JPS59176807A - Preventing device for rear-end collision of self-traveling truck - Google Patents
Preventing device for rear-end collision of self-traveling truckInfo
- Publication number
- JPS59176807A JPS59176807A JP58051243A JP5124383A JPS59176807A JP S59176807 A JPS59176807 A JP S59176807A JP 58051243 A JP58051243 A JP 58051243A JP 5124383 A JP5124383 A JP 5124383A JP S59176807 A JPS59176807 A JP S59176807A
- Authority
- JP
- Japan
- Prior art keywords
- self
- light
- truck
- propelled
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002265 prevention Effects 0.000 claims abstract description 11
- 230000007257 malfunction Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、所定の経路を移動する自走搬送台車の追突防
止装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a rear-end collision prevention device for a self-propelled carrier moving along a predetermined route.
所定の経路を移動する複数の自走（賄送台車を備えた搬
送設備においては、従来、接続の自走搬送台車の前部か
ら反射式ホトスイッチの光を出射し、前方の自走搬送台
車の後部に取付けられた反射板からの反射光を検出して
停止するという追突防止方式が通常採用されている。し
かしながらこのような従来方式では、例えばダクト内走
行時におけるダクトからの反射光や、垂直径路部分のレ
ールからの反射光や、他の外乱光等を検出して、ｆ４ｉ
ｊ方に自走搬送台車がいないにも関わらず停止してしま
うという不都合があった。Conventionally, in transport equipment equipped with multiple self-propelled transport vehicles that move along a predetermined route, the light of a reflective photoswitch is emitted from the front of the connected self-propelled transport trolley, and A rear-end collision prevention system is usually adopted in which the vehicle stops by detecting the reflected light from a reflector plate attached to the rear of the vehicle.However, with this conventional method, for example, when the vehicle is traveling inside the duct, the vehicle detects the reflected light from the duct, By detecting reflected light from the rails in the vertical path and other disturbance light,
There was an inconvenience that the vehicle stopped even though there was no self-propelled transport vehicle on the j side.
本発明は上記従来の欠点を解消するもので、外乱による
誤動作の恐れのない自走搬送台車の追突防止装置を提供
することを目的とする。The present invention solves the above-mentioned conventional drawbacks, and aims to provide a rear-end collision prevention device for a self-propelled carrier that is free from malfunction due to external disturbances.
上記目的を達成するため、本発明の自走搬送台車の追突
防止装置は、自走搬送台車の後部に取付けられて赤外線
変調光を出射する発光器と、前記自走搬送台車の前部に
取付けられて赤外ａ変調光を受光する受光器と、この受
光器が前方の自走搬送台車の発光器から出射された赤外
線変調光を受光したときに自走搬送台車の走行を停止さ
せる走行停止手段とを備えた構成である。In order to achieve the above object, the rear collision prevention device for a self-propelled carrier according to the present invention includes a light emitting device that is attached to the rear of the self-propelled carrier and emits infrared modulated light, and a light emitting device that is attached to the front of the self-propelled carrier. a light receiver that receives infrared a-modulated light, and a travel stop that stops the traveling of the self-propelled transport vehicle when this receiver receives the infrared modulated light emitted from the light emitter of the mobile transport vehicle in front of the mobile transport vehicle. The configuration includes means.
かかる構成によれば、前方の自走搬送台車から出射され
た赤外線変調光を受光して走行を停屯させるので、外乱
光による誤Ｍ）作がなく、正確な追突防上を行うことが
できる、
以下、本発明の一実施例について、図面に基づいて説明
する。According to this configuration, since the traveling is stopped by receiving the infrared modulated light emitted from the self-propelled transport vehicle in front, there is no erroneous operation due to external light, and accurate rear-end collision prevention can be performed. , Hereinafter, one embodiment of the present invention will be described based on the drawings.
第１図は自走搬送台車の模式平面図で、自走搬送台車（
１１の進行方向両端部には、赤外線変調光を出射する発
光器（２ａＭ２ｂ）と、赤外線変調光を受光する受光器
（３ａ）（３ｂ）とが設置されており、これら発光器（
２ａＭ２’ｂ）及び受光器（３ａＭ３ｂ）は、自走搬送
台車（１）の進行方向に応じて自走搬送台車（１）に搭
載されたマイクロコンピュータにより切替えられる。Figure 1 is a schematic plan view of the self-propelled carrier (
A light emitter (2aM2b) that emits infrared modulated light and a light receiver (3a) (3b) that receives infrared modulated light are installed at both ends in the traveling direction of 11.
2aM2'b) and the light receiver (3aM3b) are switched by a microcomputer mounted on the self-propelled carrier (1) depending on the traveling direction of the self-propelled carrier (1).
すなわち、自走搬送台車（１）の進行方向が、例えば第
１！ン］矢印（Ａ）方向の時には、発光器（２ｂ）と受
光器（３ａ）とが選択され、動作状態とされる。That is, the traveling direction of the self-propelled carrier (1) is, for example, the first! In the direction of arrow (A), the light emitter (2b) and the light receiver (3a) are selected and put into operation.
第２図は自走搬送台車（υに搭載された追突防止装置の
回路ブロック図で、（４）はマイクロコンビュ −一メ
の中央演算処理装置（以下ＣＰＵと称す）、（５）はＣ
ＰＵ（４１等にクロックを供給する発振器、（６）はＣ
ＰＵ（４）からの指令値に応じた分周比で発振器（５）
からのクロックを分周する分周回路、（７）はフリツプ
フロツプ回路、（８） （９）はアンドゲート回路、α
ＯはＣＰＵからの切替信号により動作するリレー、（１
０ａ）はリレーＧＯの接点、卸はローパスフィルタｏ２
１と増幅器−とから構成される受信信号処理回路であり
、発光器（２ａＸ２ｂ）は例えば発光ダイオードにより
、また受光器（３ａ ）（３ｂ ）は例えばホトダイ、
オードにより構成されている。Figure 2 is a circuit block diagram of the rear-end collision prevention device mounted on the self-propelled transport vehicle (υ), (4) is the central processing unit (hereinafter referred to as CPU) of the microcomputer, and (5) is the C
PU (oscillator that supplies clock to 41 etc., (6) is C
Oscillator (5) with a frequency division ratio according to the command value from PU (4)
(7) is a flip-flop circuit, (8) (9) is an AND gate circuit, α
O is a relay operated by a switching signal from the CPU, (1
0a) is the contact of relay GO, wholesale is low pass filter o2
1 and an amplifier, the light emitter (2aX2b) is, for example, a light emitting diode, and the light receivers (3a, 3b) are, for example, a photodiode,
It is composed of odes.
次に動作を説明する。いま、自走搬送台車（１〕の進行
方向が矢印（Ａ）方向であるとすると、発光器（２ｂ）
及び受光器（３ａ）が選択される。すなわち、ＣＰＵ（
４）からアンドゲート回路（９）にハイレベルの信７号
が出力されると共に、リレーαＧに切替信号が出力され
てその接点（１０ａ）が端子（ａ）側に切替わる。発振
器（５）から出力される周波数ｆ０のクロックは、ＣＰ
Ｕ（４）からの指令値に応じた分周比で分周回路（６）
により分周されて周波数ｆ１のパルスになり、さらに７
リツプフロツプ回路（７）は前記パルスにより丸軸され
て周波数ｆｔ＆のパルスを出力する。このパルスハアン
トケート回路（９）を介してトランジスタ（Ｑりを駆動
し、これにより発光器（２ｂ）は赤外線変調光を出射す
る。なお、変調波の周波数で！は例えば５．５１１ＨＩ
ｉ！とする。アントゲート回路（８１にはＣＰＵ（４）
カラハイレベルの信号が供給されていないので、発光器
（２ａ）は発光しない。Next, the operation will be explained. Now, assuming that the traveling direction of the self-propelled carrier (1) is the arrow (A) direction, the light emitting device (2b)
and the light receiver (3a) are selected. In other words, the CPU (
4) outputs a high-level signal No. 7 to the AND gate circuit (9), and at the same time outputs a switching signal to the relay αG, which switches its contact (10a) to the terminal (a) side. The clock of frequency f0 output from the oscillator (5) is CP
Frequency division circuit (6) with frequency division ratio according to command value from U (4)
The frequency is divided into a pulse of frequency f1, which is further divided by
The lip-flop circuit (7) is rounded by the pulse and outputs a pulse with a frequency ft&. The transistor (Q) is driven through this pulse antenna circuit (9), and the light emitter (2b) emits infrared modulated light.The frequency of the modulated wave is, for example, 5.511HI.
i! shall be. Ant gate circuit (81 has CPU (4)
Since the color high level signal is not supplied, the light emitter (2a) does not emit light.
受光器（３ａ）が前方の自走搬送台車の発光器から出射
された赤外線変調光を受光すると、その信号はリレー接
点（１０ａ）を介して信号処理回路（１１）に入力され
、信号処理回路ｆ１１１により処理された信号が台車検
品信号としてＣＰＵ（４）に入力され、これによりＣＰ
Ｕ（４）は自走搬送台車（１）の走行１駆動回路に停止
指令を出力し、自走搬送台車（υが停止する。なお、リ
レー接点（１０ａ）が端子（ａ）側に切替わっているの
で、受光器（３ｂ）は動作しない。自走搬送台車（１）
の走行方向が切替えられれば、ｃ’ｐｔｒ（４）からア
ンドゲート回路（８）の方にハイレベルの信号が供給さ
れると共に、リレーＯＧへの切替信号が供給されなくな
り、発光器（２ａ）及び受光器（３ｂ）が選択されるこ
とは勿論である。When the light receiver (3a) receives the infrared modulated light emitted from the light emitter of the self-propelled carrier in front, the signal is input to the signal processing circuit (11) via the relay contact (10a), and the signal processing circuit The signal processed by f111 is input to the CPU (4) as a trolley inspection signal, which causes the CPU
U (4) outputs a stop command to the traveling 1 drive circuit of the self-propelled transport vehicle (1), and the self-propelled transport vehicle (υ) stops. Note that the relay contact (10a) is switched to the terminal (a) side. Therefore, the light receiver (3b) does not operate.Self-propelled carrier (1)
When the traveling direction of the light emitting device (2a) is switched, a high level signal is supplied from c'ptr (4) to the AND gate circuit (8), and a switching signal to the relay OG is no longer supplied. Of course, the light receiver (3b) and the light receiver (3b) are selected.
なお上記実施例においては、自走搬送台車の走行方向を
切替可能な例について説明したが、自走搬送台車の走行
方向が一定の場合、前部に１個の受光器を、後部に１個
の発光器を設ければよいことは勿論である。In the above embodiment, an example was explained in which the traveling direction of the self-propelled carrier can be switched. However, if the traveling direction of the self-propelled carrier is constant, one light receiver may be provided at the front and one at the rear. Of course, it is sufficient to provide a light emitting device.
以上説明したように本発明によれば、前方の自走搬送台
車の発光器から出射された赤外線に調光を受光器で受光
するので、外乱光による誤動作を確実に防止し得る。ま
た従来のように反射式のホトスイッチでは、出射光の光
１ｆｉＥ絞られているので、カーブ地点で前方の自走搬
送台車を検出できないことがあるが、本発明では検出ゾ
ーンが略球形に広がるので、カーブ地点でも確実に追突
防止機能を発揮し得る。As explained above, according to the present invention, since the light receiver receives the infrared rays emitted from the light emitter of the self-propelled vehicle in front, malfunctions caused by ambient light can be reliably prevented. In addition, with a conventional reflective photoswitch, the emitted light is narrowed down by 1fiE, so it may not be possible to detect the self-propelled vehicle in front at a curved point, but with the present invention, the detection zone expands into an approximately spherical shape. Therefore, the rear-end collision prevention function can be reliably demonstrated even at curved points.
第１図は本発明の一実施例における追突防止装置を備え
た自走搬送台車の模式平面図、第２図は本発明の一実施
例における追突防止装置の回路プロ □ツク図である
。FIG. 1 is a schematic plan view of a self-propelled carrier equipped with a rear collision prevention device according to an embodiment of the present invention, and FIG. 2 is a circuit diagram of the rear collision prevention device according to an embodiment of the present invention.
Claims (1)
出射する発光器と、前記自走搬送台本の前部に取付けら
れて赤外線変調光を受光する受光器と、この受光器が前
方の自走搬送台車の発光器から出射された赤外線変調光
を受光したときに自走搬送台車の走行を停止させる走行
停止手段とを備えた自走搬送台車の追突防止装置。L: a light emitter attached to the rear of the self-propelled carrier that emits infrared modulated light; a light receiver attached to the front of the self-propelled carrier to receive the infrared modulated light; A rear-end collision prevention device for a self-propelled transport vehicle, comprising a traveling stop means for stopping the travel of the self-propelled transport vehicle when receiving infrared modulated light emitted from a light emitter of the mobile transport vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58051243A JPS59176807A (en) | 1983-03-25 | 1983-03-25 | Preventing device for rear-end collision of self-traveling truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58051243A JPS59176807A (en) | 1983-03-25 | 1983-03-25 | Preventing device for rear-end collision of self-traveling truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59176807A true JPS59176807A (en) | 1984-10-06 |
Family
ID=12881503
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58051243A Pending JPS59176807A (en) | 1983-03-25 | 1983-03-25 | Preventing device for rear-end collision of self-traveling truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59176807A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6197711A (en) * | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | Infrared-ray tracking robot system |
| JPS621211U (en) * | 1985-06-19 | 1987-01-07 | ||
| JPH05134742A (en) * | 1991-11-14 | 1993-06-01 | Daifuku Co Ltd | Running control method for electric car for carrier |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52116535A (en) * | 1976-03-27 | 1977-09-30 | Omron Tateisi Electronics Co | Collision preventing device |
| JPS57110559A (en) * | 1980-11-14 | 1982-07-09 | Inventio Ag | Device for maintaining distance between mutual track car |
-
1983
- 1983-03-25 JP JP58051243A patent/JPS59176807A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52116535A (en) * | 1976-03-27 | 1977-09-30 | Omron Tateisi Electronics Co | Collision preventing device |
| JPS57110559A (en) * | 1980-11-14 | 1982-07-09 | Inventio Ag | Device for maintaining distance between mutual track car |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6197711A (en) * | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | Infrared-ray tracking robot system |
| JPS621211U (en) * | 1985-06-19 | 1987-01-07 | ||
| JPH05134742A (en) * | 1991-11-14 | 1993-06-01 | Daifuku Co Ltd | Running control method for electric car for carrier |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPS6316309B2 (en) | ||
| JPS59176807A (en) | Preventing device for rear-end collision of self-traveling truck | |
| EP0097179A1 (en) | A position indicating system | |
| GB2205463A (en) | Avoiding collision between cranes | |
| JP2002362706A (en) | Conveying carrier | |
| JPS6233611B2 (en) | ||
| KR20210144709A (en) | Object detection system, transport cart, and object detection device | |
| JP2910245B2 (en) | Driverless vehicle safety devices | |
| JPH0290210A (en) | Unmanned carrier vehicle controller | |
| JPH05108154A (en) | Confluence control system for carrier | |
| JPS609846Y2 (en) | Unmanned vehicle signal transmission and reception device | |
| JP2529747B2 (en) | Safety device for man conveyor | |
| JP3317380B2 (en) | Automatic guided vehicle | |
| JPH0288987A (en) | Controller for traffic indicator | |
| JP2000132233A (en) | Unmanned carrier | |
| JPH045602B2 (en) | ||
| JPH03131911A (en) | Method for preventing generation of collision on curve of unmanned carrier system | |
| JPS6341036B2 (en) | ||
| JP2788524B2 (en) | Obstacle detection device for unmanned forklift | |
| JPH02302805A (en) | Obstacle detecting circuit for unmanned carrier vehicle | |
| JPH0240001Y2 (en) | ||
| JPH04129874A (en) | Light space transmission device | |
| JPH06102931A (en) | Method and device for controlling traffic of automated guided vehicle | |
| JP3522134B2 (en) | Minimum vehicle height determination apparatus and determination method | |
| JPH11231938A (en) | Traveling controller for unmanned carrier |