JPS61234408A - Safety system for optical guidance unmanned carrying system - Google Patents
Safety system for optical guidance unmanned carrying systemInfo
- Publication number
- JPS61234408A JPS61234408A JP60077430A JP7743085A JPS61234408A JP S61234408 A JPS61234408 A JP S61234408A JP 60077430 A JP60077430 A JP 60077430A JP 7743085 A JP7743085 A JP 7743085A JP S61234408 A JPS61234408 A JP S61234408A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- light
- section
- guide light
- irradiation
- 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.)
- Granted
Links
- 230000003287 optical effect Effects 0.000 title description 6
- 230000001678 irradiating effect Effects 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 description 2
- 241000270722 Crocodylidae Species 0.000 description 1
- 229910008048 Si-S Inorganic materials 0.000 description 1
- 229910006336 Si—S Inorganic materials 0.000 description 1
- LNNWVNGFPYWNQE-GMIGKAJZSA-N desomorphine Chemical compound C1C2=CC=C(O)C3=C2[C@]24CCN(C)[C@H]1[C@@H]2CCC[C@@H]4O3 LNNWVNGFPYWNQE-GMIGKAJZSA-N 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000008054 signal transmission Effects 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕 ′本発明は同
一走行経路上を複数台の車輪が光誘導方式によって走行
せしめられる無人搬送システム、Ｉ＃にこのシステム〈
おいて車輛の衝突を防止するための保安方式に関する。[Detailed Description of the Invention] [Industrial Application Field] 'The present invention relates to an unmanned transportation system in which a plurality of wheels are made to run on the same travel route using an optical guidance method, and this system is applied to I#.
This invention relates to a safety system for preventing vehicle collisions.
同一走行経路上を複数台の車幅が光誘導方式によって走
行せしめられる無人搬送システムであって、誘導光が上
記走行経路に沿って所定区間毎に区分して車輛に照射さ
れ、この車輛からの反射光−を検出し、その反射光検出
信号と誘導光照射信号とから、＃纏光照射区簡における
車輛の存在の有無を検知して、］を輛の存在時に後続隣
接区間での誘導光照射を中止己て上記後続隣接区間に画
該車輛を停止せしめて車輛の衝突を防止する保安方式％
式％
〔従来の技術〕
ル輛に誘導光を照射し、その検出信号に応答して車輌の
走行を制御する光訪導式無人搬送システムは例えば、％
開陥“５Ｂ−１４４２１８号公報、特開昭５９−１７７
６１４号公報等に開示されている如（種々の方式のもの
が公知となっている。This is an unmanned transportation system in which a plurality of vehicles are driven along the same travel route using a light guidance method, and guidance light is irradiated onto the vehicles in predetermined sections along the travel route, and the vehicles are guided by light. The reflected light is detected, and from the reflected light detection signal and the guidance light irradiation signal, the presence or absence of a vehicle in the bundled light irradiation section is detected, and the guidance light is detected in the subsequent adjacent section when a vehicle is present. A safety method that prevents vehicle collision by stopping the irradiation and stopping the vehicle in the following adjacent section.
Formula % [Prior art] For example, an optical guided unmanned transportation system that illuminates a vehicle with guiding light and controls the vehicle's travel in response to the detection signal is, for example,
Opening "5B-144218 Publication, JP 59-177
Various systems are known, such as those disclosed in Japanese Patent Application No. 614.
而して上記システムにおいて、複数台のＪｋｓが同−走
行経路上を走行せしめられるようになっている場合には
、車幅間の追突防止を計る心機がある。しかし従来の光
ｖｇ４式無人搬送システムではかかる場合に有効な保安
方式が確立されていない。In the above system, if a plurality of JKSs are allowed to travel on the same travel route, there is a mechanism to prevent rear-end collisions between the vehicles. However, in the conventional optical VG4 type unmanned transportation system, an effective security system has not been established in such a case.
的えは、従来、チェックイン、チェックアウト式の走行
経路の所定区間における車輛の存在を積卸する方式が知
られているが、これは走行経路に沿ってリレー等の検出
手段を埋設するもので、信号の送受信はｔＩＢ誘導式と
なっており、設備が大型かつ複雑である。またこの方式
は阜に車輛の存在を確社するだけのもので保安を意図す
るものではなく、しかもこれを採用するとしても電磁鰐
導式であるから光誘導式のシステムには適合的ではない
。The idea behind this is that conventional check-in/check-out methods are known to detect the presence of vehicles in a predetermined section of a driving route, but this method involves burying detection means such as relays along the driving route. The signal transmission and reception is done using the tIB induction method, and the equipment is large and complicated. Furthermore, this method is only used to confirm the presence of a vehicle in the area, and is not intended for security purposes.Furthermore, even if this method were adopted, it would not be suitable for optical guidance systems since it would be based on electromagnetic crocodile guidance. .
本発明の目的はかかる従来技術の問題点を解決するため
光誘導式無人搬送システム忙遇金的な無人搬送車輛の追
突防止のための保安方式を提供するにある。SUMMARY OF THE INVENTION In order to solve the problems of the prior art, it is an object of the present invention to provide a safety system for preventing a rear-end collision of an unmanned guided vehicle in a light-guided unmanned transportation system.
本発明は上記目的を達成するため、上記システムにおい
て、走行経路に清って所定区間毎に誘導光を区分して車
輛上の走行制御用光検出器及び光応答器に照射する手段
と、上記光応答器からの応答光を検出する手段と、上記
誘導光照射信号と応答元検出イぎ号とに応答して誘導光
照射区間における車輛の存在の有無を検知して、車輛の
存在時に後続１Ｍ接区間での誘導光照射を中止して上記
後続＠接区間に当練車輛を停止せしめる手段とを備えた
ことを特徴とする。In order to achieve the above-mentioned object, the present invention provides the above-mentioned system with a means for dividing the guiding light into predetermined sections along the driving route and irradiating the driving control photodetector and photoresponder on the vehicle; means for detecting response light from the photoresponder, and detecting the presence or absence of a vehicle in the guidance light irradiation section in response to the guidance light irradiation signal and the response source detection signal; The present invention is characterized by comprising means for stopping the irradiation of the guiding light in the 1M contact area and stopping the training vehicle in the following @ contact area.
・ 走行経路の所定区間において、誘導光が走行車輛に
照射されると、この車輛上の光応答器１例えば反射板か
らの反射光が検出され、その検出信号と誘導光照射時忙
発生される誘導光照射時号とによって上記区間での車輛
の存在の有無が検知される・その結果、車輛が存在する
ことが検知されると、後続隣接区間での誘導光照射を中
止し後続車輛を上記後続隣接区間に停止せしめる。- When the guiding light is irradiated onto a traveling vehicle in a predetermined section of the driving route, the reflected light from the photoresponse 1 on the vehicle, for example, a reflector, is detected, and the detection signal and the guidance light irradiation signal are generated. The presence or absence of a vehicle in the above section is detected based on the guidance light irradiation time signal. As a result, if the presence of a vehicle is detected, the guidance light irradiation in the following adjacent section is stopped and the following vehicle is The following adjacent section is forced to stop.
以下図面に示す実施例を参照して本発明を更に説明する
と、図は本発明の保安方式を光誘導式無人搬送システム
に適用したー実施鉤な示すものである。同図において、
Ａｉ〜Ａｉアは肪導光照射制御器、Ｂ・〜Ｂｉ＋ｎは受
光器、ｓ、〜５ｉｎｎはスリント板、Ｒ，〜Ｒ，＋。は
反射板、Ｄｉ〜Ｄ、アは光検出器、Ｗは無人搬送本輛酩
導光照射制御器Ａｉ ％Ａｉア、受光器Ｂｉ〜Ｂ、＋。The present invention will be further described below with reference to embodiments shown in the drawings. The figures illustrate the implementation of the security system of the present invention applied to a light-guided unmanned transportation system. In the same figure,
Ai to Ai are fat guide light irradiation controllers, B.~Bi+n are light receivers, s, ~5inn are slint plates, and R, ~R, +. are reflection plates, Di to D, A are photodetectors, W are light guiding irradiation controllers for the unmanned transport vehicle, and light receivers Bi to B, +.
及びスリット板Ｓｉ〜ｓｉヤ。は夫夫上記卑輛の走行経
路ＸＩＣ１’８って複数の分割された区間毎Ｋａけられ
ていて、１０えは制御器Ｓｉ内の光源（図示せず）から
の誘導光ｆ、はスリット板Ｓｉを介してｉ輛Ｗに照射さ
れる。and slit plates Si to Si. The running route of the above-mentioned vehicle XIC1'8 is divided into a plurality of sections. The light is irradiated onto the vehicle W via Si.
車輛Ｗ上には光検出器Ｄｉ及び反射板Ｒ１が設けられて
おり、他の図示していない車輛についても同様のものが
設けられている。光検出器Ｄ・は公息
知の光感応ダイオード列等から成るもので、誘導光ｆｉ
を受光すると、走行経路ＸＫ対する車輛Ｗの左右偏倚を
検知し、経路Ｘ上を走行するように車輪の駆動系を制御
するもので、これらに関しては公知の技術を利用するの
で詳純な説明は省略する。なお車輛Ｗは経路Ｘを紙面に
対し左から右に光誘導で走行せしめられるものとする。A photodetector Di and a reflector R1 are provided on the vehicle W, and similar devices are provided on other vehicles (not shown). The photodetector D consists of a well-known array of photosensitive diodes, etc., and the guided light fi
When the vehicle W receives the light, it detects the left-right deviation of the vehicle W with respect to the traveling route XK, and controls the wheel drive system so that the vehicle W travels on the route Omitted. It is assumed that the vehicle W can be driven along the route X from left to right with respect to the paper by optical guidance.
また車輛に照射された＃ｓ４光ｆｉの一部は反射板Ｒ，
で反射され、その反射光ｒｉが受光器で受光され、受光
信号Ｒ１を発生する。In addition, a part of the #s4 light fi irradiated onto the vehicle is reflected by the reflector R,
The reflected light ri is received by a light receiver to generate a light reception signal R1.
受光信号Ｒ１と、誘導光照射時に制御器Ａｉより発生さ
れる誘導光照射信号Ｆｉとは後続の区間の制御器Ａｉ＋
、に入力される。The light reception signal R1 and the guiding light irradiation signal Fi generated by the controller Ai at the time of guiding light irradiation are the same as the guiding light irradiation signal Fi generated by the controller Ai+ in the subsequent section.
, is input.
従って制御器Ａｉ＋１で、過信な論理回路によりＲ，と
Ｆ、とのアンド出力を得るようにすれは、上記誘導光照
射区間における車輛Ｗの存在の有無を検知することがで
きる。部ちアンド出力が１１″であれば上記区間に車輛
Ｗが存在することを意味するので、その時には上記アン
ド出方によって後続隣接区間の制御器Ａｉ＋１による誘
導光の照射を中止させる。Therefore, if the controller Ai+1 obtains an AND output of R and F using an overconfident logic circuit, it is possible to detect the presence or absence of a vehicle W in the guidance light irradiation section. If the AND output is 11'', it means that the vehicle W is present in the section, and in that case, the irradiation of the guiding light by the controller Ai+1 in the subsequent adjacent section is stopped depending on the output of the AND.
か（して後続車輛かＡｉ＋ｘの区間に存在すれば。(If there is a following vehicle in the Ai+x section.
前記制御器ＡｉＫよる七の区間に停止せしめられるので
、同一走行経路ＸＶｃ１！数台の無人搬送車輛が訪導光
方弐によって走行せしめられていても。Since the controller AiK causes the vehicle to stop at section 7, the same travel route XVc1! Even if several automated guided vehicles were driven by the visiting light guide.
夫々の車輛間の安全な間隔は常時保持され、その追突防
止を計ることができる。A safe distance between each vehicle is maintained at all times, making it possible to prevent rear-end collisions.
なお上記実施例において反射板を用いるとしたが、これ
のみに限定されないこと勿論で、これは要するに誘導光
に応答して光を発生（又は反射コする光応答器であれば
よい。Although a reflector is used in the above embodiment, it is needless to say that the present invention is not limited to this, and any light-responsive device that generates (or reflects) light in response to guided light may be used.
以上説明した所から明らかなように本発明によれば、比
較的簡単な構成、特に床面設置物を要せずに所期の保安
を計ることができ、しかも車輛走行の光誘導方式と同種
の光検知方式であるから光誘導式無人搬送システムに好
適な保安方式である。As is clear from the above description, according to the present invention, it is possible to achieve the desired safety with a relatively simple configuration, especially without requiring any floor-mounted objects, and moreover, it is similar to the light guidance system for vehicle running. Since it is a light detection method, it is a security method suitable for optically guided unmanned transportation systems.
図は本発明の一笑Ｓ飼の概略栴成図である。
Ａ・〜Ａ、＋。・・・誘導光照射制御器、Ｓｉ−Ｓ、＋
。・・・スリット仮、Ｒ・・・・反射板、Ｄｉ・・・光
検出器、Ｗ・・・車輛、Ｂ、％Ｂｉ＋。・・・受光器。The figure is a schematic diagram of the Iksho S cage according to the present invention. A・～A,+. ...Guiding light irradiation controller, Si-S, +
. ...Temporary slit, R...Reflector, Di...Photodetector, W...Vehicle, B, %Bi+. ...Receiver.
Claims (1)
せしめられるシステムにおいて、上記走行経路に沿つて
所定区間毎に誘導光を区分して上記車輛上の走行制御用
光検出器及び光応答器に照射する手段と、上記光応答器
からの応答光を検出する手段と、上記誘導光照射信号と
応答光検出信号とに応答して誘導光照射区間における車
輛の存在の有無を検知して、車輛の存在時に後続隣接区
間での誘導光照射を中止して上記後続隣接区間に当該車
輛を停止せしめる手段とを備えたことを特徴とする光誘
導式無人搬送システムの保安方式。In a system in which a plurality of optically guided automatic guided vehicles are made to travel on the same travel route, the guiding light is divided into predetermined sections along the travel route, and a photodetector for travel control on the vehicle and a photoresponse are detected. means for irradiating the vehicle with light, means for detecting response light from the light transponder, and detecting the presence or absence of a vehicle in the guidance light irradiation section in response to the guidance light irradiation signal and the response light detection signal; A security method for a light-guided unmanned transportation system, comprising: a means for stopping the irradiation of guiding light in a subsequent adjacent section when a vehicle is present, and stopping the vehicle in the subsequent adjacent section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60077430A JPS61234408A (en) | 1985-04-10 | 1985-04-10 | Safety system for optical guidance unmanned carrying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60077430A JPS61234408A (en) | 1985-04-10 | 1985-04-10 | Safety system for optical guidance unmanned carrying system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61234408A true JPS61234408A (en) | 1986-10-18 |
| JPH0444963B2 JPH0444963B2 (en) | 1992-07-23 |
Family
ID=13633778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60077430A Granted JPS61234408A (en) | 1985-04-10 | 1985-04-10 | Safety system for optical guidance unmanned carrying system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61234408A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0649078A1 (en) * | 1993-10-19 | 1995-04-19 | Seiko Epson Corporation | Method of and apparatus for guiding microrobot |
| US5596255A (en) * | 1993-06-07 | 1997-01-21 | Seiko Epson Corporation | Method of and apparatus for guiding microrobot |
-
1985
- 1985-04-10 JP JP60077430A patent/JPS61234408A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5596255A (en) * | 1993-06-07 | 1997-01-21 | Seiko Epson Corporation | Method of and apparatus for guiding microrobot |
| EP0649078A1 (en) * | 1993-10-19 | 1995-04-19 | Seiko Epson Corporation | Method of and apparatus for guiding microrobot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0444963B2 (en) | 1992-07-23 |
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