JP2854991B2 - Self-propelled bogie control method and self-propelled bogie control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method and a control device for a self-propelled truck traveling on a traveling path such as a track, and more particularly to an article sorting device for transporting various cargoes and sorting them at predetermined positions. Further, it is suitable for use in preventing collision of a transport cart used in an automated warehouse or the like.

[0002]

2. Description of the Related Art In a sorting apparatus for sorting various cargos by destination or by type, and in an automated warehouse, etc.
2. Description of the Related Art There is a configuration in which a self-propelled truck for transporting cargo is caused to travel on a traveling path including a track or the like. In this type of device, the self-propelled truck travels continuously on the travel path,
There is a risk that the following vehicle will collide with the preceding vehicle. If a rear-end collision occurs, the cargo placed on the self-propelled trolley may be damaged, or the preceding self-propelled trolley may be forcibly moved from a predetermined stop position, thereby hindering sorting, loading and unloading operations. .

[0003] In order to solve the above-mentioned problems, some self-propelled trucks are provided with a detection device such as an ultrasonic sensor for detecting the presence or absence of a preceding vehicle. However, not only the expected rear-end collision cannot be expected at the curved portion of the traveling path, but also a malfunction such as stopping when the worker crosses the self-propelled trolley in response to this. As a method for eliminating such a malfunction, Japanese Patent Laid-Open Publication No. 1-238402 discloses a rear-end collision prevention control device for a self-propelled vehicle. However, according to the study of the present inventor, problems to be further improved regarding this kind of technology have become clear.

[0004]

That is, the invention disclosed in the above publication divides a traveling road into a plurality of traveling sections (zones) and provides signal lines so as to extend over two zones. . When a subsequent self-propelled vehicle travels in an adjacent zone despite the existence of the self-propelled vehicle in a certain zone, the self-propelled vehicle following the preceding self-propelled vehicle via a signal line Is driven so as to prevent the following self-propelled vehicle from entering the zone where the self-propelled vehicle exists. However, in the above configuration, it is possible to prevent collision between the self-propelled vehicles, but it is not possible to issue a stop command such as an emergency stop by operating a host computer or a sequencer that performs centralized management. In addition, managers cannot monitor the location of multiple carts, etc.
Improvements were also needed in safety management.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to prevent collision between self-propelled vehicles traveling on a traveling road, monitor the traveling state, and stop the vehicle by remote control. It is an object of the present invention to provide a control method and a control device for a self-propelled vehicle.

[0006]

An object of the present invention is to provide a power supply provided in a self-propelled vehicle when the self-propelled vehicle travels on an arbitrary traveling section preliminarily divided on a traveling path.
Provided along the running path and a short circuit that is conducted to one end of the
By conducting with the signal line in the traveling section
In addition, the signal line is provided to the traveling detection means provided for each traveling section.
And power supply via the drive the traveling detection means, the power supply to the signal line according to the traveling segment immediately following the traffic lane marking that the self-propelled carriage by the driving of the travel detection means is present
By blocking, the forward movement of the following self-propelled vehicle is prevented, and the vehicle is collected based on the drive state of the travel detection means.
The presence or absence of the self-propelled carriage can be detected in the middle control unit,
And to any driving section by the signal from the central control unit.
Shut off the power supply to the self-propelled trolley and stop the self-propelled trolley.
The present invention is attained by a method of controlling a self-propelled bogie characterized in that it can be stopped . And the control method of the self-propelled trolley includes:
A traveling section such as a track is appropriately divided to form traveling sections, and a control device for a self-propelled vehicle that sequentially drives a plurality of self-propelled vehicles on the traveling section includes first and second traveling sections provided for each traveling section. A second signal line, a short circuit connecting the first signal line and one end of a power supply when traveling in the traveling section, and a short circuit interposed between one end of the power supply and the second signal line. A self-propelled vehicle provided with control means for controlling the power supply to the drive motor on and off in response to the power supply to the second signal line, and a self-propelled vehicle provided independently for each traveling section, Control means for intermittently controlling the power supply to the second signal line of the traveling section adjacent to the traveling section in accordance with the presence or absence of the traveling vehicle; and A travel detecting means comprising a control means for controlling power supply; When a self-propelled vehicle is present in the traveling section, the power supply to the second signal line of the traveling section adjacent to the traveling section is cut off, and the self-propelled vehicle is moved from the adjacent traveling section to the specific traveling section. This is executed by the control device of the self-propelled vehicle that disables the traveling of the vehicle.

That is, when a self-propelled vehicle is present in a certain traveling section, the control means constituting the traveling detecting means operates to operate the traveling section adjacent to the certain traveling means, for example, the traveling in the reverse direction of the self-propelled vehicle. The power supply to the second signal line of the section is cut off. As a result, even if the next self-propelled vehicle is traveling in the adjacent traveling section, the vehicle cannot be driven, and even if the self-propelled vehicle already exists, the vehicle cannot be driven due to power cutoff. Therefore, the next self-propelled vehicle does not enter the traveling section where the self-propelled vehicle exists, and the rear-end collision of the self-propelled vehicle can be prevented. Further, the traveling detecting means is provided with means for transmitting the traveling state of the self-propelled bogie to, for example, a general control device such as a host computer, and controlling power supply to the second signal line in accordance with a command from the general control device. Therefore, it is possible to prevent rear-end collision by remote operation in addition to the above-described rear-end collision prevention by the self-propelled vehicle.

Furthermore, the object of the present invention, when the self-propelled carriage to any traveling segment which is previously divided into the travel path has been traveled, the short to conduct the end of the power provided to the self-propelled carriage
In the running circuit and the running section provided along the running path.
By conducting the that signal lines, and power supply through the signal line to the running detecting means provided for each of the traveling segment
Drives the running detecting means, due to blocking the power supply to the signal line according to the traveling segment immediately following the traffic lane marking that the self-propelled carriage by the driving of the travel detection means is present
Te, thereby inhibiting advancement of the subsequent free-running carriage, prevents the march of the self-propelled carriage, not self-propelled truck the subsequent to traveling segment immediately reverse direction viewed from a traveling segment is the autonomous guided vehicle is present In the case of
Power is supplied to the signal line related to the traveling section of the self-propelled vehicle based on the drive stop of the traveling detecting means.
The self-propelled vehicle can be moved backward , and the self-propelled vehicle can be moved in the centralized control section based on the driving state of the travel detection means.
Power can be supplied to the self-propelled bogie related to any traveling section by detecting the presence or absence of the bogie and using a signal from the central control unit.
And the self-propelled vehicle can be stopped by the control method of the self-propelled vehicle. And
The method for controlling a self-propelled vehicle may include: a traveling section such as a track is divided as appropriate to form a traveling section; and the control device for a self-propelled vehicle that sequentially travels a plurality of self-propelled vehicles on the traveling section. A first, second, and third signal lines provided for each section, a short-circuit circuit for connecting the first signal line and one end of a power supply when traveling in the travel section, and one end of the power supply; First control means interposed between the second signal line and the self-propelled vehicle traveling in one direction in response to power interruption to and from the second signal line; one end of the power supply and a third power supply; A self-propelled truck provided with second control means interposed between the second signal line and the second control means for causing the self-propelled truck to travel in the other direction in response to power interruption to the third signal line, and provided independently for each traveling section. The self-propelled vehicle existing in a certain traveling section corresponding to the presence or absence of a self-propelled carriage in a traveling section adjacent to the certain traveling section. Driving means for driving the first and second control means provided on the vehicle to cause the self-propelled vehicle to travel in one direction or another direction, and forcibly stopping the traveling of the self-propelled vehicle. It is executed by the control device of the carriage.

That is, the traveling direction of the self-propelled carriage is switched by the first control means and the second control means provided on the self-propelled carriage. Therefore, not only the collision can be prevented, but also the vehicle can travel in two directions, so that the stop position can be easily adjusted. In addition, an article sorting device using a self-propelled truck and an automated warehouse can be multifunctional.

[0010]

Embodiment 1 Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a circuit diagram showing a circuit configuration of a control system of the self-propelled trolley, and FIG. 2 is a circuit diagram showing a circuit configuration of a drive system of the self-propelled trolley. In the description of the embodiments, the overall configuration will be described, and then the configuration, control, and driving operation of each unit will be described.

The self-propelled trucks (hereinafter simply referred to as "carts") 1a and 1b are configured to travel on a track (not shown) in the direction of arrow A. Therefore, the truck 1a corresponds to the preceding truck, and the truck 1b corresponds to the succeeding truck. The number of traveling trolleys is not particularly limited, and is installed as needed. However, in this embodiment, two trucks 1a and 1b are illustrated for convenience of illustration, and control of a succeeding truck related to a preceding truck will be described for the trucks 1a and 1b. Regarding bogie control when there is no preceding bogie, a description will be given of traveling sections (hereinafter simply referred to as “zones”) z1 and z2 described later.

The zones z1, z2 and z3 are appropriately divided for controlling the traveling of the bogie and the collision prevention.
The number of zones is not particularly limited, and the present embodiment exemplifies three zones z1 to z3. The power supply 2 is, for example, a 200 V three-phase AC power supply including a u-phase, a v-phase, and a w-phase, and is shared between the zones as a control system power supply and a drive system power supply. The signal line 3 transmits the presence or absence of the preceding bogie to the succeeding bogie. The signal line 3 is composed of two systems, S1 and S2, and is separated for each zone. That is, the power supply 2 and the running paths such as tracks not shown are not separated for each zone, and the signal line 3 is separated for each zone. A ground-side control unit (hereinafter referred to as a “control unit”) 11 is provided between each of the zones z1 to z3.
a, 11b, and 11c are provided. Each control unit corresponds to the traveling detection means in the present invention,
The travel of the succeeding truck can be controlled by a host computer or a sequencer (not shown) or by the presence or absence of the preceding truck. Although the control units are installed corresponding to the number of zones, in this embodiment, three control units are provided.
Two control units are illustrated.

Next, a description will be given of the circuit configuration and control operation of the truck and the control unit. Since each truck has the same circuit configuration, the truck 1a will be described.
A line L1 connecting between the current collectors 4b and 4b, and a relay coil Ra connected between the current collectors 4a and 4c. Line L1 is a short circuit, and when the bogie travels to each zone,
In other words, when the vehicle enters each zone, the u-phase power supply line and the signal line S1 are short-circuited, and the u-phase power is supplied to the signal line S1. Therefore, when a certain truck enters a certain zone, the u-phase power is supplied to the signal line S1 of the zone by the entry itself.

Conversely, if the u-phase power is not supplied to the signal line S1, it means that no bogie exists in that zone. The relationship between the presence or absence of the truck in each zone and whether or not the u-phase power is supplied to the signal line S1 can be easily understood by comparing the zones z1 and z2. The relay coil Ra controls power supply to the bogie drive motor M described with reference to FIG. In the present embodiment, when the relay coil Ra is energized, power is supplied to the motor by the contact switch, and the truck travels.

While the truck 1a is traveling in the zone z2 as shown, the u-phase power is supplied to the signal line S1 of the zone z2 via the current collector 4a, the line L1, and the current collector 4b. However, since the signal lines S1 and S2 are separated or insulated for each zone as described above, the u-phase power is not supplied to the signal lines S1 of the adjacent zones z1 and z3. On the other hand, each control unit includes a relay coil Rb connected to a v-phase power supply by a signal line S1 and a line L2,
Further, a second circuit connected in series between the v-phase power supply and the signal line S2 at the subsequent stage.
It consists of two b contacts Sa and Sb. Therefore, one end of the relay coil Rb is always supplied with the v-phase power via the line L2, while the other end is supplied with the u-phase power via the signal line S1 only while the truck is traveling in the zone. Become. That is, the relay coil Rb is energized only when the bogie is running in a certain zone, and when the bogie is not running, in other words, when no bogie exists in the zone, u is connected to the signal line S1. Since the phase power is not supplied, the power is turned off. In other words, the on / off operation of the relay coil Rb corresponds to the presence or absence of the bogie in the zone.

The b contact Sa is a switch that is opened and closed by a relay coil Rb, and the b contact Sb is a switch that is opened and closed by the host computer or sequencer. When the b-contact connected in series is closed as shown, in other words, the relay coil Rb
, The v-phase power is supplied to the signal line S2 of the zone z3. However, when the carriage 1a is present in the zone z2 and the relay coil Rb is operated as described above, the contact b is switched to the open state, so that the zone z3
Is not supplied with the v-phase power. Further, even if the b-contact Sb is switched to the open state by the post computer or the sequencer, the v-phase power is not supplied, and the power is forcibly shut off even during the power supply.

With the above circuit operation, the following two operations are performed on the zone z3. First, the carriage 1b cannot travel with respect to the zone z3. As described above, when the carriage 1a is present in the zone z1 and the relay coil Rb is operated, the b-contact Sa is switched to the open state, so that the v-phase power is not supplied to the signal line S2 of the zone z3. Further, even if the b-contact Sb is switched to the open state by the post computer or the sequencer, the v-phase power is not supplied, and the power is forcibly shut off even during the power supply. The relay coil Ra of the truck 1b is turned off, and the three-phase power is not supplied to the drive motor. Therefore, the truck 1b
Becomes impossible to travel, and the preceding bogie 1a moves from zone z2 to z1.
The vehicle stops running until the vehicle passes. As a result, the trolley 1
b does not travel to the zone z2, and it is possible to prevent an accident in which the succeeding bogie 1b collides with the preceding bogie 1a.

The second is an operation for causing the carriage 1b in the zone z3 to travel as it is. That is, the circuit operation is performed when the truck 1a does not exist in the zone z2 and the b-contact Sb cannot be switched to the open state, and when the truck 1b exists as illustrated. The v-phase power source of the vehicle 1b is
Power is supplied to the signal line S2 of the zone S3 via the line L2 of the zone z2 and the b-contacts Sa and Sb of the control unit 11b. As a result, the relay coil Ra of the truck 1b is connected between the u-phase power supply and the v-phase power supply, and the power supply of 200V is supplied to operate in the ON state. Then, the three-phase power is supplied to the drive motor by the contact switch of the relay coil Ra, and the carriage 1b travels in the direction of arrow A. As described above, in the truck control method, the truck 1a is located in the zone z1.
Exists, the trailing bogie 1b is stopped, and the trailing bogie 1b can travel only when the bogie 1a does not exist and the zone in the traveling direction is empty.

Here, what should be noted is the function of the relay coil Rb and its contacts. In the above description, the zone z2
It has been described that the relay coil Rb is operated by the truck 1a existing in the vehicle, the contact Sa is turned off, and the power supply of the relay coil Ra of the succeeding truck 1b is cut off. However, the above operation can be paraphrased as follows. That is,
The operation of turning off the contact Sa by the operation of the relay coil Rb of the control unit 11b is performed irrespective of the presence or absence of the subsequent bogie 1b.

Therefore, while the carriage 1a is in the zone z2, no v-phase power is applied to the signal line S2 of the zone z3. Suppose now that the truck 1a is present in the zone z2 and no truck is present in the zone z3. Even in this case, the operation of the relay coil Rb causes the zone z
No V-phase power is supplied to the signal line S2 of No. 3. In this state, when the truck 1b following the zone z4 to z3 travels, that is, in the state shown in the drawing, the v-phase power is not applied to the signal line S2. Is turned off, and the truck 1b cannot travel. As a result, there is no danger that the succeeding truck 1b will collide with the preceding truck 1a.

On the other hand, since there is no carriage in the zone z1, the relay coil Rb of the control unit 11a does not operate, and the contact b is closed. When the b-contact Sb is in the closed state, the v-phase power is supplied to the signal line S2 of the zone z2. The three-phase power is supplied to the drive motor by operating the relay coil Ra of the truck 1a.
Travels from zone z2 to z1. In this way, the succeeding bogie can move forward only when there is no preceding bogie in the zone in the traveling direction.

By the way, the contact a and the contact b shown in FIG.
A pair of switch circuits 5a, 5b, 5c composed of contact points
The switching operation is performed in association with each relay coil Rb. In this embodiment, each of the switch circuits 5a to 5c is connected to a host computer or a sequencer (not shown). Therefore, in the host computer or the sequencer, the opening and closing of each of the switch circuits 5a to 5c causes
It can be detected in which zone the carriage is present. Then, when there is a possibility that the succeeding bogie enters the zone where the preceding bogie is present due to an unexpected situation, the switch Sb can be forcibly controlled to be in the open state by remote control to prevent a rear-end collision. As described above, in the present embodiment, it is possible to not only prevent the rear-end collision between the trolleys, but also to monitor the running states of the traveling trolleys in real time, and to perform further safety management. In other words,
The present invention embodies the idea of fail-safe.

Next, the drive system of the bogie will be described with reference to FIG. Since the drive system of the truck has the same configuration, only the truck 1a will be described. The motor M is for running the truck 1a, and is configured to rotate the wheels 22 via the belt 21. The u-phase power supply, v-phase power supply, and w-phase power supply are used as the drive power supply for the motor M.
It is controlled by a contact circuit 23 using the contact a of c.
The relay coil Rc is controlled by a contact Ras, which is an a contact of the relay coil Ra, and a b contact bc of a forward command relay coil (not shown) connected in series to the contact Ras.
The b-contact Ras is opened and closed by a command from a microcomputer or the like in the bogie, and the power source of the relay coil Rc may use any of the three-phase power sources.

According to the above configuration, the relay coil Rc is energized when the relay coil Ra is turned on, controls the contact circuit 23 to a closed state, and supplies a three-phase power to the motor M. Therefore, the motor M has the relay coil Ra
Is turned on, in other words, the three-phase power is supplied only when there is no truck in the zone in front of the traveling direction A.
Then, by the rotation of the motor M, the wheels 22 are driven to rotate, and the truck 1a runs. If the vehicle 1a travels and the v-phase power is not supplied to the signal line S2 of the zone into which the vehicle 1a has entered, the relay coil Ra is turned off. As a result, the contact Ras changes to the open state, the power supply of the relay coil Rc is cut off, and the power supply of the motor M is also cut off by the contact circuit 23. Therefore, the carriage 1a cannot travel, and the collision avoidance as described above is performed.

The truck shown in this embodiment is based on the premise that a plurality of trucks pass one way at a high speed on the same track. Therefore, it is unlikely that the bogie will travel in the reverse direction. Even if it is desired to reverse the rotation, it is sufficient to reverse the rotation by a small distance at a station unit or the like that loads cargo. In such a case, the contact b
It is considered sufficient if c is controlled to the open state and stopped. However, when it is desired to stop and reverse by the trolley itself without using the host computer, the second method described below is used.
A configuration as in the embodiment is suitable.

[0026]

Embodiment 2 Next, a second embodiment of the present invention will be described with reference to FIG. The difference between this embodiment and the first embodiment is that a reverse coil Rd is added to the bogie, a signal line S3 is added to the signal system 3, and each control unit 11 is as shown in the figure. In that the circuit configuration was changed. The same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

First, the circuit operation during normal rotation between the zones z1 and z2 will be described. In this case, since the relay coil Rb-1 of the control unit 11a is off, the relay Rb-1 wired to the control unit 11b is turned off.
The b contact b1 is closed, and the u-phase power and the v-phase power are supplied to the relay coil Ra, and the relay coil Ra is turned on. As a result, the drive motor rotates forward and the carriage 1a travels in the traveling direction A.

Simultaneously with the above operation, the relay coil Rb-2 of the control unit 11b is turned on by the lines L1 and L2, and the switch b2 wired to the control unit 11c is opened. Further, since the relay coil Rb-3 of the control unit 11c is in the ON state, the b contact b3 of the control unit 11b is in the open state. That is, the current path between the v-phase power supply and the signal line S3 is cut off by the contact b3. For this reason, even though one end of the reverse rotation control relay coil Rd is connected to the signal line S3 by the current collector 4d, the relay coil Rd is not energized. Therefore, the truck 1a travels in the A direction without reversing. When it is desired to forcibly stop traveling, the b contact Sb is controlled to be opened by a host computer or the like.

Next, the reverse operation will be described. In this case, the truck 1b, which is the succeeding vehicle to the truck 1a, is located in the zone z3.
Shall not exist. Therefore, the control unit 11c
Is turned off, the control unit 1
The b contact b3 of 1b is closed. As a result, the trolley 1a
Both of the relay coils Rd and Ra operate in an on state,
The carriage 1a can perform both forward and backward travel.

However, since each bogie is provided with a mechanism for selecting either forward or reverse according to a command from the host computer or the like, in this case, either forward or reverse is selected by remote control. Drive the trolley. Therefore, even when the truck is displaced from, for example, a position at which the cargo is sorted, it can be positioned at a predetermined position by remote control. In addition, the forced stop can be performed by controlling the switch Sb to be opened by remote control. Further, after the switch Sb is operated to cut off the power of the drive motor, the self-propelled carriage can be moved forward and backward by the manual push of the operator.

On the other hand, when the truck 1b exists in the zone z3, the switch b3 of the control unit 11b is switched to the open state, so that the relay coil Rd provided on the truck 1a
No power is supplied to Therefore, there is no danger that the truck 1a will move backward and collide with the truck 1b.

[0032]

As described above, the control method and the control device for a self-propelled vehicle according to the present invention provide a signal line for each of the travel sections obtained by appropriately dividing the travel path of the self-propelled vehicle, A traveling detection means for intermittently controlling power supply to a signal line of an adjacent traveling section based on the presence or absence of a traveling vehicle traveling on the traveling section; This shuts off the power and makes the following self-propelled truck unable to travel. In addition, the traveling detecting means is configured to transmit, for example, a contact signal corresponding to the power interruption control to the general control device, and to control the power interruption to the signal line according to a command from the general control device. Therefore, the collision prevention of the self-propelled trolley is performed not only by the traveling of the self-propelled trolley as described above, but also by a centralized control unit by a host computer to centrally manage and issue a stop command such as an emergency stop by an appropriate signal. Can be carried out and can be performed by remote control, so that the safety of the apparatus can be further improved.

[Brief description of the drawings]

FIG. 1 is a circuit diagram of a control device for a self-propelled bogie, showing a first embodiment of the present invention.

FIG. 2 is a circuit diagram of the self-propelled carriage according to the present invention.

FIG. 3 is a circuit diagram showing a second embodiment of the present invention.

[Explanation of symbols]

 1a, 1b Self-propelled trolley 2 Power supply 3 Signal line 5a-5c Switch circuit 11a-11c Control unit Ra, Rb, Rc, Rd Relay coil Sa, Sb Contact switch L1 Short circuit z1 to z3 Traveling section

Claims (4)

(57) [Claims] When a self-propelled vehicle travels in an arbitrary traveling section preliminarily divided on a traveling path, the self-propelled vehicle is provided on the self-propelled vehicle .
A short circuit connected to one end of the power supply
That the signal line in the traveling section
The travel detection means provided for each of the travel sections
Drives the traveling detection means and the power supply via the line, the power supply to the signal line according to the traveling segment immediately following the traffic lane marking that the self-propelled carriage by the driving of the travel detection means is present
To prevent the following self-propelled bogie from moving forward, and based on the driving state of the travel detection means.
The central control unit can detect the presence or absence of the self-propelled carriage
And any travel zone is controlled by a signal from the central control unit.
Power supply to the self-propelled trolley for
A method for controlling a self-propelled vehicle, wherein the vehicle can be stopped . 2. A self-propelled vehicle control device for dividing a traveling path such as a track as appropriate to form a traveling section and for sequentially driving a plurality of self-propelled vehicles on the traveling section. A first and second signal line, a short circuit connecting the first signal line and one end of a power supply when traveling in the traveling section, and a short circuit between the one end of the power supply and a second signal line. A self-propelled vehicle provided with control means interposed therebetween for controlling intermittent supply of power to the drive motor in response to intermittent power supply to the second signal line, and independently provided for each traveling section; Control means for intermittently controlling the supply of power to the second signal line of the traveling section adjacent to the traveling section in accordance with the presence or absence of the self-propelled carriage in the traveling section; and Traveling detection means comprising control means for controlling power supply to the signal line of the vehicle. When a self-propelled vehicle is present in a specific traveling section, power supply to a second signal line of the traveling section adjacent to the traveling section is shut off, and the specific traveling section is switched from the adjacent traveling section to the specific traveling section. A self-propelled bogie control device that makes it impossible for the self-propelled bogie to travel. 3. When self-propelled carriage to any traveling segment which is previously divided into the travel path has been traveled, it is provided on the self-propelled carriage
A short circuit connected to one end of the power supply
That the signal line in the traveling section
The travel detection means provided for each of the travel sections
Drives the traveling detection means and the power supply via the line, the power supply to the signal line according to the traveling segment immediately following the traffic lane marking that the self-propelled carriage by the driving of the travel detection means is present
By blocking, the blocking advancement of the subsequent free-running carriage, prevents the march of the self-propelled carriage, the subsequent self to traveling segment immediately reverse direction viewed from a traveling segment is the autonomous guided vehicle When there is no dolly , the reverse
Direction of the traveling detection means in the traveling section immediately after
Power to the signal line according to the traveling section of the self-propelled vehicle
By supplying the vehicle, the self-propelled carriage can be made to move backward, and furthermore , a centralized control is performed based on the driving state of the traveling detection means.
Control unit to detect the presence or absence of the self-propelled trolley, and according to a signal from the central control unit ,
Power supply to the self-propelled trolley can be stopped to stop the self-propelled trolley
A method of controlling a self-propelled bogie characterized by the ability to operate. 4. A control device for a self-propelled vehicle, wherein a traveling section such as a track is divided as appropriate to form traveling sections, and a plurality of self-propelled vehicles are sequentially driven on the traveling sections. A short circuit for connecting the first, second, and third signal lines to one end of a power supply when traveling in the traveling section; and one end of the power supply to a second signal. First control means interposed between the first power supply and one end of the power supply and a third power supply for causing the self-propelled vehicle to travel in one direction in response to power interruption to the second signal line A self-propelled vehicle provided with second control means for causing the self-propelled vehicle to travel in the other direction in response to the power interruption to the third signal line; Corresponding to the presence or absence of a self-propelled carriage in a traveling section adjacent to the section, provided on the self-propelled carriage existing in a certain traveling section And driving detection means for driving the first and second control means to cause the self-propelled carriage to travel in one direction or another direction, and forcibly stopping the travel of the self-propelled carriage. Control device for self-propelled trolley.