JPH0317712A - Collision preventing device for traveling vehicle - Google Patents

Abstract

PURPOSE:To improve the working efficiency of a traveling vehicle by discriminating the approaching distance of the traveling vehicle and controlling the traveling state of the vehicle in two steps. CONSTITUTION:A transmission antenna 9 is set at the rear side of a traveling vehicle together with a short distance reception antenna 10A and a long distance antenna 10B set at the front part of the vehicle, respectively. The approximation state of both antennas 10A and 10B can be discriminated in two steps via a controller 15 and based on the reception intensity of a reception part 14 since both antennas 10A and 10B are different in the number of windings. Then the vehicle is decelerated in a far approximation state and stopped in a near approximation state respectively. Thus it is possible to acutomatically decelerate the vehicle if the vehicle is not required to stop even in an approximation state. As a result, the working efficiency of the vehicle is improved.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a moving vehicle that automatically travels along a guidance line for guidance, from the rear part of the vehicle toward a set range that covers both left and right sides. A transmitting antenna that transmits electromagnetic waves as moving vehicle presence information, and a receiving antenna that receives electromagnetic waves transmitted from transmitting antennas of other moving vehicles in a set range that covers both left and right sides from the front part of the vehicle. an approach determining means for determining whether the moving vehicles are approaching each other based on the reception strength of the receiving antenna; and a travel control means for controlling the traveling of the mobile vehicles based on the information of the approach determining means. The present invention relates to a collision prevention device for a moving vehicle.

[Conventional technology]

This type of collision prevention device for moving vehicles is configured to use electromagnetic waves to determine the approach of moving vehicles and control the movement of the moving vehicles in order to prevent collisions between moving vehicles. However, conventional systems have not been configured to be able to determine the approaching distance of a moving vehicle.

Therefore, as the reception strength of the antenna becomes higher than the set level, it is determined that there is another moving vehicle within the set range corresponding to the set level, and the vehicle is stopped until the reception strength becomes lower than the set level. (For example, see Japanese Patent Application No. 63-236770, which was previously proposed by the present applicant)
.

[Problem to be solved by the invention]

In order to stop the vehicle when the reception strength of the receiving antenna exceeds the set level, the setting range covers both left and right sides from the rear of the vehicle in order to stop the vehicle without colliding with other moving vehicles. The larger the traveling speed of the moving vehicle becomes, the more it becomes necessary to set the magnitude of .

As a result, for example, as shown in FIG.
In this section, the guiding line (L) on which the vehicle is traveling is parallel to a sharp U-shaped curve, and the preceding moving vehicle (A) is passing through the curve.
When the following moving vehicle (A) approaches to pass each other, the following moving vehicle (A) does not collide with the preceding moving vehicle (A), but as in the conventional case, the reception strength is In a configuration that stops until it drops below a set level,
Because the setting range in which the following moving vehicle (A) senses the presence of the preceding moving vehicle (A) is wide, the preceding moving vehicle (A) detects the following moving vehicle even though there is no risk of collision. (A)
The following moving vehicle (A
) will stop, resulting in a disadvantage that the operating rate of the mobile vehicle (A) will decrease.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent collisions between moving vehicles while also allowing the following moving vehicles to automatically decelerate when they do not need to stop. It is to make it.

[Means to solve the problem]

The collision prevention device for a moving vehicle according to the present invention transmits electromagnetic waves as moving vehicle presence information to a moving vehicle automatically traveling along a guidance line from the rear part of the vehicle toward a set range that covers both left and right sides. A transmitting antenna for transmitting data and a receiving antenna for receiving electromagnetic waves transmitted from transmitting antennas of other moving vehicles in a set range covering both right and left sides from the front part of the vehicle are provided. The apparatus is provided with an approach determination means for determining the approach of moving vehicles based on the reception strength of the antenna, and a travel control means for controlling the travel of the mobile vehicles based on information of the approach determination means, Its characteristic structure is as follows.

A first characteristic configuration is that the approach determining means is configured to determine the approach state to another moving vehicle in two stages, far and near, based on the reception strength of the receiving antenna, and the traveling control means is configured to The approach determining means is configured to cause the moving vehicle to decelerate as it determines a far approaching state, and to stop the moving vehicle as it determines a close approaching state.

A second characteristic configuration is that the transmitting antenna and the receiving antenna are constituted by loop antennas that are bent laterally at a corner of the vehicle body in plan view.

A third characteristic configuration is that two receiving loop antennas having different numbers of windings are provided, and the approach determining means is configured to:
A case in which the receiving strength of the loop antenna on the side with the larger number of windings is greater than the set strength is determined as a long-distance state, and the receiving strength of the loop antenna on the side with the smaller number of windings is the set strength. The point is that the structure is configured to determine that when the distance is larger than that, it is a close approach state.

A fourth characteristic configuration is that one receiving loop antenna is provided, and the approach determining means determines whether the receiving strength of the one receiving loop antenna is greater than each of two set strengths. Based on this, when the intensity is higher than the set intensity on the small side, it is determined that the state is in a far-approaching state, and when it is higher than the set intensity on the large side, it is determined as a near-approaching state. .

[For production]

In the first characteristic configuration, since the strength of electromagnetic waves decreases in inverse proportion to the distance from the transmission position, the approach distance to other moving vehicles is determined in two stages, far and near, based on the reception strength of the receiving antenna. Then, by controlling the running state in two stages, such as decelerating the vehicle when determining a far-approaching state and stopping the vehicle when determining a near-approaching state, the vehicle prevents vehicles from colliding with each other. In addition, while expanding the range in which the vehicle can detect the presence of other vehicles, it also prevents the vehicle from stopping simply by sensing the presence of another vehicle.

In the second characteristic configuration, the transmitting antenna and the receiving antenna are configured with loop antennas that are bent laterally at the corners of the vehicle body in plan view, thereby simplifying the antenna configuration. This makes it possible to accurately set the range within which a vehicle can sense the presence of other vehicles.

The third feature is that the reception sensitivity of a loop antenna increases as the number of windings increases. This makes it possible to distinguish between a far-approach state and a near-approach state based on the intensity.

However, since the receiving strength of the receiving antenna increases as the distance from the transmitting antenna decreases, as shown in the fourth characteristic structure, the receiving strength of one loop antenna can be set to two settings, large and small. Based on whether it is greater than each
It is also possible to determine whether the vehicle is in a close approach state or a far approach state.

〔Effect of the invention〕

The first feature structure prevents collisions between moving vehicles, and can automatically slow down when the following moving vehicle does not need to stop, improving the operating rate of the moving vehicle. reached.

In the second characteristic configuration, since the antenna can be simplified, the entire device configuration can be simplified.

In the third characteristic configuration, the far approach state and the close approach state can be easily distinguished by simply varying the number of windings of the loop antenna, thereby simplifying the structure of the approach determination means.

In the fourth characteristic configuration, even though one receiving loop antenna is used, it is possible to accurately discriminate between a far approach state and a near approach state.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 6, a magnetic guide line (L) is connected to the moving vehicle (A) so that the traveling route of the moving vehicle (A) is sharply curved in a U-shape and parallel to each other. A loading/unloading station (ST) for the moving vehicle (A) is provided along the traveling route, and a load transfer station (ST) for the moving vehicle (A) is provided on the side of the traveling route. In the figure, (K) is an intersection where a plurality of travel routes diverge or merge.

The guiding line (L) is formed by forming a thin strip of resin mixed with a magnetic substance, magnetizing it so that it has different magnetic poles in the front and back directions, and applying adhesive to the back side. It is attached to the road surface.

In addition, various information such as the starting point and ending point of the curved section of the guidance line (L), the starting point and ending point of branching/merging at the intersection (K), and the stopping point at the station (ST), etc. Travel control information is transmitted to the mobile vehicle (A
), a magnetic mark (m) that displays address information indicating the position on the travel route as a combination of magnetic pole arrangements of a plurality of permanent magnets is attached to the guide line (L).
The vehicle (A) is attached to the road surface on which the mobile vehicle (A) travels in a state where it is located on the side of the vehicle (A).

The station (ST) is provided with information from the central control device (MC) on the ground side to the moving vehicle (A), such as the branching/merging direction at the intersection (K), the next station (ST), etc. A ground-side communication device (1a) is provided for instructing various command information.

To explain the configuration of the mobile vehicle (A), as shown in FIGS. 3 to 5, a pair of left and right idle wheels (2) are provided on the rear side of the vehicle body, and a pair of free wheels (2) for traveling are provided on the front side of the vehicle body. Motor (3
), and a steering wheel (5) which also serves as a propulsion wheel is provided, which is supported by a steering motor (4) so that its direction can be changed.

The guide line (
Magnetic sensing type steering control sensor (6) that detects L)
and a mark sensor (7) using a magnetic proximity sensor for detecting the mark (m) are provided with their detection surfaces facing downward from the vehicle body.

As will be described in detail later, the moving vehicle (A) uses the guidance line ( While the steering is controlled so that the vehicle automatically travels along the line L), the vehicle is controlled so that the vehicle travels to the designated station (ST).

To further explain the steering control sensor (6), as shown in FIG. There are two magnetic sensing switches (Sg) on the left and right located above the left and right edges of L).
s), and two left and right magnetic sensing switches (31) located outside and above the left and right edges of the guide line (L).
, (34) four magnetic sensing switches (St to S4
) are provided in a line in the width direction of the vehicle body.

That is, the four magnetic sensing switches (S1 to 34)
Based on the combination of ON/OFF states of the moving vehicle ( Steering control is performed so that A) automatically travels along the guidance line (L).

However, in this embodiment, when driving along one guidance line (L), when branching to the left at an intersection (K), and when merging from the left at an intersection (K), the vehicle body The guide line (L
), the steering is controlled based on the detection information of two magnetic sensing switches (SL) and (S!) located on the inside and outside of the left edge of the vehicle (S!), and when branching to the right at the intersection (K), And, when merging from the right at the intersection (K), based on the detection information of the two magnetic sensing switches (S3) and (S4) located above the inside and outside of the right edge of the guidance line (L). It is designed to control the steering.

Therefore, in steering control, a state in which a switch located on the outside of the edge of the guidance line (L) is OFF and a switch located inside is ON is set for the guidance line (L). It will be determined that the condition is in accordance with the appropriate road.

As shown in FIGS. 3 to 5, bumpers (8) are provided on the front and rear of the vehicle (A), respectively, for absorbing impact in the event of a collision with another object. It is attached so as to cover the entire rear part to the left and right lateral sides.

Loop antennas (9) are installed at each location inside the bumper (8) and close to the corners of the vehicle body for transmitting and receiving electromagnetic waves of a set frequency as a moving vehicle presence signal.
, (10) are housed in a state of being bent laterally at the corner of the vehicle body in a plan view.

In other words, by bending the loop antennas (9) and (10) sideways at the corners of the vehicle body and attaching them, moving vehicles can be attached to each other in sections where the guidance line (L) curves or at the intersection (K). On the other hand, even when approaching from an angle or sideways, the same antenna can detect the approach.

Of the loop antennas (9) and (10), the antenna (9) provided on the rear side of the vehicle body is used as a transmitting antenna, and the antenna (9) provided on the front side of the vehicle body (
10) will be used as a receiving antenna.

However, as shown in FIG. 1, the receiving loop antenna (10) has two antennas (10A
), (10B), and as described later, of these two antennas (10A) and (10B), the antenna (10A) with a larger number of windings is used for short range use, and The antenna (10B) with a small value is used for long-distance use.

In addition, in FIGS. 3 to 5, the range indicated by the imaginary line is
This indicates the range of electromagnetic waves that can be transmitted and received by the loop antennas (9) and (10), that is, the long-distance range in which the following moving vehicle (A) can detect the approach of the preceding moving vehicle (A). Yes, the shaded area is another moving vehicle (A)
This indicates the close range within which approaching objects can be detected.

By the way, the bumper (8) is configured to also function as a contact-type obstacle sensor, and although it will not be described in detail, when another object comes into contact with the bumper (8), A tape-shaped bumper switch (11) (see Fig. 5) is installed inside the bumper switch (11) (see Fig. 5), which is turned ON regardless of the contact point. That is, when another object comes into contact with the bumper (8) and the bumper switch (l1) is turned on, the driving motor (5) is stopped and the moving vehicle (A) is brought into emergency. It will be stopped.

In addition, in FIGS. 3 to 5, (l2) is a reflective ultrasonic sensor for non-contactly detecting the presence or absence of an obstacle within a set range in front of the vehicle, and the detection information is When the presence of an obstructing object within the set range on the front side is detected, this information is used as control information for automatically decelerating or stopping the vehicle.

To explain the transmission and reception of electromagnetic waves by the loop antennas (9) and (10), as shown in FIG. and a receiving section (14) that outputs a signal for determining the presence or absence of a moving vehicle based on the reception intensity of electromagnetic waves of a set frequency received by the two receiving loop antennas (10A) and (10B). ing.

However, the receiving section (14) moves when the intensity of the electromagnetic waves received by the two receiving loop antennas (10A), (10B) becomes greater than one set intensity. It is configured to output a signal for determining the presence of a vehicle.

In other words, in a loop antenna, the voltage induced by the received electromagnetic waves increases as the number of windings increases, so by simply varying the number of windings, even if one set strength is used as a reference, it will not be possible to reach a far-reaching state. It is possible to determine whether the object is in a close position or in a state of close proximity.

To explain further, when the distance to the other moving vehicle (A) is greater than the long-range approach range, the reception strength of each of the two receiving loop antennas (10A) and (10B) is equal to the one setting. Although the strength is smaller than that of other moving vehicles (A)
When approaching within the long-range approach range, the voltage induced in the short-distance loop antenna (10B) with a small number of windings becomes smaller than the set strength, but when the number of windings is large The voltage induced in the long-distance loop antenna (10A) becomes larger than the set intensity, and it can be determined that the vehicle is in a long-distance approach state to another moving vehicle (A). Note that when approaching another moving vehicle (A) within the above-mentioned approach range, the two receiving loop antennas (10A).
Both of the received strengths of (10B) are greater than the one setting strength, and it can therefore be determined that the state is close.

In other words, two receiving loop antennas with different numbers of windings (
By using 10A) and (10B), it is possible to determine whether the object is in a far-approaching state or a near-approaching state with one set intensity.

Next, a control configuration for controlling the traveling of the mobile vehicle (A) will be explained.

As shown in FIG. 1, the mobile vehicle (A) is provided with a vehicle body side communication device (lb) for the ground side communication device (1a), and a Various control information to be exchanged, each of the above-mentioned sensors (6),
(7), based on the detection information of (12), the detection information of the bumper switch (1l), and the information of the receiving section (14) to which the receiving loop antenna (10) is connected. A control device (15) using a microcomputer is provided to control the running of the vehicle (A).

In the figure, (I6) is a drive device for the traveling motor (3) and the steering motor (4).

In other words, the receiving unit (l4) performs an approach determination in which the approaching state of another moving vehicle (A) is determined in two stages, far and near, based on the reception strength of the two receiving antennas (10A) and (10B). Corresponding to the means (100), the control device (
15), the approach determining means (100) causes the moving vehicle (A) to decelerate as it determines the far approaching state, and causes the moving vehicle (A) to travel at a reduced speed as the approaching state is determined.
) The travel control means (101) is configured to control the travel of the mobile vehicle (A) so as to stop the vehicle (A).

Next, while explaining the operation of the control device (15) based on the flowchart shown in FIG.
) Add an explanation about the operation.

At the station (ST) or the travel start point (not shown), various information such as travel route information is transmitted from the central control device (MC) via the communication devices (la) and (lb). Become. When a running command is given, the vehicle starts running while transmitting electromagnetic waves at a set frequency from the transmitting loop antenna (9) on the rear side of the vehicle.

After starting to drive, based on the information from the bumper switch (11) and the ultrasonic sensor (l2), it is determined whether there is an obstacle in front of the car and the ultrasonic sensor (l2) is activated as described above. Accordingly, the vehicle is decelerated, and when the bumper switch (l1) is activated, an emergency stop is performed.

When there is no obstacle in front of the vehicle, the approaching state of the vehicle (A) is determined based on the reception strength of the two receiving loop antennas (10A) and (10B) in front of the vehicle. If the vehicle is approaching, rear-end collision prevention processing will be executed.

To explain the rear-end collision prevention process, first, the vehicle is decelerated to a set speed when the long-distance approach state is determined, and then it is stopped when the close-approach state is determined.

However, if the reception strength becomes lower than the set strength in the deceleration state, the speed will be returned to normal, and if the reception strength becomes lower than the set strength in the stopped state,
Once the vehicle starts traveling in a decelerated state, the vehicle is then returned to normal speed as the reception strength becomes smaller than the set strength again.

In other words, by performing two-stage control such as decelerating in a far-approaching state and stopping in a near-approaching state, the following moving vehicle (A) moves in front at the intersection (K), the sharply curved section, etc. This allows the vehicle to follow the vehicle (A) without colliding with it. Since the approach to another moving vehicle (A) can be determined in two stages, far and near, and it is possible to prevent the vehicle from stopping in the far-approaching state, the guide line (L) can be ) so that even if the distance between the vehicles is set close enough to prevent the above-mentioned approaching state from being determined, the vehicle will not stop due to reception of electromagnetic waves transmitted from another vehicle (A) passing next to it. Can be done. As a result, the degree of freedom in the layout of the guide line (L) can be improved.

If there are no obstacles or a preceding moving vehicle (A) in front of the vehicle, as described above, the steering control sensor (
Based on the detection information in step 6), steering control is performed so that the vehicle automatically travels along the guidance line (L).

Next, based on the detection information of the mark sensor (7), a mark detection process is executed to read the display content, that is, address information as the mark (m) passes a location, and then the content is determined. Then, the corresponding processing will be executed.

Although not described in detail, if the determined address information corresponds to a commanded branching point, branching processing will be executed, and if it is a commanded merging point, merging processing will be executed. Then, if it is the stopping point, stopping processing will be executed.

If it is not at any point, it is determined whether or not there is a start command, and if there is a start command, the above-described processes of transitioning to the process for determining the presence or absence of a travel command are repeatedly executed. If there is no activation command, the vehicle stops running and completes the entire process.

[Another example]

In the above embodiment, the transmitting antenna and the receiving antenna are configured as loop antennas (9) and (10) that are bent laterally at the corners of the vehicle body in plan view. Even if it is divided into two parts on the left and right, or with multiple antennas, the reception range of each antenna is combined to cover the front and rear sides of the vehicle as well as the left and right sides. Often, the specific configuration of the antenna can be modified in various ways.

In addition, in the above embodiment, in order to distinguish the approach of a moving vehicle into two stages, far and near, two receiving loop antennas C10A) and (10B) with different numbers of windings are provided, and the reception strength is higher than the set strength of one. Based on whether or not the number of windings is large, a case where the receiving strength of the loop antenna (10A) on the side where the number of windings is large is higher than the set strength is determined to be a long approach state, and the number of windings is small. The case where the reception strength of the loop antenna (10B) on the other side is higher than the set strength is determined as a close approach state has been exemplified, but for example,
There is only one loop antenna (10), and based on whether the reception strength is greater than each of the two setting strengths,
It may be configured such that when the intensity is higher than the setting intensity on the small side, it is determined to be a far-approaching state, and when it is greater than the setting intensity on the large side, it is determined to be a near-approaching state. The specific configuration for determining the approach state can be changed in various ways.

Further, in the above embodiment, the guiding line (L) is constructed in a magnetic manner, but it may be constructed in an optical manner using a light-reflecting tape. Similarly, the mark (m) may be constructed as an optical type using a bar code or the like instead of a magnetic type, and the specific configuration of each part can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the collision prevention device for a moving vehicle according to the present invention, FIG. 1 is a block diagram of the control configuration, FIG. 2 is a flowchart of the control operation, and FIG. 3 is an outline of the electromagnetic wave transmission/reception range and the moving vehicle. 4 is a side view of the same, FIG. 5 is a front view of the same, and FIG. 6 is a schematic plan view showing the layout of a travel route. (A)...Moving vehicle, (L)...Guidance line, (9)...Transmission antenna, (10)...
...Receiving antenna, (10A), (10B)
. . . Receiving loop antenna with different numbers of windings, (100) . . . Approach determination means, (101).
... Travel control means.

Claims (1)

[Claims] 1. Vehicle presence information is provided to a moving vehicle (A) automatically traveling along a guidance line (L) for guidance from the rear part of the vehicle toward a set range that covers both the left and right sides. A transmitting antenna (9) that transmits electromagnetic waves as a vehicle, and a receiving device that receives electromagnetic waves transmitted from the transmitting antenna (9) of another moving vehicle (A) in a set range that covers both left and right sides from the front part of the vehicle. an approach determining means (100) for determining the approach of moving vehicles based on the reception strength of the receiving antenna (10);
A collision prevention device for a mobile vehicle is provided with a travel control means (101) for controlling the travel of the mobile vehicle (A) based on information of 00), the approach determination means (100) comprising:
The traveling control means (101) is configured to determine the approach state to another moving vehicle (A) in two stages, far and near, based on the reception strength of the reception antenna (10), and the travel control means (101) 100) is configured to cause the moving vehicle (A) to decelerate as the vehicle determines a far-approaching state, and to stop the mobile vehicle (A) as the vehicle determines a near-approaching state. anti-collision device. 2. The collision prevention device for a moving vehicle according to claim 1, wherein the transmitting antenna (10) and the receiving antenna (10) are bent laterally at a corner of the vehicle body in a plan view. Collision prevention device for moving vehicles consisting of a loop antenna installed in the state. 3. The collision prevention device for a moving vehicle according to claim 2, which comprises two receiving loop antennas (10
A) and (10B) are provided, and the approach determining means (10
0) is based on whether the reception strength is greater than one setting strength or not, the loop antenna (
10A) is higher than the set strength, it is determined to be a long approach state, and when the reception strength of the loop antenna (10B) on the side with the smaller number of windings is higher than the set strength. , a collision prevention device for a moving vehicle configured to determine a close approach state. 4. The collision prevention device for a moving vehicle according to claim 2, wherein one receiving loop antenna (10) is provided, and the approach determining means (100) is configured to provide a receiving loop antenna (10). ) is higher than each of the two set strengths, it is determined that it is a long-distance approach state when the received strength is higher than the set strength of the lower side, and the received strength is higher than the set strength of the higher side. A collision prevention device for a moving vehicle configured to determine a state of close approach when .