrange the rightward sensor 4 on the left side of the straight ahead sensor 3 and the leftward sensor 5 on the right side of the straight ahead sensor 3. In addition, the sensor switching unit 10 is configured to connect the three sensors 3 to 5 in which the sensor power is always on (operating state) to the traveling control unit 11 alternatively. May alternatively be connected to a sensor power supply to switch to an operating state.

Since the straight-ahead coaxial reflection type photoelectric sensor 3 is operated in a straight-ahead traveling section which generally travels at a higher speed than when traveling on a curved path section, its detection distance L1 is adjusted to the right or leftward a coaxial reflection type photoelectric sensor. It can be larger than the detection distance L2 of the sensor 4 or 5.
In addition, the path type transmission detected sections 14a to 16a and the path type identification detectors 6 to 8 may have any configuration. For example, in the above embodiment, the same detected parts 14a to 14a to 1
6a was placed on the floor by changing its position in the horizontal direction.
A code plate representing the route type may be provided on the same locus, and one code reader that reads a code from the code plate and determines the route type may be provided on the self-propelled carriage 1 as a detector.

In the present invention, the path type identification detected section 14a provided at the entrance of the straight path section 14 is a detected section indicating the end point of the curve path section.
It can be rephrased.

[0015]

As described above, according to the collision prevention control method for the self-propelled bogie of the present invention, after the detector detects the detected portion at the entrance of the straight path portion, the following three of the three sensors are used.
Only when the straight path sensor detects the preceding vehicle, the self-propelled vehicle is controlled to stop. After the detector detects the detected part at the entrance of the right curve path, of the three sensors, Only when the right curve route sensor detects the preceding bogie, the self-propelled bogie is controlled to stop, and after the detector detects the detected portion at the left curve route entrance,
Since the stop control of the self-propelled trolley is performed only when the left curve path sensor detects the preceding trolley of the three sensors, the rightward or leftward sensor in the straight path is the straight path. Detects an object on the side, and in a curve path, a sensor that is opposite to the curve direction or a straight-ahead sensor detects an object located outside the curve path, and self-propelled based on this detection signal. It is possible to reliably prevent the malfunction such as stopping the bogie from occurring, and to move the self-propelled bogie only according to the distance from the preceding bogie on the same traveling route, regardless of the straight path section or the curved path section. Automatic stop can be ensured to prevent collision.

[Brief description of the drawings]

FIG. 1 is a schematic plan view illustrating a configuration of a self-propelled carriage.

FIG. 2 is a block diagram illustrating control means in the self-propelled carriage.

FIG. 3 is a schematic plan view illustrating a configuration of a self-propelled vehicle and a traveling route thereof.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Self-propelled trolley 2 Rearward reflecting surface 3 Straight-ahead coaxial reflective photoelectric sensor 4 Right-facing coaxial reflective photoelectric sensor 5 Left-facing coaxial reflective photoelectric sensor 6 Detector for straight path detection 7 Detector for right curve path detection 8 Left curve Detector for route section detection 9 Control device 10 Sensor switching section 11 Travel control section 12 Motor controller 13 Travel drive motor 14 Straight path section 14a Detected section for straight path section 15 Right curve path section 15a Detected for right curve path section Section 16 Left curve path section 16a Detected section for left curve path section

Claims (1)

(57) [Claims] A self-propelled vehicle having a self-propelled vehicle traveling on a predetermined traveling route is provided with a rearward reflecting surface at a rear end thereof, and a front end of the self-propelled vehicle is provided when a distance from the preceding vehicle becomes less than a predetermined value. A reflection-type photoelectric sensor that detects the preceding vehicle using the rear-end reflection surface of the preceding vehicle is provided.
To detect the preceding bogie on the straight path
Reflective photoelectric sensor and preceding bogie on the right curve path
Right-facing coaxial reflective photoelectric sensor to detect and left curve
A left-facing coaxial reflective photoelectric sensor that detects preceding vehicles on the road
In a self-propelled bogie collision prevention device in which a self-propelled bogie is stopped and controlled by the detection signals of these sensors, the entrance of each of the left and right curved route portions of the traveling route and the straight traveling route portion are provided.
At the entrance, a detected part that transmits the route type is arranged,
On the self-propelled trolley, the route type is detected from the detected part.
After the detector is provided, and the detector detects the detected portion at the entrance of the straight path portion
Is the straight path sensor of the three sensors
Stop control of the self-propelled bogie only when the preceding bogie is detected
The detector detects the detected part at the entrance of the right curve path
After detection, of the three sensors, the right curve path
The self-propelled platform only when the component sensor detects the preceding bogie
Car stop control is performed and the detector enters the left curve path
After detecting the detected part of the mouth, the three sensors
Inside, the sensor for the left curve route section detected the preceding car
The stop control of the self-propelled trolley is performed only when
Control method for self-propelled bogies.