JPS6189164A - Automatic conveyor for car by induction radio device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention [Technical Field of the Invention] The present invention provides an unmanned driving system for a plurality of industrial/transport vehicles (hereinafter simply referred to as vehicles) using a ground control type guidance radio device. Induction heat I that can control the emergency stop of the vehicle, especially in an emergency, in automatic conveyance equipment! i! This invention relates to automatic transportation and loading of vehicles using a device.

[Technical background of the invention and its problems] Conventionally, an unmanned driving system for a vehicle that operates multiple vehicles unmanned by installing only one crime device M2 on the ground grasps the vehicle position on the ground and performs electronic calculation. Vehicle operation is managed according to the vehicle's destination scheduled in advance by a train or sequence controller.

Further, an information transmission device is interposed between the vehicle and the control device, and the control device transmits travel command information to the vehicle, and the vehicle information is transmitted from the vehicle to the control device.

By the way, conventional information transmission devices generally do not require guidance! i! A system is used in which a guide trolley line is laid along the road and along the front line, and information is constantly transmitted between the control device and the vehicle. However, at points on the running route and at intersections with general roads and other rails, such as at railroad crossings, varnished trolley wires must be used. ! Two legs are difficult.

For this reason, at points on the driving route and at railroad crossings,
The guide trolley wire is laid in sections, but
In this case, it is necessary to install a transmitting/receiving device corresponding to each guiding trolley wire. In addition, in order to ensure the continuity of information between each guide trolley wire, a method for laying the guide 1 to trolley wire and an information switching device between each trolley wire are also required. When the travel route is complicated in this way, the information transmission device becomes complicated and expensive, and its reliability is reduced.

Therefore, as a countermeasure, a loop antenna is installed intermittently on the ground, and when a vehicle passes over this loop antenna, information is transmitted between the axis and the ground, and the vehicle stops on this loop antenna or the next loop antenna A system is adopted in which a driving command is given to the vehicle. In this case, when a travel command is given to the vehicle, the given command is latched on the vehicle and the vehicle is made to travel to the next loop antenna. In addition, this loop antenna is also used to detect vehicle positions in closed sections to control the operation of multiple vehicles, thereby minimizing the number of loop antennas required for operation control and reducing the cost of the system. However, in this method, the distance between one loop antenna and the next loop antenna is not constant, and there are long sections. Therefore, if the vehicle is traveling on this long non-loop antenna section (section where no loop antenna is installed) and there is a situation where the vehicle needs to be stopped due to an emergency such as a geological formation or a fire, the vehicle will need to stop on the next loop antenna. Since the vehicle cannot be stopped unless the vehicle is running, it takes time to stop the vehicle. Furthermore, if the section of the ground loop antenna is made longer, it will be possible to stop the vehicle in the above-mentioned emergency, but if a vehicle remains within this section of the loop antenna indefinitely under normal driving conditions, the running of the following vehicle will be obstructed. Put it away. Furthermore, if multiple other loop antennas are installed in the non-loop antenna section,
Although the above problem can be solved, the information transmission equipment becomes expensive and
Another disadvantage is that the control becomes complicated.

[Object of the Invention] The present invention provides an economically advantageous radio guidance system that eliminates the above-mentioned drawbacks, obstructs the running of following vehicles, eliminates the complexity of controlling the information transmission device, and allows the vehicle to be stopped quickly in an emergency. The present invention aims to provide an automatic vehicle transport system using the device.

[Summary of the Invention] In order to achieve the above object, in the present invention, an emergency loop antenna for emergency stop is installed in a non-loop antenna section having a long distance among the ground loop antennas installed in consideration of the blocked section, and the guided wireless The device is equipped with a circuit that transmits only the carrier signal to this emergency loop antenna, and in an emergency, by transmitting only the carrier signal to this emergency loop antenna, the control signal of the vehicle passing over the emergency loop antenna is turned off. It is designed to stop the vehicle.

[Embodiments of the invention] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing an example of the overall configuration of an automatic vehicle transport system using a guided radio device. In FIG. 1, reference numeral 1 indicates a running road, and 2 indicates a vehicle running on the running road 1. Vehicles 2 are present at a plurality of locations on the running road 1. 3 is driving route 1
The point 3a at the branch point is a point control device installed corresponding to this point 3. Point 3 is switched by command. 4 is a railroad crossing, 4a is a railroad crossing closing control Il device installed corresponding to this railroad crossing 4, and this railroad crossing closing control 1! The equipment 4a opens and closes the railroad crossing in response to commands from the unmanned operation device 7.

Reference numerals 5-1 to 5-n are guided wireless ground loop antennas arranged along the running route 1 for transmitting information between the vehicle 2 and the unmanned driving device 7 on the ground. 1 to 5-n are entrances to closed sections, points necessary for security, taking into consideration vehicle operation schedules, as shown in the figure.
They are installed before and after railroad crossings, where vehicles stop (work). In this case, the length of the ground loop antenna is such that it can exchange information with the ground when the vehicle enters the area at its maximum speed, and it can also communicate the braking distance and the next command to restart when the vehicle stops due to a stop command. The length should be adjusted to allow for the necessary margin for receiving the hair. 11-1 to 11-q are emergency loop antennas, and these emergency loop antennas 11-1 to 11
-q is arranged in a section where the distance between adjacent antennas of the terrestrial loop antennas 5-1 to 5-n is good. On the other hand, 6 is a guidance radio device (ground station), 7 is an unmanned operation device, and 9 is an upper-level calculation example.This upper-level calculation example 9 performs overall production management, etc., and is usually used for unmanned operation from upper-level calculation example 9. The unmanned operation device 7 is operated by a port that instructs the operation schedule to the operation device 7.
The system controls the operation of vehicles according to the schedule. Reference numeral 8 denotes a schedule device, and this schedule device 8 is used when the upper level calculation ta9 and the unmanned operation device 7 are not connected, or when they are interrupted, or when they are placed in an interrupt schedule. Reference numeral 12 denotes an operation console installed at a central control station on the ground, and this operation console 12 has a built-in push button for making an emergency stop of the vehicle.

In the present invention, in the unmanned vehicle driving system configured as described above, the configuration on the ground side of the guided wireless bag @ 6 as an information transmission device for transmitting information between the vehicle 2 and the unmanned driving device 7 on the ground is provided. The purpose is to provide a vehicle emergency stop function that is as simple as possible, inexpensive, and improves the security of the system.

FIG. 2 is a block diagram showing an example of the configuration of the guidance radio device 6 in association with an information transmission system between the ground and the vehicle.

In FIG. 2, the guided radio device 6 that inputs and outputs information with the unmanned operation device 7 is the guided radio ground loop antenna 5-1.
~5-n, and the same number of carrier transmitting units 62 as emergency loop antennas 11-1 to 11-q. The transmitting/receiving unit 61 includes a tone signal oscillation circuit, a carrier sending circuit, a filter tone signal detecting circuit, a transmitting carrier detecting circuit, a receiving demodulating circuit, a mixer, an interface circuit with the unmanned operation device 7, and a selector switch circuit, which are included in a normal guided radio device. (a circuit for switching the coupling between the transmitting/receiving unit and the ground loop antenna). Further, the carrier transmitting unit 62 is composed only of a carrier transmitting circuit. These transmission units 61 and carrier transmission units 62 are connected to line couplers 5-1a to 5-na and 1l-1a to 1l-.
Guided wireless ground loop antennas 5-1 to 5- through Qa
n and emergency loop antennas 11-1 to 11-q, and further connected to these ground loop antennas 5-1 to 5.
-n and emergency loop antennas 11-1 to 11-q are connected to terminating resistors 5-1b to 5-nb and 1l-1b to 1l-Q.
It is installed via b. On the other hand, each vehicle 2 has a transmitting antenna 21, 22, a receiving antenna 22, and a guided radio (
The vehicle 2 is equipped with a vehicle control device 24 including a transmitting/receiving device) 23 and a vehicle drive motor, and the vehicle 2 is supplied with power from an overhead wire provided along the running route 1 or a battery mounted on the vehicle. There is.

Next, the operation of the unmanned operation system configured as described above will be described. Normal vehicle operation control (a work schedule is commanded from the schedule device 8 or the upper level calculation system 9 to the unmanned operation device 7. The running position and status signals of each vehicle 2 are transmitted by ground loop antennas 5-1 to 5-n. and is input to the unmanned driving device 7 via the guidance radio device 6, and the unmanned driving device 7 selects the most suitable vehicle, and according to the schedule, the guidance radio device 6 and the ground loop antennas 5-1 to 5-n.
, transmitting antenna 21, and a guidance wireless vehicle 823 to output a driving command to vehicle 2. In this case, since the ground loop antennas 5-1 to 5-n are installed intermittently along the driving route 1, the vehicle stops on the loop antennas for transmitting and receiving signals to and from the unmanned driving device 7 on the ground. Or done while passing. Also, signals from the ground are controlled by the on-board control system (!Il device 24).
When the transmission carrier from the ground is cut off (1→O), the signal is latched and travels to the primary loop antenna.

On the other hand, a vehicle status signal (monitoring signal) transmitted from the vehicle 2 to the unmanned driving device 7 on the ground is constantly output, and the guidance radio device 6 allows the vehicle 2 to be connected to the ground loop antennas 5-1 to 5-1.
- When a specific tone signal (a signal that is constantly output such as a vehicle number) or a carrier is detected while entering or existing in any loop antenna of n, this is used as a vehicle presence signal and the above-ground loop antennas 5-1 to 5-1. The vehicle position is grasped by giving it to the unmanned driving device 7 including the loop number 5-0. Then, the vehicle status is determined by the vehicle status signal input from the ground loop antenna, and the next control command is given. Only the ground loop antennas 5-1 to 5-0 are involved in the control of this vehicle, and the emergency loop antenna 11-
1 to 11-q are irrelevant. Also, among the control commands from the ground, the brake command to the vehicle is usually a fail-safe system, so there is a tone signal to loosen the brakes.
Additionally, the brakes are applied to the vehicle even when there is no signal. When the vehicle enters the next ground loop antenna and the guided radio vehicle station 23 receives a tone signal @ (vehicle control signal) and a carrier, this carrier reception signal releases the latch of the previously latched vehicle control signal. Switch to the vehicle control signal being received from the ground loop antenna where the vehicle is currently located. Then, when the transmission carrier is cut off, it latches the signal from the ground again and travels to the next section's loop antenna. By repeating this process, when the vehicle reaches the loop antenna located at the target work position, the vehicle stops at that loop antenna position in response to a stop command (discontinuing the travel command and brecqueurmet command).

In such an unmanned vehicle driving system, an operator is usually located in a central control room to monitor the operation of the system. By the way, when an emergency situation such as a fire or an earthquake occurs while controlling the operation of a vehicle as described above, the operator operates the emergency stop push button (or changeover switch, etc.) on the operation console 12 to stop the operation. An emergency stop command is input from the console 12 to the unmanned operation device 7. Then, this unmanned operation device 7 sends the loop antennas 5-1 to 5-n tone signals to the guidance radio device 6 to disconnect the emergency stop command and the brake release command, and sends the emergency loop antennas 11-1 to 11-1 to 5-n to disconnect the emergency stop command and brake release command.
A carrier sending command is outputted to each terminal 11-q. Assuming that a vehicle is present on the emergency loop antennas 11-1 to 11-q, all vehicle control signals (tone signals) that were latched will be turned off by receiving the carrier on the vehicle. Since the brake release command is also turned off, the brakes are applied to the vehicle and the vehicle stops.

Further, when a vehicle is present on the ground loop antenna, the emergency stop command and the brake release command are disconnected to stop the vehicle at the position of the loop antenna.

In addition, as a signal to be given to the vehicle during an emergency stop, a tone signal is not assigned as an emergency stop command to the loop antennas 5-1 to 5-n on the ground, but the emergency loop antennas 11-1 to 11-n are used as emergency stop signals.
Similarly to 11-q, by sending only the carrier signal, the brake release signal of the vehicle can be turned off and the brakes can be applied to the vehicle. In this case, the brake applied to the vehicle is a regular brake, so the braking distance and braking time are somewhat longer, but there is no practical problem.

Further, the emergency stop command can be inputted directly to the guidance radio device 6 without going through the unmanned operation device 7, and the guidance radio device 6 can be provided with an emergency command switching logic circuit and a carrier sending logic circuit.

[Effects of the Invention] As described above, according to the present invention, among the ground loop antennas for information transmission disposed intermittently along the running route, an emergency stop is installed in the long non-loop antenna section. An emergency loop antenna is installed, and the induction radio device is equipped with a circuit that transmits only the carrier signal to this emergency loop antenna, so it is possible to control the driving of the vehicle of the unmanned driving device! fI]
In an emergency, the vehicle can be stopped quickly without complicating the functionality.Moreover, as an induction thermal TIA device, only the addition of a carrier transmitting unit compatible with the emergency loop antenna is required, making it low-cost and highly reliable. It is possible to provide an automatic vehicle transport system using a guided wireless device.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the overall configuration of an embodiment of an automatic vehicle transport system using a guided radio device according to the present invention, and FIG. 2 shows the configuration of the guided radio device in the same embodiment as an information transmission system between the ground and the vehicle. It is a block diagram shown in association with. 1... Driving route, 2... Vehicle, 3... Point, 3
a... Point control device, 4... Level crossing, 4a...
Step opening closing control device, 5-1 to 5-n... Ground loop antenna for information transmission, 6... Guidance radio device (ground station),
7... Unmanned operation device, 8... Schedule device, 9
... Host computer, 11-1 to 11-q... Emergency loop antenna, 12... Operation console, 5-1a to 5-n8.
1l-1a to 11-Qa... line coupler, 5-1b
~5-nb. 1l-1b to 1l-qb...terminal resistor, 21...
Transmitting antenna, 22... Receiving antenna, 23... Guidance WA line vehicle top station, 24... Vehicle control 1 device, 61...
- Transmission/reception unit, 62...Carrier transmission unit.

Claims (1)

[Claims] A transmitting/receiving antenna and a transmitting/receiving device mounted on each of a plurality of vehicles traveling on a predetermined travel route, an unmanned driving device installed on the ground and giving vehicle control signals to each of the vehicles according to a travel schedule, and an unmanned driving device installed on the travel route. between a ground loop antenna that is installed intermittently along the road and at a closed position taking into account the operation of the vehicle, and a vehicle that is installed as an information transmission device between the vehicle and the unmanned driving device and that runs on the loop antenna; and a guidance radio device that transmits and receives information by transmitting and receiving tone signals on a carrier, and when a vehicle control signal is given from the automatic driving device to a vehicle passing over the ground loop antenna via the guidance radio device, the on-vehicle In an automatic transport system for a vehicle using an inductive radio device, in which a control device latches the control signal and drives the vehicle to the next ground loop antenna, a control signal is latched by a control device, and the vehicle is driven to the next ground loop antenna. An emergency loop antenna for emergency stop is installed, and the induction radio device is provided with a circuit that transmits only a carrier signal to this emergency loop antenna, and in an emergency, by transmitting only a carrier signal to the emergency loop antenna, 1. An automatic transport system for a vehicle using a guided radio device, characterized in that the vehicle is stopped by releasing the latch of a control signal for a vehicle passing over a loop antenna.