JPH03216711A - Transfer communication equipment in unmanned carrier - Google Patents

Abstract

PURPOSE:To eliminate the erroneous starting of an unmanned carrier such as an unmanned tractor by using an induction magnetic field as the medium of a transfer completion signal. CONSTITUTION:A signal for transfer control is communicated between an on- vehicle side controller 2A mounted on the unmanned carrier such as an unmanned tractor and a ground side controller 6A for transfer control installed an a ground-side. When transfer terminates, the induction magnetic field in place of the light as in a conventional case is used as the transmission medium of the transfer completion signal outputted from the ground side controller 6A. Thus, erroneous receiving of the optical signal for stop as the transfer completion optical signal and the erroneous starting of the before transfer of load can be prevented.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention provides an on-board control device mounted on an unmanned vehicle, such as an unmanned towing vehicle, and a ground control device installed on the ground for transfer control at a transfer position. The present invention relates to a transfer communication device that performs signal communication for transfer control with a side control device.

(Prior Art) Conventionally, an unmanned vehicle, such as an unmanned towing vehicle, arrives at a transfer location,
When communicating signals for transfer control with the ground-side control device, this was done using transfer communication means as shown in FIG. That is, the unmanned towing vehicle l is equipped with an onboard control device 2, and the onboard control device 2 includes a light receiver 3 and a light receiver 4 for receiving a 1-bit optical signal, and a light receiver 4 for transmitting a 1-bit optical signal. The projector 5 is electrically connected to the projector 5. On the other hand, a ground-side control device 6 for controlling a transfer device (not shown) is arranged on the ground side, and near the ground-side control device 6, the light receiver 3 for receiving the 1-bit optical signal, light receiver 4,
An optical communication device 7 for optical communication with each of the projectors 5 and 1-bit optical signal projector 5 is provided. The optical communication device 7 includes a light projector 8 for projecting a 1-bit optical signal for projecting a stop light signal to the light receiver 3 to stop the unmanned towing vehicle l at the transfer position, and A light receiver 9 for receiving a 1-bit optical signal receives the arrival optical signal projected from the light emitter 5 when the transfer position is reached, and a light receiver 9 for receiving the 1-bit optical signal that is transferred to the light receiver 4 when the transfer operation is completed. A light projector IO for projecting a 1-bit optical signal is attached to project a loading completion optical signal.

In the transfer communication means configured as described above, when the light receiver 3 provided on the unmanned towing vehicle l receives a stop light signal, the light receiver 3 converts the stop light signal into an electrical signal and transmits the stop light signal. It is transmitted to the upper control device 2.

As a result, the onboard control device 2 stops the rotation of the travel motor (not shown) and operates the brake, thereby stopping the unmanned towing vehicle l. After stopping the unmanned towing vehicle 1, the onboard control device 2 causes the light projector 5 to emit an arrival light signal, and causes the light receiver 9 to receive the arrival light signal. When the arrival optical signal is received by the light receiver 9 and the electrical signal that has been photoelectrically converted is inputted to the ground-side control device 6, it controls a transfer device (not shown) to send out the unmanned towing vehicle l. The load on the transfer device side is transferred to the unmanned towing vehicle l.

When the transfer operation is completed, the ground-side control device 6 causes the light projector 10 to emit a transfer completion optical signal, and causes the light receiver 4 to receive the transfer completion optical signal.

As a result, the onboard control device 2 determines that the transfer has been completed and controls the unmanned towing vehicle 1 to start.

(Problems to be Solved by the Invention) In the case of the transfer communication device in the conventional unmanned towing vehicle l,
Generally, due to the layout, it is necessary to separate the unmanned towing vehicle l and the optical communication device 7 by a required distance or more, so the light beam of the light projector 8 that emits the stop light signal attached to the optical communication device 7 spreads. The stop light signal projected from the unmanned towing vehicle 1 may be mistakenly received by the light receiver 4 of the unmanned towing vehicle 1. In other words, since the stop light signal emitted from the light emitter 8 is constantly controlled to emit light, this light signal cannot be dropped during transfer control. Since the control device 2 determines that the transfer is complete, there is a problem in that the unmanned towing vehicle 1 is started before the transfer control is performed.

Therefore, in the present invention, the transfer completion signal output from the ground-side control device 6 is not an optical signal but a signal based on an induced magnetic field, thereby preventing the erroneous start of an unmanned vehicle such as the unmanned towing vehicle 1 as described above. Prevention is a technical problem to be solved.

(Means for solving the problem) The technical means for solving the above problem is to improve the communication between the onboard control device mounted on the unmanned vehicle and the ground control device for transfer control installed on the ground side. A stop signal that electrically connects a transfer communication device that communicates signals for transfer control with the ground-side control device and emits a stop light signal to stop the unmanned vehicle at the transfer position. A light projector is disposed on the ground side, and the unmanned vehicle side is electrically connected to the onboard control device to transmit a stop light signal when receiving a stop light signal from the stop signal light projector. A stop signal receiver that converts the signal into an electrical signal and outputs it, and an arrival signal projector that emits an arrival optical signal when the unmanned vehicle arrives at the transfer position are provided. An arrival signal receiver is provided which is electrically connected to the ground side control device and converts the arrival optical signal into an electrical signal and outputs it when receiving the arrival optical signal from the arrival signal projector. On the floor of the transfer position of the vehicle, a magnetic induction wire is installed, which is electrically connected to the ground side control device and receives an alternating current when the transfer is completed, while on the side of the unmanned vehicle. , detection of a transfer completion signal for detecting an induced magnetic field generated from the magnetic induction wire, converting the detected magnetic field into an electric signal, and outputting the electric signal to the onboard control device as a transfer completion signal. It is to have a configuration in which the containers are arranged.

(Function) According to the transfer communication device for an unmanned vehicle configured as described above, when the unmanned vehicle travels to the transfer position, a stop light signal from the stop signal emitter installed on the ground side is sent to the stop signal receiver on the aircraft side. When the light is received, the stop signal receiver photoelectrically converts the stop light signal and transmits the electrical signal to the onboard control device. As a result, the onboard control device stops the unmanned vehicle. After stopping the unmanned vehicle, the onboard control device causes the arrival signal emitter to emit an arrival optical signal, and causes the arrival optical signal to be received by an arrival signal receiver provided on the ground side. The arrival signal receiver photoelectrically converts the received arrival optical signal and transmits the electrical signal to the ground-side control device.

When the ground-side control device receives the electrical signal, it determines that the unmanned vehicle has arrived at the transfer position and starts transfer control.

When the transfer control by the ground-side controller is completed, the ground-side controller applies an alternating current to the magnetic induction wire as a transfer completion signal. When an induced magnetic field is generated on the outer periphery of the magnetic induction wire by the application of the alternating current, the magnetism is detected by a transfer completion signal detector provided on the unmanned vehicle side.

As a result, the transfer completion signal detector converts the magnetism into an electrical signal and transmits the electrical signal to the onboard control device. When the transfer completion signal converted into an electrical signal is transmitted to the onboard control device, the onboard control device starts the unmanned vehicle toward the next transfer position.

By using the induced magnetic field as the medium for the transfer completion signal as described above, there is no erroneous reception of light as in the prior art, and it is possible to eliminate erroneous starting of the unmanned vehicle.

(Example) Next, an example of the present invention will be described with reference to FIG. Components that are the same as those of the transfer communication device in the conventional unmanned towing vehicle shown in FIG. 2 will be described using the same reference numerals as in FIG. 2.

The unmanned towing vehicle 1 is equipped with an onboard control device 2A, and the onboard control device 2A includes a light receiver 3 for receiving a 1-bit optical signal and a light emitter 5 for projecting a 1-bit optical signal. electrically connected.

On the other hand, a ground-side control device 6A for controlling a transfer device (not shown) is arranged on the ground side, and near the ground-side control device 6A, the light receiver 3 for receiving the 1-bit optical signal and the An optical communication device 7A is provided for optical communication with each of the projectors 5 for projecting a 1-bit optical signal. The optical communication device 7A includes a light receiver 3 for projecting a stop light signal to the light receiver 3 to stop the unmanned towing vehicle l at a predetermined transfer position.
A light projector 8 for projecting a bit optical signal; and a light receiver 9 for receiving a 1-bit optical signal that receives the arrival optical signal projected from the projector 5 when the unmanned towing vehicle 1 arrives at the transfer position. installed.

The light projector 8 and light receiver 9 are connected to the ground-side control device 6A via a signal line 2l. In addition, a waiting guide wire 23 is buried in the floor 22 of the transfer position where the unmanned towing vehicle l stops, and the guide wire 23 is connected to the ground side control device 6A.
It is connected to the.

Note that the guide wire 23 is energized with an AC signal of a required frequency to receive a transfer completion signal when the transfer control is completed. on the other hand,
A pickup coil 24 is attached to the unmanned towing vehicle l side for detecting the induced magnetic field generated when the AC signal of the transfer end signal is energized to the guide wire 23, and the pickup coil 24 detects the magnetic field. It is designed to output induced voltage due to The induced voltage from the pickup coil 24 is transmitted to the signal conversion circuit 26 via the wire harness 25, converted into a digital signal by the signal conversion circuit 26, and then inputted to the onboard control device 2A via the wire harness 27. .

In the transfer communication device for the unmanned towing vehicle 1 configured as described above, when the unmanned towing vehicle 1 travels to the transfer position, a stop light signal from the light projector 8 provided on the ground side is transmitted to the light receiver 3. When the light is received by the light receiver 3, the light receiver 3 photoelectrically converts the stop light signal and transmits the electric signal to the onboard control device 2A. As a result, the onboard control device 2A stops the unmanned towing vehicle l.

After stopping the unmanned towing vehicle 1, the onboard control device 2A causes the light projector 5 to emit an arrival optical signal, and causes the optical receiver 9 attached to the optical communication device 7A to receive the arrival optical signal. The light receiver 9 photoelectrically converts the received arrival optical signal and transmits the electrical signal to the ground-side control device 6A. When the ground side control device 6A receives the above electric signal,
It is determined that the unmanned towing vehicle l has arrived at the transfer position and transfer control is started. When the transfer control by the ground-side control device is completed, the ground-side control device 6A applies the alternating current to the guide wire 23 as a transfer completion signal. When the alternating current is applied, an induced magnetic field is generated around the outer circumference of the guiding wire 23.
The induced magnetic field is detected by the pickup coil 24 provided on the unmanned towed vehicle l. As a result, the pickup coil 24 converts the detected magnetism into an electrical signal and transmits the electrical signal to the signal conversion circuit 26. The electrical signal is converted into a digital signal by the signal conversion circuit 26, and then transmitted to the onboard control device 2A. When the transfer completion signal converted into an electrical signal is transmitted to the onboard control device 2A, the onboard control device 2A stops projecting the arrival optical signal from the light projector 5.

Furthermore, when the projection of the arrival optical signal is stopped, the ground-side control device 6A stops outputting the transfer completion signal. After that, the unmanned towing vehicle 1 is started toward the next transfer position.

As described above, by using the induced magnetic field as the medium for the transfer completion signal, the erroneous reception of the stop light signal as the transfer completion signal as in the conventional method is eliminated, and the unmanned towing vehicle l. Erroneous starts can be eliminated. In addition, regarding the time-consuming optical axis adjustment, conventionally three systems of optical axis adjustment were required, but in the present invention, only two systems of optical axis adjustment are required, reducing the number of installation adjustment steps on site. is possible.

(Effects of the Invention) As described above, according to the present invention, transfer control is performed between an onboard control device mounted on an unmanned vehicle and a ground control device for transfer control installed on the ground side. In the transfer communication device that communicates signals, an induced magnetic field is used instead of light as in the past as the transmission medium for the transfer completion signal output from the ground-side control device when the transfer is completed. This has the effect of preventing the unmanned vehicle from erroneously starting before the transfer due to a stop light signal being mistakenly received as a transfer completion light signal by the on-board communication device. Moreover, there is an effect that the number of steps for adjusting the optical axis for optical communication can be reduced compared to the conventional method.

[Brief explanation of drawings]

FIG. 1 is a transfer communication system diagram of an embodiment of the present invention, and FIG. 2 is a transfer communication system diagram of a conventional unmanned towing vehicle. l: Unmanned towing vehicle 2A: Onboard control device 3: Light receiver 5: Light emitter 6A: Ground side control device 7A: Optical communication device 8: Light emitter 9: Light receiver 23: Guide wire 24: Pick-up coil 26: Signal conversion circuit

Claims (1)

[Claims] A transfer communication device for communicating signals for transfer control between an on-board control device mounted on an unmanned vehicle and a ground-side control device for transfer control installed on the ground side. A stop signal projector that is electrically connected to a side control device and projects a stop light signal for stopping the unmanned vehicle at the transfer position is disposed on the ground side, while on the unmanned vehicle side, A stop signal receiver electrically connected to the on-board control device and configured to convert the stop light signal into an electrical signal and output the stop light signal when receiving the stop light signal from the stop signal projector; and the unmanned vehicle. An arrival signal emitter that emits an arrival optical signal when arriving at the transfer position is provided, and is further electrically connected to the ground side control device on the ground side to transmit an arrival optical signal from the arrival signal emitter. An arrival signal receiver is provided that converts the arrival optical signal into an electrical signal and outputs it when it receives the arrival optical signal, and the ground side control device and the electrical connection are installed on the floor of the transfer position of the unmanned vehicle. A magnetic induction wire is installed, which is connected to the terminal and is energized with alternating current when the transfer is completed.
The unmanned vehicle side includes a device for detecting the magnetic field generated by the magnetic induction wire, converting the detected magnetic field into an electric signal, and outputting the electric signal as a transfer completion signal to the onboard control device. A transfer communication device for an unmanned vehicle equipped with a transfer completion signal detector.