JPS63188562A - Working area checking method between mobile machine - 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 [Industrial Application Field] The present invention relates to a method for checking work areas between mobile machines in which, for example, a plurality of individual vehicles share the same rail.

[Conventional technology]

Generally, when vehicles with independent drive sources are run on the same track, a prohibited zone is set after considering the running characteristics of each vehicle to avoid collisions, and this prohibited zone is maintained under any conditions. The aim is to prevent danger from collisions by avoiding vehicles entering the area. The prohibited zone is determined by measuring the physical distance from the other vehicle.

The collision prevention function in the conventional work area check method between moving machines either detects in terms of hardware that the distance between moving machines is within a specified distance and applies an emergency stop, or Operating methods such as interlocks were adopted to prevent workers from carrying out this work.

[Problem that the invention seeks to solve]

Since the collision prevention mechanism in the conventional method of checking the work area between moving machines is configured as described above, the operator's intervention is always required for the moving machines, and it is difficult to work freely in the same area of the rail. However, there were problems such as constraints.

This invention was made to solve the above-mentioned problems, and includes a controller for overall monitoring of the positional status of a plurality of moving machines on the same rail, and a controller that monitors the overall position status of a plurality of moving machines on the same rail. It is an object of the present invention to provide a method for checking work areas between mobile machines, which manages running between mobile machines by transmitting data so as to always provide work areas with predetermined safety intervals to the mobile machines.

[Means for solving problems]

The work area checking method between mobile machines according to the present invention involves predetermining addresses for the entire travel area, and using a simple calculation formula based on the travel destination of the own vehicle and data on the current position or travel destination of a competitor's vehicle. By using this system, a series of data such as competition judgment, board destination driving, and final destination driving commands are automatically calculated, and the vehicle avoids prohibited zones.

[Effect]

In this invention, when multiple mobile machines (vehicles) work in the same area, the work area calculation process between the same machine and the same machine is performed when the vehicle that has traveled in the area first or has already stopped in the shared area. A vehicle 71 that gives priority to a vehicle (bogie) and attempts to enter the common area later.
&T (bogie B) temporarily waits at a safe distance from bogie A, and performs running management such as allowing bogie B to run within the area when bogie A runs out of the area.

〔Example〕

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

In Figure 1, 1 is a trolley (vehicle) A, and 2 is a trolley (vehicle).
B, 3 is a rail, and 4 is a scale point set in hardware at an address set in advance on the rail 3. Alternatively, any address setting detection means may be used, such as inversely converting the position of the rail from the amount of movement of the vehicle, and various detectors (means) may be used to detect the travel distance and the address.

Note that FIG. 1(a) is an external view from above, and FIG. 1(b) is a side view.

Next, the operation will be explained with reference to FIGS. 2 and 3.

First, in FIGS. 2(a) and 3(a), when car B 2 is about to start traveling in the direction of the arrow (ST-1), the competition reference point indicated by the upward arrow from the position of car A 1 (Target point) ``X'' to determine 5T-3), then own army (B vehicle)
If the traveling direction of No. 2 is to the left in the figure, a competition determination process is performed (ST-5).

That is, in the conflict determination process, a conflict is determined when the result of subtracting X''' from the own military's destination indicated by the black triangle part (Δ part) is larger than the negative number of the safety interval α (ST-7). In this case, subtract the competitive area "Y II", which is calculated by subtracting Pa (ST-8), and outputs a command to car B 2 as the driving destination (ST-9).

Next, as shown in Fig. 2(b), if cars A and B cars 1 and 2 are in competition (ST-1), the above-mentioned Perform the same calculation as (ST-
6) At the time when the competition was canceled (Car A 1 reached the diagonal triangle (
Δ part) When the vehicle started traveling outside the area) (ST-8)
Then, the final destination (Δ portion) is set to 'Z' and a travel command (ST-10) to the final destination is output (FIG. 2(b)).

In the above embodiment, only the case where the B truck travels to the destination was explained, but the calculation method is ``Y=own vehicle destination-X≦
Calculations for vehicle A can also be performed by assuming α'' and ``2 = own military destination + Y + α'' and reversing the determination of the left and right positional relationships.

Furthermore, by considering the arrangement of trains in the criteria for determining competitive reference points, it is also possible to check the work area of three or more trains.

In addition, although the method of detecting the current position of the vehicle on the rails and the system configuration of its controller were not specifically mentioned, for example, the vehicle is traveling while measuring the absolute address of the vehicle position from the rail origin, and the measured vehicle position is Easy to use with normal technology by transmitting data to a ground station or a controller mounted on another vehicle via wireless communication means, and using communication control means such as transmitting the calculation results of the controller to another vehicle. can be realized.

〔Effect of the invention〕

As described above, according to the present invention, by using a pre-fixed address to check for interference in the work area of multiple vehicles traveling on the same rail, it is possible to detect where a vehicle is located at that address, and then run the vehicle. The system is configured to automatically manage vehicle traffic by calculating mutual positional relationships by executing simple calculation formulas, making it possible to operate without considering conflicts in the work area, resulting in safe and highly efficient operation. This has the effect of allowing operation management to be carried out.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of a method for checking work areas between mobile machines according to an embodiment of the present invention, FIGS. 2(a) and (b) are control flowcharts of the present invention, and FIGS. 3(a) and (b) are 1
FIG. In the figure, 1 and 2 are bogies (vehicles) A and B, 3 are rails,
4 is the address. Patent applicant Mitsubishi Electric Corporation Figure 1 (a) Figure 3 (0) (b) X', "tY@'group;, i,,!p,
Z: IL@'fJ'e Figure 2 (a)

Claims (3)

[Claims] (1) In a method for checking the work area between mobile machines when a plurality of vehicles run on the same rail and each vehicle works within the work area of the rail, an address is set in advance on the rail, and A vehicle equipped with a detection means for detecting an address is run, and based on a predetermined calculation formula from the rail address detected by the vehicle and the rail address detected by another vehicle, a conflict is determined for the work area, and a temporary destination is determined. A method for checking a work area between mobile machines, characterized in that the vehicle is managed to run on the same rail avoiding prohibited zones by calculating and commanding the vehicle to travel to the final destination. . (2) A patent characterized in that the system is configured such that the controller that calculates data for running management of the vehicle is a ground station or an on-vehicle controller, and communication between each vehicle is performed by communication control means such as radio. A method for checking a work area between moving machines according to claim 1. (3) The calculation processing by the controller is such that when multiple vehicles are working in the same area, priority is given to the vehicle that has traveled into the area first or the vehicle that has already stopped in the shared area. A method for checking a work area between moving machines according to claim 1, characterized in that: