JPS63280310A - Method for arranging code plate for unattended vehicle - Google Patents

Abstract

PURPOSE:To reduce the malfunction to improve the safety by defining a pair of right and left code plates as one unit and arranging code plates of each unit so close to each other that detection signals of sensors are continuously outputted. CONSTITUTION:A guide line 1 is stuck onto the road surface and the magnetism or the like generated by this guide line 1 is detected by an unattended vehicle 2. The unattended vehicle 2 is provided with at least a pair of right and left sensors 22 and 21 to detect code plates 3L1, 3R1, 3L2, and 3R2. A controller 23 consisting of a microcomputer or the like is mounted on the unattended vehicle 2 to control the operation of the unattended vehicle. A required number of said code plates 3L1, 3R1, 3L2, and 3R2 are arranged on the left and the right of the guide line 1 while being shifted from one another. The controller 23 judges normalcy if signals detected by left and right sensors 21 and 22 are continuous; but the controller 23 judges abnormality if signals are inputted in an order other than a determined order.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a method of arranging a code plate of an unmanned vehicle that moves by itself on an electromagnetic or optical guide line.

B0 Summary of the Invention The present invention is a code plate arrangement for an unmanned vehicle in which the left and right code plates placed between the guide wires are made into a one-to-one unit, and this is positioned at a position where the sensor detection signal of the unmanned vehicle can continuously detect the left and right code plates. By arranging the sensor, centimeter abnormality can be detected quickly and erroneous control can be reduced.

0. PRIOR TECHNOLOGY FIG. 3 shows a part of the operating route of an unmanned vehicle, in which an unmanned vehicle 2 is guided by an electromagnetic or optical guide wire 1. Reference numeral 3 denotes a code plate, which is used for operation control of the unmanned vehicle 20 operating points, such as acceleration, deceleration, and stopping, and is buried beside the guide line 1 on the ground. By detecting this with the code plate sensor, the unmanned vehicle 2 is operated by executing arc after arc without decoding the meaning (movement) of each code plate 3 from the start point stored in advance in the unmanned vehicle itself. Ru.

By the way, the code plate 3 is generally arranged along the guide line l on the left and right sides thereof. This means that if an object made of the same material as the code plate falls on the road surface, the vehicle 2 will detect this and the control device's execution route program will be executed at that point, causing the unmanned vehicle to operate incorrectly. become. Code plate to prevent this? If the detection signal of the sensor to be detected is not detected on the left or right side or on both sides, it is considered abnormal. Therefore, the unmanned vehicle 2 is equipped with 21.degree. and 22.degree. sensors for detecting the left and right code plates 3, respectively.

D6 Problems to be solved by the invention Code plate 3 detected by sensor 21.22
The position signal is, for example, the right signal (output signal of the sensor 22)
If the left signal (sen+21 output signal) does not come next, the control device of the unmanned vehicle will determine that there is an abnormality, but if the abnormality is a failure of the sensor itself, there is a problem that the failure determination will be delayed. . In other words, when the unmanned vehicle 2 is moving in the direction of the arrow, if the left sensor 21 fails at the point A that it passed through (Code Brake) 3L+ @, the sensor 22 is normal, so it will be detected on the code plate 3R+'. , since the right sensor 21 is out of order, the code plate 3L*t-
It cannot be detected. When the unmanned vehicle 2 moves further and the right sensor 22 detects 3 horses, the detection signal becomes right, right, so the control device determines that there is an abnormality, but the time of the determination is a considerable distance of 1° + etc. Therefore, for example, if the code plate 3L was a deceleration command, the vehicle would curve at a high speed without being decelerated, which was dangerous.

The present invention has been made in view of these points, and its object is to provide a method of arranging the cable cord plate that can quickly detect abnormalities.

Means for Solving the E0 Problem This invention provides a pair of code plates arranged on the left and right sides of a guide line, with a pair of left and right code plates as one unit, and the position of the code plate within this unit is determined by a detection signal of an unmanned vehicle. It is shifted toward the rear of the rudder at a position where it can be detected continuously on both the left and right sides of one unit.

70 Effect The control device mounted on the unmanned vehicle determines that it is normal if the left and right consecutive signals detected by the sensor are normal, and determines that it is abnormal when signals are input in a sequence other than the predetermined order.

G. Practical Example FIG. 1 shows an embodiment of the present invention, in which the guide wire 1 is of an electromagnetic or optical type and is affixed or buried on the road surface. Reference numeral 2 denotes an unmanned vehicle, and this unmanned vehicle 2 is equipped with at least one pair of left and right sensors for detecting the code plate 3, in addition to a sensor that detects the magnetism generated by the guide wire l or the reflected light emitted by the unmanned vehicle itself. 21.21- Prepared.

n is a control device installed in the unmanned vehicle, which is composed of a microcomputer, etc., and controls the operation of the unmanned vehicle. The code plate 3 is located on the left side 3L1, 3L, ・ with respect to the guide wire 1.
..., right side 3Rt + 3R4..., but in the present invention, a pair of left and right code plates 3Lz, 3R+, 3L13R1...
1-1 unit, and the code plate of each unit is between one end (3R) with respect to the traveling direction of the unmanned vehicle 2.
The rear edge of s and the front edge of 3L1 are staggered so that there is no gap between them, and as a whole they are arranged according to a fixed order of right and left, right and left, or right and left and left.

Next, the operation will be explained with reference to FIG.

When the unmanned vehicle 2 is traveling in the direction of the arrow on the guide line l based on the operation program stored in advance in the control device 23, if each of the 72 seats 21 and 22 is normal, the state shown in FIG. The detection pattern shown is as shown below. In other words, in the same figure, I
)L is the detection signal of Sen+21? , DR indicates the detection signal of the sensor 22, and the low level represents the detection signal,
First, at time t1, right sensor 1-22 is on code plate 3R.
3t-Detect and output signal DR. Time t! At the same time as the detection of type 3 is completed, Sen+21 detects the code plate 3L,
is detected and outputs the signal DL. Similarly, time 1.
Then, the signal D1. + is output, and at time t, the signal DR is output, and the detection signals of the 7-dove rate within one unit are detected continuously on the left and right or right and left sides. Therefore, abnormality detection becomes possible by storing a detection pattern as shown in Fig. @2 in advance in the control device n.

Sensor 21 power now! Code plate 3IJ1? If a failure occurs at point A immediately after passing, the detection signal DL of 3L is not output, but the detection signal I)R of 3R1 is output. When the control device f23 learns that the 3L1 detection signal that should have been input has not been input and the 31V signal has been input, it determines that there is an abnormal state and switches to control for safety such as stopping the unmanned vehicle. Therefore, the distance that an unmanned vehicle is driven under abnormal conditions is! .

Only.

H0 Effects of the Invention As described above, the present invention has a pair of left and right code plates t-
13-nit, and the code plates in each unit are placed close enough to each other to continuously output centimeter detection signals, making it possible to detect abnormalities even if the same material as the code plate falls on the road surface. By dramatically increasing the number of vehicles, malfunctions of unmanned vehicles will be greatly reduced. In addition, even if one side of the sensor fails, conventionally it was detected at a distance of l,+l, but with the present invention it can be detected at a distance of l, reducing the training and control distance of unmanned vehicles. safety is greatly improved.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing an example of the present invention, FIG. 2 is a waveform diagram of a detection signal of a sensor for explanation, and FIG. 3 is an explanatory diagram of a travel route of a conventional unmanned vehicle. 1 is a guide wire, 2 is an unmanned vehicle, 21 and 22 are sensors, and the device is a control device, 3 (3 torso 13m11s 3Rx + 3
R1) is a code plate.

Claims (1)

[Claims] In an unmanned vehicle in which code plates are arranged along the left and right sides of the guide line and the code plates are detected by sensors as they travel, the pair of left and right code plates is considered to be one unit, and the code plate position within one unit is A method of arranging a code plate for an unmanned vehicle, characterized in that the code plate is provided at a position shifted in the front-rear direction so that sensor detection signals of the unmanned vehicle can be continuously detected by one unit.