JPS63273111A - Guidance equipment for moving truck - Google Patents

Abstract

PURPOSE:To display many control information in a short distance by arranging plural marks in a direction of line lateral width and making to length of each mark different from each other. CONSTITUTION:A control mark (m) to indicate various running control information to a moving truck is formed such that a resin mixed with a magnetic substance similarly to the case with a inductive guide line L is formed to be a thin strip, and a magnet chip (mt) whose length differs in plural ways is used and the content of information to be indicated is represented by combining the presence of the magnet chip (mt) at the setting position, the magnetic pole formed on the surface and the length of the magnet chip (mt). Moreover, a trigger magnet chip mT representing the mark read start position with a small area and formed shorter than the marks m1, m2 of plural numbers is provided. Thus, many control information are displayed while the length of the control mark is kept not so long.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention provides a control mark displaying control information for guiding a moving vehicle to a traveling route of a moving vehicle that automatically travels along a guide line for guiding the moving vehicle. This relates to the guidance equipment for moving vehicles provided on the side.

[Conventional technology]

This type of guidance equipment for moving vehicles is used to instruct the moving vehicle on various control information such as intersections where the traveling route branches and merges, current position, stopping position, and traveling speed when the moving vehicle runs automatically. , a control mark displaying the control information is provided on the driving route side.

Conventionally, for example, in order to instruct a moving vehicle to control information about the traveling speed, one control mark is formed with a length corresponding to the instructed speed, and the control information is displayed based on that length. A method has been proposed to
(See No. 210).

[Problem that the invention seeks to solve]

In the conventional configuration described above, control information is displayed based on the length of one control mark.

Therefore, in order to display a large number of different control information using one control mark, there is a disadvantage that the length of the control mark becomes long.

As the length of the control mark becomes longer, the time and travel distance required to read it become longer, resulting in a disadvantage that the determination of the read control information is delayed.

Therefore, it may be possible to shorten the overall length of the control mark so that differences in length can be distinguished finely, but since the moving vehicle must read the control mark while it is moving, However, it is difficult to increase the accuracy of length reading, and it is difficult to display a large number of types of control information based on the length of one control mark.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to prevent the length of control marks from becoming too long when displaying control information based on the length of control marks, and to display control information based on the length of control marks. The purpose is to be able to display information.

[Means for solving problems]

A characteristic configuration of the moving vehicle guidance equipment according to the present invention is such that the control marks display different control information based on the length of each of the plurality of mark portions arranged in the width direction of the line in the traveling direction of the moving vehicle. Its functions and effects are as follows.

[For production]

That is, a plurality of mark parts are arranged side by side in the line width direction, and different control information is displayed based on the length of each mark part.

〔Effect of the invention〕

Therefore, since a plurality of mark parts are arranged in the width direction of the line, the overall length of the control mark can be made as short as possible and the distance required for reading it can be shortened. Control information can be displayed over a short distance. Furthermore, since one control mark is formed using a plurality of mark parts, the required reading accuracy for the length of one mark part can be made as low as possible.

As a result, it has become possible to display a large number of types of control information while being able to read the control mark over a short distance and read its length with low accuracy.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 2, the guide line (L) for guiding the moving car
is attached to the road surface on which the moving vehicle (A) travels, and is installed along the travel route including the intersection (CR). At the same time, a load transfer station (ST) is provided so as to be located on the lateral side of the traveling route. In addition, branch start points and merging start points at each intersection (CR), as well as
A deceleration start point and a deceleration end point for decelerating the mobile vehicle (8) at a location in front of the merging section of the intersection (CR), a stop position for automatically stopping the mobile vehicle (A) at the station (ST), etc. A control mark (m) for instructing the mobile vehicle (^) with various travel control information is provided on the road surface beside the guide line (L).

In addition, ground-side communication equipment (MC) is used to instruct the moving vehicle (A) in the direction of branching/merging at the intersection (CR), the next station to stop at (ST), etc. from the central controller (MC). 1a) at each of the stations (ST
).

To explain the guide line (L), as shown in FIGS. 1 and 4, a resin mixed with a magnetic material is formed into a thin strip shape, and the front side is the N pole and the back side is the N pole. It is magnetized so that it becomes the south pole, and an adhesive for sticking is applied to the back side.

The control mark (m) is, as shown in FIG. Magnet pieces (m
t), the magnet piece (m t) at its set position
The presence or absence of the magnetic pole (S pole or N pole) formed on the front side
and the length of the magnet piece (+++1),
In addition to representing the content of the information to be instructed, a plurality of mark portions (m,
).

A single trigger magnet piece (m,) indicating the mark reading start position is provided, which is smaller in area and shorter than (m2).

Then, the plurality of magnet pieces (ml), (...2) are arranged in a line in the line width direction on the right side of the guide line (L), and the trigger magnet pieces (my)
The magnetic pole on the front side thereof is formed into an S pole that is different from the N pole on the front side of the guide line (L), and the A plurality of magnet pieces (TI+), (a+*) are provided so as to be located at approximately the same position as the reading start position, and a mark sensor (7), which will be described later, detects these plurality of magnet pieces (m,
), (mt) when reading the control mark (m) formed by the trigger magnet piece (m) and the guide line (mt).
This is so that the reading start position of the plurality of magnet pieces (llI) and (lI), which are arranged long in the front-rear direction, can be distinguished from each other, and the reading start position of the magnet pieces (lI) and (lI) are not mistaken.

In addition, each of the plurality of magnet pieces (+oI) and (mz) is of two types, one with the surface side formed as an N pole and the other with the surface side formed as an S pole. By combining the arrangement of N poles, it is possible to display different information even if the length is the same, so the front side is formed as a N pole so that the magnetic pole can be easily distinguished visually. A hole (11) for identifying magnetic poles is formed in the center of the object.

To explain the configuration of the mobile vehicle (^), as shown in FIGS. 3 and 4, a pair of left and right free wheels (2L),
(2R) is provided on the rear side of the vehicle body, and is configured to be able to be driven and stopped by a running motor (3), and is supported by a steering motor (4) so that its direction can be changed. A facing wheel (5) is provided on the front side of the vehicle body.

Further, a magnetic sensing type steering control sensor (6) for detecting deviation in the width direction of the vehicle body with respect to the guide line (L) is placed at the center of the lower front of the vehicle body with its detection surface facing downward. The control mark (
A mark sensor (7) using a magnetic-sensing type proximity sensor for detecting (m) is provided on the lateral side of the steering control sensor (6). However, the mark sensor (7) is
It is composed of a proximity sensor (S7) for detecting the trigger magnet (phantom) and two proximity sensors (Sl) for detecting the two magnet pieces (111) and (II2), and Proximity sensor (!1) for detecting those trigger magnets (Peng)
) is located on the left side of the recovery control sensor (6), and the two proximity sensors (s+) and (S+) are located on the right side of the steering control sensor (6). It is.

Even in the curved section of the guidance line (L), the steering control sensor (6) is connected to the entire guidance line (L).
) so that you can drive with less deviation from the center.
Moreover, even in a curved section, the mark sensor (
7) to read the control mark (m), the recovery control sensor (6) and mark sensor (7) move in the left and right direction in response to the change in direction of the steering wheel (5). The sensor mounting, which is integrally swung, is attached to the plate (12).

Further, a vehicle body side communication device (1b) for the ground side communication device (1a) is provided on the side of the vehicle body facing the station (ST), and each of the sensors (6) and (7) is provided on the side of the vehicle body facing the station (ST).
) and the communication device (la).

The moving vehicle (^
) is provided with a control device (8) for controlling the running of the vehicle.

In FIG. 4, (9) is a drive device for the driving motor (3) and steering motor (4), and (lO) is a device for non-contactly detecting the presence or absence of an obstacle in front of the vehicle. The ultrasonic sensor is used to bring the vehicle to an emergency stop if there is an obstacle in front of the vehicle.

To explain the mark sensor (7), the control mark (m) is formed by the combination of the length of each magnet piece (m, ), (n+z) as a plurality of mark parts and the magnetic pole on the surface side thereof. The display contents are distinguished from each other, and as the trigger magnet piece (II+7) is sensed, the plurality of magnet pieces (m, ),
(In order to determine the magnetic pole arrangement and the length thereof, at the position corresponding to the arrangement position of the plurality of magnet single shafts +), (mz) and trigger magnet piece (mT), respectively. , a plurality of proximity sensors (St), (SZ) which read and operate simultaneously and whose sensing magnetic poles can be determined freely, and a proximity sensor (St) for detecting a trigger magnet piece are provided.

The length of each of the plurality of magnet pieces (m, ), (m=) is determined by the proximity sensor (S) for detecting the trigger magnet piece.
7) is turned on, the plurality of proximity sensors (St
), (sz) travels until it no longer senses magnetism. Note that the traveling distance is detected based on information such as an encoder (not shown) for detecting the rotation speed of the traveling motor (3).

However, the proximity sensor (sT) for detecting the trigger magnet piece
is designed to operate only when it senses S-pole magnetism, and is designed to prevent malfunction due to N-pole magnetism generated from the guide line (L). On the other hand, the induction band detection sensor (6) includes the trigger magnet piece (II
In order to prevent malfunctions caused by +7), only the north pole magnetism is sensed.

In other words, when the moving vehicle (A) passes through the intersection (CR) where the guidance line (L) branches and merges, the moving vehicle (A)
may cross this guidance line (L), and before and after passing this intersection (CR), the proximity sensor (S7) for detecting the trigger magnet piece crosses the guidance line (L). It will pass through the upper part, but the sensing magnetic pole is set to the S pole, which is different from the guide line (L), so the guide line (L) is connected to the trigger magnet piece (mT).
It cannot be misread as such. Similarly, the induction band detection sensor (6) is designed to operate by sensing the north pole magnetism, so this induction band detection sensor (6)
However, it does not detect the trigger magnet piece (machi) and malfunction.

Then, the moving vehicle (A ) at the intersection (CR), while automatically branching and merging along the designated travel route.
Automatically travel between the stations (ST),
They will be required to carry out the work of transporting each load.

[Another example]

In the above embodiment, the mark (m) that displays travel control information
In this example, a thin strip of resin is provided along the running path, but the specific structure can be modified in various ways, such as by embedding permanent magnet pieces in the running road. Also, magnet pieces (m,), (mz), (m-
) The specific configuration of the proximity sensor for detecting the Various changes can be made.

Similarly, the number of magnet pieces used can be changed depending on the maximum number to be displayed.

Further, in the above embodiment, the control mark (m) is composed of:
A magnet piece (m,) that displays the content of control information.

In addition to (m2), a case has been exemplified in which a trigger magnet piece (my) indicating the reading start position is provided, but the trigger magnet piece (m-) may be omitted.

Furthermore, the present invention may be implemented by formatting each mark portion of the control mark (m) with a light-reflecting tape. When a mark part using a magnet is used as in the above-mentioned embodiment, each mark part can be arbitrarily set with N pole and S pole for each set length part in the length direction. If control information can also be displayed by the arrangement of magnetic poles arranged along the length direction, a larger amount of control information can be displayed by combining this with the overall length.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings by the reference numerals.

[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show an embodiment of the guidance equipment for moving vehicles according to the present invention,
Figure 1 is an enlarged plan view showing the configuration of control marks, Figure 2 is a layout diagram showing the schematic configuration of the travel route, Figure 3 is a plan view showing the configuration of the moving vehicle, and Figure 4 is the configuration of the control system. FIG. (A)...Moving vehicle, (L)...Guidance line, (m)...Control mark, (m,)(m
=)...Mark part.

Claims (1)

[Claims] 1. Control mark (m
) is a guidance equipment for a moving vehicle that is installed on the travel route side of a moving vehicle (A) that automatically travels along a guiding line (L) for guiding moving vehicles, and the control mark (m) is Each mark part (m_1) arranged in multiple lines in the line width direction, (
m_2) Vehicle guidance equipment configured to display different control information based on the length of each vehicle (A) in the direction of travel. 2. The vehicle guiding equipment according to claim 1, wherein the mark portions (m_1) and (m_2) are formed of magnetic pieces.