JPH0789295B2 - Travel control equipment for mobile vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention provides a mobile vehicle guidance zone with a priority guidance zone in which a mobile vehicle travels with priority and a non-priority guidance zone that joins the priority guidance zone. Priority signal emission means for emitting a priority signal to the front side in the traveling direction in order to inform the other moving vehicle traveling in the non-priority guidance zone of the priority traveling state while being provided in a state where the priority signal is emitted. A stop means for providing an emergency stop as the receiving means receives the priority signal while the moving vehicle is traveling on the non-priority guidance zone side, the receiving means is provided for receiving the priority signal emitted from another moving vehicle. The present invention relates to traveling control equipment for a moving vehicle provided with control means.

[Conventional technology]

The traveling control equipment for a moving vehicle of this type controls traveling of the moving vehicles such that a plurality of moving vehicles travel at the same time while branching and merging along the guiding zones of the moving vehicles. In order to prevent the vehicles from colliding with each other at the same time as the vehicles join together, priorities are set for the guide zones, and in front of the junction where the vehicle joins multiple guide zones. As the vehicle arrives at the side location, a priority signal for informing a priority traveling state emitted from the moving vehicle side traveling on the preferential guidance zone side is received as the moving vehicle traveling on the non-priority guidance zone side receives. The mobile vehicle traveling on the side of the non-priority guidance zone is stopped in an emergency to prevent a collision at the merging portion.

Then, conventionally, as shown in FIG. 5, a moving vehicle (A) on the non-priority guidance zone (Lb) side emits a priority signal (P) emitted from the moving vehicle (A) on the priority guidance zone (La) side. ), The priority signal emitting means (11) of the moving vehicle (A) on the priority induction zone (La) side can be reliably received at a position where there is a sufficient margin for an emergency stop at the front side of the merging section. The priority signal (P) emitted from the vehicle spreads in the lateral direction with respect to the vehicle body. In the figure, (12) is a receiving means for receiving the priority signal (P). As the priority signal (P), sound waves such as ultrasonic waves and light such as infrared rays are generally used.

[Problems to be solved by the invention]

However, in the above-described conventional configuration, the priority signal for informing the priority traveling state is designed to be widely spread in the lateral direction of the vehicle body, so in the vicinity of the confluence portion where the priority guidance zone and the non-priority guidance zone merge, It is necessary to expand the space to prevent the above-mentioned priority signal from being blocked by other objects, the so-called dead zone. Was difficult to join as desired.

In addition, the structure for launching the priority signal with a large spread in the lateral direction of the vehicle body becomes complicated, and it is necessary to raise the launch signal level so that the signal attenuation due to the spread is reduced. Similarly, in order to receive the priority signal from the widening range, the receiving means also needs to greatly widen the receiving range in the lateral direction of the vehicle body, which is disadvantageous in that the device configuration becomes complicated and expensive.

The present invention has been made in view of the above circumstances, and an object thereof is to suppress a decrease in driving efficiency of a mobile vehicle,
It is to narrow the dead zone for preventing the interruption of the priority signal for emergency stop of the moving vehicle in the non-priority induction zone.

[Means for solving problems]

The characteristic configuration of the traveling control facility for a moving vehicle according to the present invention is a deceleration instruction tool for instructing the moving vehicle to be a deceleration start position at a location in the non-priority guiding zone on the front side of a merging portion with the priority guiding zone. And an end indicator for instructing that it is a deceleration end position, in a state where the end indicator is located closer to the confluence portion than the deceleration indicator, and the moving vehicle is provided with the both types of indicator. And a deceleration control means for controlling to decelerate based on the instruction from the deceleration instruction tool and to return to the original speed based on the instruction from the end instruction tool. In
The effects are as follows.

[Action]

That is, the moving vehicle traveling in the non-priority guidance zone is to be decelerated by the operation of the deceleration control means as the deceleration instruction tool is detected by the detection means when the vehicle reaches the part on the front side of the merging portion to the priority guidance zone. Then, the vehicle travels in the decelerated state, and when the detection means detects the end indicator, the deceleration control means operates to restore the original speed, and travels to a confluence with the preferential induction zone. It will be. By the way, in the state where the moving vehicle traveling in the non-priority induction zone is stopped in the middle of traveling from detecting the deceleration indicator to detecting the end indicator,
It does not impede the passage of the moving vehicles traveling in the priority guidance zone, in other words, there is no collision between the moving vehicles.

In the case of a moving vehicle decelerated as described above, the traveling distance from the reception means receiving the priority signal until the vehicle is stopped by the operation of the stopping means is shorter than that without deceleration, and the traveling distance until the vehicle is stopped. Even if the moving vehicle traveling in the non-priority guidance zone is brought closer to the merging portion by the amount of shortening, it is possible to prevent the moving vehicle from colliding with the traveling vehicle traveling in the priority guidance zone. As a result, even if the spread of the priority signal emitted from the priority signal emission means of the moving vehicle traveling in the priority induction zone in the lateral direction of the vehicle body is narrowed, the collision between the moving vehicles can be avoided.

Moreover, although the mobile vehicle traveling in the non-priority induction zone makes an emergency stop in response to the reception of the priority signal, it basically keeps the traveling state, and the deceleration instruction provided in front of the merging section. Although the speed is reduced by the detection of the tool, the speed is returned to the original speed by the detection of the end indicator provided near the confluence section and the vehicle passes through the confluence section. You can

〔The invention's effect〕

Therefore, even if the spread of the priority signal emitted from the priority signal emitting means of the moving vehicle traveling in the priority induction zone in the lateral direction of the vehicle body is narrowed, the collision between the moving vehicles can be avoided. The dead zone required for transmitting and receiving a priority signal in the section is narrowed, which is advantageous in terms of equipment configuration.

Moreover, since the moving vehicle traveling in the non-priority induction zone is designed to shorten the time required for passing through the merging portion, it is possible to suppress the reduction in the operating efficiency of the moving vehicle.

Therefore, as a whole, it is possible to obtain a travel control facility for a mobile vehicle, which is advantageous in terms of facility configuration due to the narrow dead zone while suppressing a decrease in the operating efficiency of the mobile vehicle.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a moving vehicle guide band (L), which is magnetic so that the front side is the N pole and the back side is the S pole, is moved to the moving vehicle (A).
It is installed along the traveling route that has an intersection (CR) while being stuck on the traveling road surface of, and a station (ST) for loading and unloading is provided at a side part of the traveling route. . Further, a branch start point or a merge start point at each intersection (CR), and a deceleration start point and a deceleration end point for decelerating the moving vehicle (A) at the intersection side of the intersection (CR) and the station. In order to instruct the traveling vehicle (A), various traveling control information such as a stop position for automatically stopping the traveling vehicle (A) in (ST) as a combination of magnetic pole arrangements of a plurality of permanent magnets. A mark (m) is provided on the road surface beside the guide band (L).

In addition, the ground-side communication facility for instructing the moving vehicle (A) from the central control unit (MC) with the instruction information such as the branching / merging direction at the intersection (CR) and the next stop station (ST). 1a) is provided in each station (ST).

The guide band (L) will be described with reference to FIGS.
As shown in the figure, a resin mixed with a magnetic material is formed into a ribbon shape, magnetized so that its front side is the N pole and its back side is the S pole, and an adhesive is applied to the back side. It is applied.

As shown in FIGS. 1 and 2, the moving vehicle (A) is provided with a pair of left and right idler wheels (2L), (2R) on the rear side of the vehicle body and a traveling motor (3). ), A steering wheel (5) also serving as a propulsion wheel is provided on the front side of the vehicle body. A magnetic sensing type induction zone detection sensor (6) for detecting the induction zone (L) is provided so as to be located in the center of the lower front portion of the vehicle body with its detection surface facing downward of the vehicle body. A branch mark (m ₁ ) indicating the branch start point, as a deceleration instruction tool for instructing that the moving vehicle (A) is a deceleration start position for decelerating as it approaches the junction of the intersection (CR). Deceleration end as an end instruction tool that also serves as a deceleration mark and that indicates the confluence mark (m ₂ ) indicating the confluence start point and the deceleration end position to cancel the deceleration operation after detecting this confluence mark (m ₂ ). mark (m _3), and, the station mark sensor using a proximity sensor of the magnetic sensitive to detect the stop mark indicating the stop position at (ST) (m ₄₎ various marks such as (m) (7) Of the induction band detection sensor (6) It is provided in a state positioned on the side aside. Also, the ground side communication device (1a)
The vehicle body side communication device (1b) for the vehicle is provided on the lateral side of the vehicle body facing the station (ST), and the detection information from the sensors (6) and (7) and the communication device (1) are provided.
A control device (8) is provided for controlling the traveling of the moving vehicle (A) by discriminating the information instructed via a) and (1b).
In FIG. 1, (9) is a drive device for the traveling motor (3) and the steering motor (4), and (10) detects the presence or absence of an obstacle on the traveling front side in a non-contact manner. Is an ultrasonic sensor for.

Then, steering control is performed on the basis of the information detected by the sensors (6) and (7), the information instructed via the communication devices (1a) and (1b), and the like. ) Automatically crosses and merges along the designated travel route at the intersection (CR), and automatically travels between the stations (ST) to carry various loads. Configured. However, when the ultrasonic sensor (10) senses an obstacle during traveling, the emergency stop is immediately performed to prevent a collision.

In the induction band detection sensor (6), as shown in FIGS. 1 and 2, in a state where the center of the induction band detection sensor (6) coincides with the center of the induction band (L), Two left and right magnetic sensing type switches (S ₂ ) and (S ₃ ) located inside the left and right edges of the guide band (L) and outside the left and right edges of the guide band (L). The four magnetic sensing type switches (S ₁ ) to (S ₄ ) of the two magnetic sensing type switches (S ₁ ) and (S ₄ ) located at are arranged side by side in the lateral direction of the vehicle body. Then, the control device (8) controls the induction band detection sensor (L) for the induction band (L) based on a combination of ON / OFF states of the _four magnetic sensing type switches (S ₁ ) to (S ₄ ). The moving vehicle (A) is controlled by controlling the operation of the steering motor (4) and the traveling motor (3) while determining the positional relationship of the vehicle body left and right direction of 6).
Is controlled so that the vehicle automatically travels along the guidance zone (L).

However, in the present embodiment, when traveling along a linear guide band (L) or branching from one guide band (L) to the left, the inside and outside of the left end edge of the guide band (L) ON / OFF of _two magnetic sensing type switches (S ₁ ) and (S ₂ ) located at
Based on the combination of the states, and when branching from one guiding zone (L) to the right or merging from the right direction, two guiding zones (L) located inside and outside above the right edge of the guiding zone (L) are joined. Based on the combination of the ON / OFF states of the magnetic sensing type switches (S ₃ ) and (S ₄ ), the deviation in the lateral direction of the vehicle body with respect to the induction zone (L) is determined. Magnetic sensing switch located inside (S ₂ ),
Either the left or right end of the induction band (L) should be kept so that (S ₃ ) remains in the ON state and the magnetic sensing switches (S ₁ ) and (S ₄ ) located outside are kept in the OFF state. Steering control is performed so that the moving vehicle (A) travels along the edge.

Further, at the intersection (CR), the moving vehicle (A) on one guide zone (La) side travels on the other guide zone (Lb) side that joins this guide zone (La). Priority is given to passing through the intersection (CR) so that collisions between moving vehicles at the intersection (CR) are automatically avoided.
And the induction zone that passes through is the priority induction zone (La), and
If there is a moving vehicle (A) passing through or approaching the intersection (CR), the guidance zone that joins this priority guidance zone (La) will be used as a non-priority guidance zone (Lb) to make an emergency stop and wait. In addition to setting, in order to discriminate the priority relationship, it is announced that the intersection (CR) is approaching from the priority guidance zone (La) side toward the non-guide zone (Lb) side moving vehicle (A) A projector (11) as a priority signal emitting means for emitting infrared light as a priority signal (P) toward a predetermined range on the front side of traveling, and a priority signal (P) emitted from this projector (11). Each of the light receivers (12) as light receiving means for receiving the light is provided in the front part of the vehicle body.

Next, while explaining the operation of the control device (8), at the location on the front side of the intersection (CR), the moving vehicle (A) on the non-priority guidance zone (Lb) side has the priority guidance zone (La) side. Stop control means for making an emergency stop in response to reception of the priority signal (P) emitted from the moving vehicle (A), and the mark sensor (7) detects a merge mark (m ₂ ) which also serves as a deceleration start mark. Accordingly, the configuration of the deceleration control means for decelerating the moving vehicle (A) on the non-priority induction zone (Lb) side will be described in detail.

That is, as shown in FIG. 3, when the traveling of the moving vehicle (A) is started, it is determined whether or not there is an obstacle on the front side of the traveling based on the detection information of the ultrasonic sensor (10). If there are obstacles, immediately stop immediately and
When there is no obstacle, the moving vehicle (A) controls the operation of the steering motor (4) on the basis of the detection information by the induction band detection sensor (6), so that the moving vehicle (A) moves to the induction band (L). Steering is controlled so that the vehicle automatically travels along the line.
However, when the induction band detection sensor (6) cannot detect the induction band (L), the emergency stop is immediately performed. Next, the content of the mark (m) detected by the mark sensor (7) is determined, and the detected mark (m) is detected.
The processing corresponding to is performed. That is, when the detected mark (m) is the branch mark (m ₁ ), the edge of the guide band (L) to be detected by the guide band detection sensor (6) is moved to the left or right in accordance with the branching direction. By switching to either one, a branching process for branching the moving vehicle (A) is performed. or,
In the case of the merge mark (m ₂ ), the merge process described later is performed, and in the case of the stop mark (m ₄ ), the traveling motor (3) is regarded as having arrived at the station (ST).
Drive to stop the car body,
Transfer the load at the station (ST). Then, during the transfer operation of the load, the communication device (1a),
Via (1b), the number of branch marks (m ₁ ) and merge marks (m ₂ ) provided at the intersection (CR) to the next station (ST), and the guide along with the detection of the marks. After various traveling control information such as sensor switching information indicating which of the left and right edges of the band (L) to travel along is given to the moving vehicle side, it has a start command for restarting traveling. .

Therefore, the control device (8) performs the guidance based on the information given through the communication devices (1a) and (1b) every time the mark sensor (7) detects the mark (m). While automatically running along the left edge or the right edge of the guide band (L), the band detection sensor (6) is switched and the steering direction is switched accordingly.
Branching and merging processing will be performed in the prescribed direction at the intersection (CR).

Explaining the merging process, as shown in FIG. 4, a moving vehicle (A) traveling on the non-priority guidance zone (Lb) side.
However, when the merge mark (m ₂ ) is detected as the vehicle approaches the intersection (CR), the traveling motor (3) is immediately decelerated to a speed at which an emergency stop is possible, and at the same time from the light projector (11). Until the deceleration end mark (m ₃ ) is detected by stopping the emission of the priority signal (P), the light receiver (12) alone is kept in the operating state,
It is designed to monitor whether or not there is a moving vehicle (A) approaching or passing the intersection (CR) on the priority guidance zone (La) side, and thus travels on the non-priority guidance zone (Lb) side. A deceleration control means for decelerating the moving vehicle (A) is located at the front side of the merge section. And the non-priority induction zone (Lb)
The light receiver (12) of the moving vehicle (A) on the side is the priority guidance zone (Lb)
When the priority signal (P) emitted from the moving vehicle (A) on the side of the vehicle is received, the collision at the intersection (CR) is automatically avoided by stopping until the reception of the priority signal (P) disappears. Stop control means is configured. However, when the light receiver (12) does not receive the priority signal (P), or even when the priority signal (P) is received, the moving vehicle (A) on the priority guidance zone (La) side crosses the intersection. When the light receiving state ends as it passes through (CR), the vehicle resumes running in the decelerated state, and the deceleration end mark (m ₃ ) is detected, and the priority from the projector (11) is given. The emission of the signal (P) is restarted, and the normal speed is restored to join the priority induction zone (La).

Even during this merging process, if the ultrasonic sensor (10) is activated, an emergency stop will be performed immediately.

Also, a moving vehicle (A) traveling on the side of the priority guidance zone (La)
Means to pass the intersection (CR) without decelerating and stopping while maintaining the state of emitting the priority signal (P) from the light projector (10). However, the moving vehicle (A) on the side of the non-priority guidance zone (Lb) first crosses the intersection (CR).
When the vehicle is approaching, the ultrasonic sensor (10) is activated, the moving vehicle (A) on the priority guiding zone (La) side is in an emergency stop, and the moving vehicle on the non-priority guiding zone (Lb) side is stopped. It will wait until (A) passes the intersection (CR), and the moving vehicle (A) on either side of the priority guidance zone (La) and the non-priority guidance zone (Lb)
Even if the vehicle arrives at the intersection (CR) first, the moving vehicles (A) do not collide with each other.

Therefore, the moving vehicle (A) on the side of the non-priority guidance zone (Lb) is set at the intersection (CR), that is, the priority guidance zone (La) and the non-priority guidance zone (Lb).
At a point on the front side of the merging section, the control is to be stopped immediately by receiving a priority signal (P) emitted from the moving vehicle (A) on the priority guidance zone (La) side by a simple control of only decelerating. Since the possible distance can be shortened, the non-priority induction zone (L
Even if the moving vehicle (A) on the b) side is brought closer to the junction,
That is, even if the emission range of the priority signal (P) emitted from the priority induction zone (La) side is narrowed, the moving vehicles can be merged in accordance with the priority order without collision.

[Another embodiment]

In the above embodiment, the case where the priority signal emitting means for emitting the priority signal (P) and the receiving means for the priority signal emitting means are configured to include the infrared light projector (11) and the infrared light receiver (12) has been exemplified. Ultrasonic waves or electromagnetic waves may be used, and the specific configuration of the device can be changed in various ways.

Further, in the above-mentioned embodiment, the case where the moving vehicle guide band (L) is constituted by providing the resin mixed with the magnetic material in the form of a thin strip along the traveling route is exemplified. The structure of the moving vehicle guide band, the structure of the sensor for detecting the guide band, such as a tape provided along the traveling path to configure the light guide type or an electromagnetic induction type wire to configure the electromagnetic guide type, In addition, the specific configuration of each unit for automatically traveling the traveling vehicle along the guide band, such as the configuration of the mark (m) that gives the traveling vehicle various traveling control information such as the deceleration command at the merging portion, can be variously changed. However, the present invention is not limited to the configuration of the above embodiment.

[Brief description of drawings]

1 shows an embodiment of a traveling control facility for a mobile vehicle according to the present invention, and FIG. 1 is a layout diagram showing a schematic configuration of a traveling route,
FIG. 2 is a block diagram showing the configuration of the control system, FIG. 3 is a flowchart showing the overall operation of the control device, and FIG.
FIG. 5 is a flowchart of the merging process, and FIG. 5 is an explanatory diagram of a conventional example. (A) ... moving car, (L) ... moving car guidance zone, (La) ...
… Priority guidance zone, (Lb) …… Non-priority guidance zone, (P) …… Priority signal, (11) …… Priority signal emission means, (12) …… Reception means, (m ₂ ) …… Deceleration indicator , (M ₃ ) …… End indicator.

Claims (1)

[Claims] 1. A priority guidance zone (La) in which a mobile vehicle (A) preferentially travels in a mobile vehicle guidance zone (L) and a non-priority guidance zone (Lb) which joins the priority guidance zone (La). And the moving vehicle (A) to the front side in the traveling direction in order to inform the other traveling vehicle (A) traveling in the non-priority guidance zone (Lb) of the preferential traveling state. Priority signal emitting means (11) for emitting the priority signal (P) and receiving means (12) for receiving the priority signal (P) emitted from another moving vehicle (A) are provided, and the moving vehicle (A) is provided. ) Is the non-priority induction zone (L
A traveling control facility for a moving vehicle, which is provided with stop control means for making an emergency stop when the receiving means (12) receives the priority signal (P) while traveling on the side b), In the induction zone (Lb), the priority induction zone (L
A deceleration indicator (m ₂ ) for instructing the moving vehicle (A) to be the deceleration start position and an end indicator (m ₂ ) for instructing the deceleration end position to the moving vehicle (A) at the front side of the confluence part with a). ₃ ) is provided such that the end indicator (m ₃ ) is located closer to the merging portion than the deceleration indicator (m ₂ ), and the moving vehicle (A) has both types of indicator ( m ₂ ), (m ₃ )
And a deceleration instruction (m ₂ ) to detect the speed, and to decelerate based on the instruction from the deceleration instruction tool (m ₂ ) and to return to the original speed based on the instruction from the end instruction tool (m ₃ ). A traveling control facility for a moving vehicle provided with deceleration control means for controlling.