JPH04286B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling passage of a fire protection shutter section of an electromagnetic induction unmanned vehicle.

An electromagnetic induction unmanned vehicle uses a pick-up coil on the unmanned vehicle to detect the magnetic field formed around electric wires stretched on the floor, and automatically steers the steering wheels according to this detection state. Therefore, it is an essential requirement for automatic driving that an alternating current of a predetermined frequency be flowing through the electric wires. Generally, in the electromagnetic induction control program used for automatic driving control of this type of unmanned vehicle, if the unmanned vehicle unreasonably comes off the wire, that is, the pick-up coil no longer detects the magnetic field around the wire. When it is in the off state, it is configured to automatically stop to avoid danger. Therefore, if the power supply to the electric wire is cut off due to a power outage, the state will be the same as a line-off state, and the unmanned vehicle will automatically stop at that position. However, there is a good chance that a power outage will occur in the event of a fire, and therefore, in places where it would be a problem for unmanned vehicles to stop even during a power outage, i.e. openings with fireproof shutters, unmanned vehicles should be stopped within the openings even in the event of a power outage. Measures will be taken to prevent this from happening.

A conventional measure against this type of power outage is to lay a power outage backup wire that is powered by a battery, separate from the electromagnetic induction wire that passes through the opening. The disadvantage was that the floor surface had to be modified for this purpose. The present invention aims to solve these problems, and one embodiment thereof will be described below based on the attached illustrative drawings.

In FIGS. 1 and 2, 1 is an electromagnetic induction unmanned vehicle, 2 is an electromagnetic induction electric wire laid under the floor to electromagnetically induce the unmanned vehicle 1, and 3 is the electric wire 2.
This is an opening through which a smooth unmanned vehicle travel path passes, and is opened and closed by a fire shutter 4. 5 is a forced passage zone set between the front and rear of the opening 3, and 6 is an emergency stop zone in front of the forced passage zone. An emergency stop control electromagnet 7 is buried in the emergency stop zone 6, and a receiving coil is placed on the unmanned vehicle 1 side at a position corresponding to the electromagnet 7 when the unmanned vehicle 1 reaches just before the forced passage zone 5. 8
is installed.

The fire shutter 4 is a disaster prevention panel (usually installed at a disaster prevention center) that receives the activation of the smoke detector 9.
When the fire shutter control panel 11 receives a command from the fire shutter control panel 10, it automatically operates to shut off the opening 3. At the same time, the emergency stop control electromagnet 7
When the receiving coil 8 of the unmanned vehicle 1 detects the energized state of the electromagnet 7, the unmanned vehicle 1 is automatically stopped at the detected position, that is, immediately before the forced passage zone 5. The specific methods of emergency stop control of the unmanned vehicle 1 and electromagnetic induction control for automatically driving the unmanned vehicle 1 along the electromagnetic induction wire 2 are well known, and therefore their explanation will be omitted.

12 is a wireless transmitter disposed near the opening 3, and is connected to the fire shutter control panel 1.
1 and the driving means 4a of the fire prevention shutter 4 are supplied with power from the battery 13, and operate at the same time as the fire prevention shutter 4 closes based on a command from the fire prevention shutter control panel 11.
Send. The unmanned vehicle 1 is equipped with a receiver 15 that receives the forced passage signal 14. Furthermore, the unmanned vehicle 1 includes a reed switch 16 for detecting entry into a forced passage zone, a reed switch 16 for detecting passage through the same zone, and a reed switch 1 for detecting passage through the same zone.
7 is attached, and permanent magnets 18 and 19 are arranged before and after the opening 3 to turn on the reed switches 16 and 17 at appropriate times.

As shown in FIG. 3, the driving and steering device 20 of the unmanned vehicle 1 is a conventionally well-known electromagnetic induction control system for automatically driving the unmanned vehicle 1 along an electromagnetic induction wire 2 and automatically stopping it at a preset destination. Program 2
1, but is controlled by a forced straight-ahead control program 23 for forcing the unmanned vehicle 1 to go straight, regardless of the detection state of the electromagnetic induction pickup coil, by the program switching means 22. is also possible. When the unmanned vehicle 1 is in the forced passage zone 5, that is, after the forced passage zone entry detection reed switch 16 is turned ON by the permanent magnet 18, the program switching means 22 switches the forced passage zone passage detection lead switch 16 to the forced passage zone entry detection reed switch 16. The switch 17 is operated by the permanent magnet 19.
Before the ON operation, in conjunction with the reception of the forced passing signal 14 by the receiver 15, the electromagnetic induction control program 21 changes to the forced straight-ahead control program 23.
It is configured to switch to In reality, no hardware is used as the switching means 22, and the desired action can be performed by program control by a microcomputer.

According to the above configuration, as shown in FIG. 4, the receiver 15 receives a signal from the wireless transmitter 12 while the receiving coil 8 is turned ON by the electromagnet 7 or while driving in the forced passage zone 5. Unless a forced passage signal 14 is received, the drive and steering device 2 of the unmanned vehicle 1
0 is controlled by the electromagnetic induction control program 21, so the unmanned vehicle 1 automatically travels along the electromagnetic induction wire 2 and automatically stops at the set destination. When the smoke detector 9 is activated while driving inside the vehicle, the fire shutter 4 is activated to block the opening 3 as described above, and the unmanned vehicle 1 reaches just before the forced passage zone 5. When the receiving coil 8 is turned on by the electromagnet 7, it is automatically stopped at the end of the emergency stop zone 6 (immediately before the forced passage zone 5).

When the unmanned vehicle 1 is traveling within the forced passage zone 5 (that is, after the forced passage zone entry detection reed switch 16 is turned on by the permanent magnet 18, the forced passage zone passage detection reed switch 17 is permanently turned on). When the smoke detector 9 is activated before it is turned ON by the magnet 19, the fire shutter 4 is closed as described above, and at the same time, the receiver 15 receives the forced passage signal 14 from the wireless transmitter 12. The program switching means 2 by receiving the
2 is activated, and the electromagnetic induction control program 21 is switched to the forced straight-ahead control program 23. Therefore, the drive and steering device 20 of the unmanned vehicle 1 is forced to go straight according to the program 23, and the unmanned vehicle 1
Even if the power supply to the electromagnetic induction wire is cut off due to a power outage, it will continue to move straight through the forced passage zone 5. The straight-line movement of the unmanned vehicle 1 according to the forced straight-line control program 23 is automatically stopped when the unmanned vehicle 1 passes through the forced passage zone 5 and the reed switch 17 is turned on by the permanent magnet 19.

As mentioned above, when the unmanned vehicle 1 is switched to forced straight movement by the forced straight movement control program 23 and the fire shutter 4 starts closing at the same time, the unmanned car 1 enters the forced passage zone 5. Even if the above-mentioned control is performed immediately after, the unmanned vehicle 1 is moved straight according to the overall length and height of the unmanned vehicle 1 so that the closed fire shutter 4 does not collide with the unmanned vehicle 1 that is moving straight ahead. It must be set in consideration of the moving speed and the closing speed of the fire shutter 4.

The straight movement of the unmanned vehicle 1 by the forced straight movement control program 23 can also be automatically stopped after a set time has elapsed.

As in the embodiments described above, the method for controlling passage of a fire protection shutter part of an electromagnetic induction unmanned vehicle according to the present invention includes disposing a wireless transmitter near an opening with a fire protection shutter through which the travel path of an electromagnetic induction unmanned vehicle passes, and A receiver is mounted on the vehicle side to receive a signal for forced passage through the opening from the wireless transmitter, and when the fire shutter is closed and the unmanned vehicle is set between the front and back of the opening. When the unmanned vehicle is in the zone, the unmanned vehicle is forcibly moved straight without electromagnetic induction control to a position where the unmanned vehicle passes through the forced passage zone based on an opening forced passage signal from the wireless transmitter. It is characterized by:

Therefore, according to the method of the present invention, even if the power supply to the electromagnetic induction wire is cut off due to a fire outbreak and the unmanned vehicle is in the same state as the lion-off state, there is When an unmanned vehicle is within a forced passage zone that has been set, it is possible to forcibly move the unmanned vehicle straight ahead and escape from the zone without stopping the unmanned vehicle within the zone. Therefore, the inconvenience of an unmanned vehicle that has stopped due to a power outage preventing the fire shutter from fully closing is eliminated, and the intended purpose of the fire shutter can be reliably achieved.

Moreover, within the forced passage zone, there is no need to modify the floor surface, such as laying another battery-powered electromagnetic induction wire under the floor; simply attach the wireless transmitter at an appropriate position. This makes it extremely easy to add or change fire protection zones, and it can also be used to force unmanned vehicles to go straight in areas where it is not possible to install electromagnetic induction wires due to the structure of the floor. The effects are enormous.

In the illustrated embodiment, the layout in which the unmanned vehicle 1 runs only in one direction through the opening 3 with the fire protection shutter has been described, but the present invention also applies to a layout in which the unmanned vehicle 1 runs in either the forward or reverse direction. The invented method can be implemented.

[Brief explanation of drawings]

1 is a plan view, FIG. 2 is a side view, FIG. 3 is a block diagram showing the control system of the drive and steering device, and FIG. 4 is a flowchart showing the control method. 1... Electromagnetic induction unmanned vehicle, 2... Electromagnetic induction electric wire, 3... Opening, 4... Fire shutter, 4a
... Drive means, 5... Forced passage zone, 6...
Emergency stop zone, 7... Electromagnet for emergency stop command,
8...Emergency stop command receiving coil, 9...Smoke detector, 10...Disaster prevention panel, 11...Fire shutter control panel, 12...Wireless transmitter, 13...Battery, 14...Forced passage signal, 15 ...Receiver, 1
6... Reed switch for detecting entry into the forced passage zone, 17... Reed switch for detecting passing through the zone, 18, 19... Permanent magnet, 20... Drive and steering device, 21... Electromagnetic induction control program, 2
2...Program switching means, 23...Forced straight-line control program.

Claims (1)

[Claims] 1. A wireless transmitter is disposed near an opening with a fire protection shutter through which the travel route of an electromagnetic induction unmanned vehicle passes, and a receiver is provided on the unmanned vehicle side to receive a signal for forced passage through the opening from the wireless transmitter. When the fire shutter is installed and the fire shutter closes, and the unmanned vehicle is within a forced passage zone set between the front and back of the opening, the opening forced passage signal from the wireless transmitter A method for controlling the passage of an electromagnetic induction unmanned vehicle through a fire protection shutter section, comprising controlling the unmanned vehicle to forcibly move straight ahead without electromagnetic induction control to a position where the unmanned vehicle passes through the forced passage zone.