JPS63268008A - Detecting method for position of unmanned vehicle - Google Patents

Abstract

PURPOSE:To easily detect the position of an unmanned vehicle at low cost by using the control spot information. CONSTITUTION:An operation sequence is set with radio transmission via a ground monitor center C and an autonomously traveling type unmanned vehicle V is driven on a route R based on said operation sequence. A control spot detecting means 2 of the vehicle V detects a spot display means 1 set on the route Rand outputs a detection signal (spot information) for each detection to transmit the spot information to a center C via a medium converting part 31 for space wave radio. A ground monitor control means 10 of the center C detects the operation control and the position of the vehicle V from the cart number and the section name of the position (spot information) of the vehicle V and supplied the monitor control to the operating state of the vehicle 10 with collation with the route R of the operation sequence.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention comprises a driving means, a braking means, a steering means, a travel/steering control means, and a guidance means, and is guided by an appropriate ground guidance means or autonomous guidance means. The present invention relates to a method for detecting, on the ground, the location of trackless unmanned vehicles that operate autonomously.

[Conventional technology]

The guidance methods for this type of autonomous unmanned vehicle can be broadly classified into the following types.

■Operation sequence A guidance signal such as an electromagnetic wave is provided along the entire length of the travel route, and the unmanned traveling trolley detects and follows this signal, or a light-reflecting tape is installed along the entire travel route, and this light A ground guidance type that reflects light on a reflective tape and follows the tape while detecting the tape. ■An unmanned running trolley is equipped with an odometer and a direction indicator such as a gyro, and based on the measured value of the odometer, The autonomous system detects the travel position and travel direction of the travel sequence corresponding to the measured value and travels along the travel route indicated in the travel sequence, and also corrects distance errors at correction position points at appropriate positions. Guide type, By the way, in this autonomous guidance, in order to prevent collisions between unmanned trolleys, two unmanned running trolleys are not located within each divided area of the operation sequence.

For this purpose, it is necessary to detect the location of each unmanned traveling vehicle and to control each unmanned traveling vehicle based on this detection.

Conventionally, the following two methods have been proposed as methods for detecting the presence position.

+81 The bogie side is equipped with a guided radio transmitter and transmitting antenna, and the ground side is equipped with an antenna loop segmented into the path of the unmanned bogie as a guided radio receiving antenna, and the guided radio transmitter and transmitter on the unmanned bogie side are installed. A method for detecting the location of an unmanned vehicle by determining which guided radio reception antenna loop on the ground is receiving the constantly transmitted signal from the antenna. A light receiver is installed at an appropriate position, and the ground-side light receiver receives the optical signal from the unmanned trolley side emitter, determines which receiver is receiving the light, and detects the location of the unmanned running trolley. [Problems to be Solved by the Invention] However, the above method for detecting the location of an unmanned traveling vehicle on the ground side (bl is the location of the unmanned traveling vehicle on the ground side and the unmanned traveling vehicle side, respectively). Dedicated equipment is required for detection, and installation work for the equipment on the ground side is required.The more detailed the location of the unmanned vehicle is to be detected, the more dedicated equipment will be needed, and the amount of installation work will increase. This increases the cost of equipment, requires expensive equipment costs, and complicates the equipment configuration.

[Purpose of the invention]

This invention utilizes the equipment used for the operation of unmanned trolleys without providing dedicated equipment.
The purpose is to easily detect the location of an unmanned vehicle on the ground side.

[Means to achieve the purpose]

In order to achieve the above object, in the present invention, the operation sequence of this type of unmanned traveling trolley is provided with a means for displaying the point at a "node" of the route such as a branch point on the outward traveling route. The first invention focuses on the fact that the trolley is configured to correctly travel by detecting the point display means, and uses this point display means to detect the position. Based on the operation sequence, when autonomously controlling the operation and detecting the location of the unmanned vehicle guided by autonomous guidance or an appropriate guidance device, the system automatically controls the operation at an appropriate position such as a branch point on the travel route of the operation sequence. When the unmanned running trolley detects the provided point display means, the unmanned running trolley determines its own position on the traveling route based on the point display means detection signal and the operation sequence. , wirelessly transmits its own position signal, self display signal and own traveling direction signal on the traveling route to a monitoring center on the ground, and at this monitoring center, the position No. 13, the self display The location of the unmanned vehicle is detected based on the signal and the direction of travel signal.

Further, in the second invention, in addition to the wireless transmission based on the detection signal of the point display means in the first invention, the unmanned traveling trolley travels a predetermined distance before reaching the next point display means from a certain point display means. Even when traveling, from the unmanned traveling trolley,
Based on this travel signal and operation sequence, the vehicle also wirelessly transmits its own location signal, self-indication signal, and heading direction signal on the travel route to a monitoring center on the ground.

[Effect]

The detection method configured as described above first involves detecting the operation of multiple unmanned bogies using an information transmission method that allows two-way information transmission from a ground monitoring center at any location, such as by using spatial wave radio, before the start of operation. Transmit any one operation sequence in the sequence, or if the unmanned vehicle has multiple operation sequences stored in advance, send a signal from the ground monitoring center to select any one operation sequence. When an operation sequence to be executed is set on the unmanned vehicle by transmitting the name or number, the unmanned vehicle will travel according to the set operation sequence.

During this traveling, when the unmanned traveling trolley detects the point display means, the unmanned traveling trolley transmits its own display signal, its detected position signal (existence position signal), and its traveling direction signal to the monitoring center due to this detection. , the location of the trolley is detected.

This detection action is performed on all unmanned vehicles to prevent collisions and the like.

〔Example〕

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

In Figures 1 and 2, ■ is an autonomously operating unmanned trolley, and any one operation sequence among a plurality of operation sequences is wirelessly transmitted from the ground monitoring center C to the unmanned trolley ■. The vehicle (2) travels on the travel route R according to the set operation sequence. If the above-mentioned plurality of operation sequences are stored in advance in the unmanned traveling trolley ■, a signal for selecting any one of the operation sequences is wirelessly transmitted from the ground monitoring center C using the sequence name or number to select the operation sequence. Set.

1 is a point display means that emits or responds to magnetism, light, radio waves, etc. installed at appropriate positions such as "nodes" such as branch points on the travel route R of each operation sequence, and from a cost perspective, similar It is possible to make different types by differentiating the signals such as the magnetic field. In the case of the same type, the position of the point display means is recognized based on the detection order, for example.

2 to 7.31 are equipped on unmanned trolleys,
2 is a control n point detection means that detects the point display means 1 and outputs a detection signal (point information) a for each detection; 3 is a control point detection means that outputs the detection signal (point information) a for each detection; 3 is a point detection means that sends the information obtained by the unmanned vehicle ■ to the ground monitoring center C; Bogie information means for transmitting information from C to the unmanned running bogie V; 31 is a space wave radio medium converter which is one of the components of the bogie information transmission means 3; 4 is the running wheel of the unmanned running bogie ■; A running wheel rotation speed detection means such as a pulse encoder detects the rotation speed of the running wheel, and 5 is a running distance calculation means that receives a signal such as a pulse proportional to the rotation speed of the running wheel from the running wheel rotation speed detection means. Using the set running wheel diameter, a set distance reaching signal C is output every time the unmanned traveling trolley V reaches a running distance.

Reference numeral 6 denotes an operation control means that receives the point information a from the control point detection means 2 and the set distance arrival signal C from the travel distance calculation means 5, and calculates the steps of a given operation sequence (set operation sequence) from the point detection signal a and the set distance arrival signal C. Set distance arrival signal C
Then, based on the description of the step, control signals d and e regarding the guidance and running of the unmanned traveling trolley V are output, while the installation position and set distance of the point display means 1 shown in the given operation sequence are output. Driving route (third
Based on the point detection signal a and the set distance arrival signal C, the unmanned running trolley determines in which route section it is present, and the determined two adjacent existing section groups or numbers are unmanned. The travel direction of the traveling truck V itself and its own truck number, which is semi-fixed in advance, are output to the truck information transmitting means 3.

Reference numeral 7 denotes a guidance and steering control means that receives a control condition signal d regarding the guidance and steering of the unmanned traveling vehicle (■) from the operation control means 6;
The unmanned traveling trolley V is guided and steered using a steering means so that the unmanned traveling trolley ■ is defeated by the running route R1 indicated in the operation sequence or the ground guidance means installed on the running route R in an appropriate manner. . Reference numeral 8 denotes a bogie travel control means which receives a travel control condition signal e regarding the travel of the unmanned traveling bogie (2) from the operation control means 6, and drives the unmanned traveling bogie V by an appropriate method so as to follow the driving pattern shown in the operation sequence. The running of the unmanned vehicle V is controlled through the means.

Reference numeral 9 is a ground information transmission means provided on the ground side and provided in the monitoring center C that sends information related to operation such as an operation sequence to the bogie information transmission means 3.31;
31, the vehicle number, location, route section or number, traveling direction, and status information of other devices of the unmanned vehicle V are received by space wave radio. Reference numeral 91 denotes a medium conversion unit that transmits and receives radio signals to and from the medium conversion unit 31 provided in the unmanned vehicle V, such as space wave radio, which is one of the components of the ground information transmission means 9; Ground monitoring that outputs operation information such as the operation sequence for operating the traveling bogie V, and also receives information on the bogie number, location section base or number, traveling direction, and status of the unmanned bogie V from the ground information transmission means 9 This is a ground monitoring and control means within the center C, and uses the above information to control the operation of the unmanned vehicle V and detect its location. At this time, if necessary, the accuracy of the operating state of the bogie A can be recognized by comparing it with the running route of the operating sequence, and correction thereof can be instructed.

In Figure 3, 11 and 12 are respectively unmanned running trolleys.
1a to 1" are point display means appropriately installed on the travel route R, L is a set distance shown on the operation sequence, and Di is a point display means 1a to 1f.
The setting interval, l is the installation distance D of the point display means 1C and 1d.
3 (I) + > L) distance minus distance, B
ij is a route section name or number classified by the point display means 1a to 1f, or by the point display means 1C and 1d, a setting word, and IL.

If the above set distance is inappropriate for detecting the location of the unmanned vehicle V because the route section Bij is long (if it is too long)
When L>Di, a route section is formed by Di, and when L<Di, L and 1 (Di
−L=n), a route section is formed. Therefore, as shown in the figure, the route section B between the point display means 1c and ld is
The length of 18% B ib varies depending on the traveling direction of the unmanned vehicle ■.

Next, the operation of the embodiment will be explained based on FIG. 3, which schematically shows the relationship between the unmanned traveling vehicle V and the traveling route R.

First, when the unmanned trolley ■ is located at the station 11, a required operation sequence is set for the unmanned trolley ■ by wireless transmission from the ground monitoring center C.
The unmanned traveling trolley ■ executes its set operation sequence, and informs the station 11 that it exists in the route section B12 even when it is stopped at the station 11 and after starting traveling.
The operation control means 6 determines the traveling route information shown in the operation sequence given by the operation control means 6, and determines the truck number, position detection, and traveling direction, which are semi-fixed in advance, to the truck information transmission means 3. 31 to the ground monitoring control means 10 via the ground information transmission means S and 1S by space wave radio,
The ground monitoring control means 10 detects that the unmanned vehicle V is present in the route section B1□.

Next, the unmanned traveling trolley ■ advances and the point display means 1b
When the in-point detection means 2 detects this, the operation control means 6 determines that the unmanned traveling trolley V has entered the route section B23, and records the trolley number, location section name or number B23, and direction of travel. As before, ground monitoring control means 1
0, and the unmanned traveling trolley V is sent to the ground monitoring control means 10.
is detected to exist in both route sections 13+z and B23.

Here, even if the ground monitoring control means 10 obtains the location section name or number BZ3 of the unmanned vehicle V from the unmanned vehicle ■, the unmanned vehicle ■ also exists in the existing location section name or number BI2. When the next new location section name or number B, a is input, it is determined that the unmanned vehicle ■ does not exist in the route section B1□. Due to this effect, unmanned traveling trolleys A are present in each section at least in one section, and collisions between the trolleys A are reliably prevented even in the merging route section based on the traveling direction information. In addition, the number of unmanned trolleys V is 8.
23 and obtains that information, it may be determined that the trolley ■ does not exist at B+z, and the trolley absent section may not be provided.

Next, when the unmanned traveling trolley (2) further advances and the point display means 1c is detected by the control point detection means 2, the unmanned traveling trolley V is moved to the route section B23 and B3a by the ground monitoring control means 10 in the same manner as described above. Detects that it exists. Thereafter, the unmanned vehicle A heads to the station 12 in the same manner.

In this travel route, section Bi (Bsa+Bib
), if the interval is longer than the set distance, (L
<83) After passing the point display means 1c, the unmanned traveling trolley V advances and before detecting the next point display means 16, the traveling distance calculating means 5 detects the running wheel from the running wheel rotation speed detecting means 4. The signal C calculated to indicate that the set distance has been reached from the rotating political situation Hb of Then, the ground monitoring and control means 10 is informed of the bogie number, location section name or number B, b, and direction of travel, and the ground monitoring and control means 10 determines that the unmanned bogie ■ is present in the route sections B3a and B3b. Detect. Due to this effect, the route section is subdivided and the unmanned running trolley A within one operation sequence
The number of vehicles running can be increased.

In addition, although the above-mentioned embodiment takes into consideration presence position detection based on the set distance, this detection means may be used when each route section of the operation sequence is short, or when there is no problem with operation even if it is long. It may also be based on the point display means 1 without any additional consideration.

〔Effect of the invention〕

The present invention is configured as described above, and is capable of transmitting mobile information such as spatial wave radio, which is conventionally used between an unmanned traveling bogie and the ground for purposes other than information on the location of the unmanned traveling bogie, and for autonomous operation. Route section names or numbers that are divided by control point information, such as by using necessary means such as operation control means provided in unmanned vehicles and proceeding with the steps of a conventionally given operation sequence. Based on the travel route as one of the operation sequence information shown in , the location can be detected by adding a location section determination function that determines the location section of the own unmanned vehicle based on the control point information. As a result, the ground monitoring center has the unique effect of being able to easily detect the location of an unmanned vehicle at a low level without having to constantly install dedicated equipment or equipment to detect the location of an unmanned vehicle. There is.

In addition, if setting distance control is also taken into account, detection can be subdivided,
For example, there are effects such as being able to increase the number of vehicles traveling within one operation sequence.

[Brief explanation of drawings]

The drawings show an embodiment of the method for detecting the location of an unmanned traveling vehicle according to the present invention, and FIG. 1 is an overall block diagram showing the unmanned traveling vehicle, its travel route, and the equipment configuration on the ground side. FIG. 3 is a block diagram showing the function of a device for detecting the presence position of an unmanned traveling trolley provided in the trolley. FIG. 3 is a configuration diagram showing the configuration of a traveling route section of the unmanned traveling trolley. ■...Unmanned traveling trolley, R...Traveling route, 1.1a-f...Point display means, 2...
... Control point detection means, 3 ... Bogie information transmission means, 4 ... Running wheel rotation speed detection means, 5 ...
... mileage calculation means, 6... operation control means,
7... Dedicated steering control means, 8... Bogie travel control f1'l1 means, 9... Ground information transmission means, 10... Ground monitoring control Means, 11.12・
...Station, C ... Monitoring center, Bij ... Location section name or number, Di
......Point display means setting interval, L...Setting distance, l...Di -L.

Claims (2)

[Claims] (1) When autonomously controlling operation based on a predetermined operation sequence and detecting the location of an unmanned vehicle guided by autonomous guidance or an appropriate guidance device, on the travel route of the operation sequence, When the unmanned vehicle detects a point display means provided at an appropriate position such as a branch point,
From this unmanned traveling trolley, it judges its own position on the traveling route based on the point display means detection signal and the operation sequence, and outputs its own position signal on the traveling route, and The self display signal and the own traveling direction signal are wirelessly transmitted to a monitoring center on the ground, and at this monitoring center, the present position of the unmanned vehicle is determined based on the present position signal, the self display signal and the traveling direction signal. A method for detecting the location of an unmanned vehicle, characterized in that the location of an unmanned vehicle is detected. (2) When autonomously controlling operation based on a predetermined operation sequence and detecting the location of an unmanned vehicle guided by autonomous guidance or an appropriate guidance device, on the travel route of the operation sequence, When the unmanned vehicle detects a point display means provided at an appropriate position such as a branch point,
From this unmanned traveling trolley, it judges its own position on the traveling route based on the point display means detection signal and the operation sequence, and outputs its own position signal on the traveling route, and It wirelessly transmits its own display signal and its own traveling direction signal to a monitoring center on the ground, and when the unmanned running trolley has traveled a predetermined distance from the point displaying means to the next point displaying means, the unmanned running trolley Based on this travel signal and the travel sequence, the vehicle wirelessly transmits its own location signal, self display signal, and own traveling direction signal on the travel route to the ground monitoring center in the same manner as described above. A method for detecting the location of an unmanned vehicle, characterized in that the location of the unmanned vehicle is detected at a monitoring center based on the location signal, the self-indication signal, and the direction of travel signal.