KR920006972B1 - Collision preventing device - Google Patents

Abstract

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Description

Collision Avoidance Device

1 is a system configuration showing an embodiment of the present invention.

2 is a blocking map in which the unmanned broadcasting vehicle in the embodiment is stored.

3 is blocking data possessed by the collision avoidance control apparatus in the embodiment.

4 is a schematic diagram of a collision avoidance program according to the embodiment;

5 is a block diagram showing a conventional collision avoidance device.

* Explanation of symbols for main parts of the drawings

10: wired diagram 30: receiving line

40: transmission line 50: collision avoidance control device

51: communication unit 52: CPU

60A, 60B: unmanned carrier 61: mark detector

62: receiver 63: transmitter

64: Onboard control section MX, M1-M4: Shank mark

The present invention relates to a collision avoidance apparatus applied to an unmanned vehicle system.

The prior art shown in Fig. 5 shows a conventional example of this type of collision avoidance device.

In this figure, 1A and 1B are unmanned carriers, and 10A are induction lines (guide lines) that provide a running route of the unmanned carriers 1A and 1B, and are closed at the beginning of a high frequency power source, not shown. A plurality of division routes L1, L2, L3,... Which have a branch confluence point X as shown, for example, are shown in the route. Is made from.

11-13 is a car detector, and the car detector 11 is installed at the exit of the branch and confluence zone Y in the branch and confluence zone Y of the division route L1.

The car detector 12 is provided at the inlet of the branch / join area Y in the branch / join area Y of the division route L2, and the car detector 13 is in the branch / join area Y of the division route L3. It is installed at the entrance of the branch and confluence zone Y in the above.

Reference numeral 14 denotes an anti-collision control apparatus, which takes a vehicle detection signal sent by the vehicle detectors 11-13 and sends a standby command (signal) to the stop lines 20A and 20B.

The stop line 20A is arranged along the guide line 10A in the branch / join area Y in the branch route L2 at the branch / join point X, and the stop line 20A is the segment route L3 from the branch / join junction X. It is arranged along the guide line 10A in the branching / joining region Y in the region.

In this configuration, the unmanned carrier 1A is now driving the division route L2 toward the branch and confluence point X, and the unmanned vehicle 1B moves the division route L3 to the branch and confluence point X. We shall run toward.

When the unmanned vehicle A1 enters the branch / join area Y and passes over the car detector 12, the car detector 12 and the car detection signal are sent to the collision avoidance control device 14.

The collision avoidance control apparatus 14 gives priority to the unmanned carrier 1A which entered first.

After that, when the unmanned vehicle 1B enters the branch / join area Y and passes over the car detector 13, the collision avoidance control device 14 receives a car detection signal from the car detector 13. Since the priority is given to the unmanned carrier 1A entered first, the standby command (signal) for the unmanned carrier 1B is sent to the stop line 20B.

The unmanned carrier 1B detects this waiting command and stops.

When the unmanned vehicle 1A passes through the branch and confluence point X, and passes again on the car detector 11, the collision avoidance control device 14 sends a standby release command for the unmanned vehicle 1B to the stop line 20B. The driverless vehicle 1B reads the instruction and starts traveling.

This conventional collision avoidance device is provided with a car detector in a branch and confluence zone, and the collision avoidance control device manages the operation of an unmanned transport vehicle entering a branch and confluence zone according to the car detection signal sent out by the car detector. If the device performs the above-mentioned operation management based on little information from the car detector without collecting the destination information of the unmanned vehicle, it is necessary to arrange a large number of car detectors in order to perform extremely fine collision prevention management. There was a problem.

This invention is made | formed in order to solve the said problem, and an object of this invention is to provide the collision prevention apparatus which can carry out extremely fine collision prevention management compared with the prior art at a cost cheap compared with the former.

A receiving line and a transmitting line are laid parallel to the part of the branching and joining area including the branch and confluence point in the guideline, and the difference information of the unmanned carrier is collected through the corresponding receiving line and the unmanned carrier is transmitted to the transmitting line. An anti-collision control device for transmitting geothermal heat to the ground and provide a flange spacing between the branch and confluence points on the part of the branch and confluence zones of the divided route joining the branch and confluence points of the traveling route. The anti-collision control device has data (DATE) giving a flange number to the flange interval defined by the shank mark of the traveling route, and enters the flange gap through the shank art. In the case of unmanned carriers, check the presence or absence of unmanned carriers on the flange intervals that join or diverge the unmanned carriers. And a collision avoidance program for giving a standby command to the entered unmanned vehicle until the unmanned vehicle is out of the shank of the corresponding flange spacing, the unmanned vehicle having a receiving unit for receiving a signal sent to the transmission line and the received On the basis of the signal, a vehicle control section for controlling the operation of the unmanned vehicle, a transmission section for transmitting its own vehicle information to the reception line, and a detector for reading the shank mark are configured.

In the present invention, the collision avoidance control device checks the presence or absence of an unmanned carrier on the other flange (priority check flange) that joins the entered flange by collecting information on the purpose of the unmanned vehicle entering the flange of the branch and confluence zone 1. Not only that, but also the collision prevention management by checking the presence or absence of unmanned carriage on the flange (uncondition shank flange) from the branch and confluence point X can perform the collision prevention management with fine regulation. In this case, the shank of the passage is not a car detector but is prepared by installing a shank microphone, which results in a lower cost than before.

EXAMPLE

An embodiment of this invention is described below with reference to the drawings.

In FIG. 1, reference numeral 10 denotes an induction line (guide line) for providing a running route of an unmanned vehicle, and constitutes a closed loop which starts with an unshown high frequency power supply. As described above, the plurality of division routes L1, L2, L3, L4,... Is made from.

MX M1-M4 is a check mark (eg, 8-feed mark) placed inside a branching / joining area Y that includes a branching / joining point X in a driving route for automatic position detection of an unmanned vehicle. MX is provided at the branch and confluence point X, and M1 is provided at a position separated by a predetermined flange interval from the branch and confluence point X of the branch and confluence region Y in the division route L1.

M2 is provided at a position where a predetermined flange distance is separated from the branch / join point X of the branch / join area Y in the division route L2.

M3 is a position separated by a predetermined flange interval from the branch / join point X of the branch / join area Y in the division route L3, and M4 is a branch / join in the division route L4. It is provided in the position which separated the predetermined | prescribed flange spacing from the branch and confluence point X of an area.

Flange numbers 1-8 are given to flange intervals partitioned by the shank mark MX and M1-M4 on the running route, as will be described later.

30 denotes a receiving line, which is formed in parallel in both sides of the guide line 10 in the branching / joining area Y of the traveling route, forming one loop having the communication section 51 as the start end in the collision avoidance control device 50. .

40 is a transmission line, which forms one loop having the communication section 51 in the collision avoidance control device 50 as the starting end, surrounds the reception line 30, and is arranged in parallel with the reception line 30.

The anti-collision control device 50 collects vehicle information through the communication unit 51 and the communication unit 51 and gives a driving instruction to the vehicle, as shown in FIG. It has the blocking data ROM 53 which stored blocking data, and the CPU 52 has the program ROM 54 which stored the collision prevention program shown in FIG. The unmanned vehicle 60A, 60B has a mark detector 61, a receiver 62, and a transmitter 63 for reading various marks installed on the running route, and the map ROM of the onboard controller 64 is a second. The blocking map shown in the figure is stored.

When the guide line 10 is a collectively closed loop, there are two types of parallel readings of the mark on one side of the ship and reading of the other mark on the other side of the ship. do.

The blocking map is a map of the branching / joining area (Y), and is assigned to the branch numbers 1-8 to the respective branch intervals (hereinafter referred to as branches) divided by the shank mark MX and M1-M4. have.

Further, the unmanned carriers 60A and 60B transmit their vehicle information (target station information, etc.) from the transmitter 63 via radio waves at regular intervals.

The blocking data of FIG. 3 is the branch number of the branch currently located (current branch), and the branch consecutive to the branch entering through the branch and confluence point X when traveling from the current branch to the destination station. The branch number of the branch (predecessor branch), and the branch number of the branch (unconditional branch branch) that needs to be checked unconditionally with or without an unmanned carriage when traveling from the current branch to the teacher branch. A table consisting of a branch number of a branch (priority of a branch branch) that needs to be linked in advance of the link of the unconditional link branch (preferably the branch branch). The branch branch first joins the branch and confluence point (X). It's toxic.

Next, the operation of the collision avoidance device will be described with reference to the collision avoidance program of FIG.

Now, if the unmanned transport vehicle 60A passes through the shank mark M2 toward the branch and confluence point X, the fact that the shank mark M2 has passed through is detected by the microphone computer 61 so that the mark information is received on the vehicle. Decoded by the control unit 64 and transmitted from the transmitting unit 63 via radio waves.

This radio wave is picked up by the reception line 30 (PICK-UP) so that the mark information is transmitted to the CPU 52 through the communication unit 51 of the collision avoidance control device 50, the collision avoidance control device 50 The CPU 52 registers the fact that the driverless vehicle 60A enters the branch number 2 from the code information of the shank mark M2, and then the driverless vehicle 60A branches and joins ( We monitor as shank until we exit from Y).

Since the unmanned vehicle 60A transmits its vehicle information from the transmitter 63 on a radio wave at a predetermined cycle, the collision avoidance control device 50 performs a destination branch (for example, from the destination station in the vehicle information). , Branch number 1) is specified.

Therefore, the collision avoidance control device 50 first checks the presence or absence of the check branch by indexing the current branch number 7 and the destination branch number 1 from the blocking data, and first checks the check branch (in this case, the branch number). 3), after (2) gives priority to the unmanned broadcasting vehicle (60A), (3) whether there is another unmanned carrier on the third place of the check branch number, and (4) (5) When there is another unmanned broadcasting vehicle to which priority has been assigned by checking whether the priority is assigned to the unmanned vehicle, (5) prepare a waiting instruction for the unmanned vehicle (60A) and transmit the transmission line through the communication unit (51). It sends to 40.

In the stem of step (1), if there is no shank branch first, (6) unconditionally check whether or not another unmanned carriage exists in the shank branch (branch numbers 2 and 6). (7) After confirming that the blocking of the blocking data has ended, (8) allow entry of the next branch without giving a standby command. (9) If present, create a standby command to prepare the communication unit 51. Transmission to the transmission line 40 through.

If there is no unmanned broadcasting vehicle to which priority has been given in step (4) above, if unmanned vehicle 60A has priority of (2) above, it gives priority to branch number 3 and waits. Allow driving without giving a command.

When the unmanned vehicle 60A receives the stop command transmitted to the receiving line 30 through the receiving unit 62, it stops on the branch where it is currently located.

This waiting command is unconditionally released when the unmanned carriage on the shank branch number 2, 6, or first of the shank branch number 3 has passed through the shank marks M1 and M4.

Thus, the collision avoidance control apparatus 50 in this embodiment collects the target station information of the unmanned vehicle which entered the one branch of the branch and confluence area Y, and joins with the other branch which entered. In addition to checking for the presence of unmanned transport vehicles on the first (branch branch), it also checks the presence or absence of unmanned broadcasting vehicles on the branch (unconditional shank branch) branching from the branch and confluence point (X) to prevent collision management. For example, an unmanned carrier of branch number 7 enters an unmanned carrier of branch number 1 and number 5, respectively, with a route entering branch number 3 and number 7 joining branch and confluence point (X). Car 60A) enters an unmanned carrier of branch number 3 (unmanned vehicle 60B), but if there is an unmanned vehicle in branch number 5, then unmanned carriage of branch number 7 60A) is stopped and branching late Priority is given to the unmanned carriage (60B) of branch number 3 entering the flow zone Y, and the control such as passing through the branch and confluence point (X) first is possible, so that the detailed collision prevention control is possible. .

In addition, in the above embodiment, the electromagnetic induction type flowing high frequency current as the induction line 10 has been described. However, the magnetic induction system and the optical induction type unmanned transfer system using the optical tape as the induction line 10 are described. The same effect can be obtained by applying.

In addition, the communication between the unmanned vehicle and the collision avoidance control device may be another non-wired method, for example, an optical communication method.

As described above, the anti-collision control device has a communication function for communicating with an unmanned carrier in a non-wired manner and enters a branch in a branch and confluence area of an unmanned vehicle entering a branch and confluence area. In addition, it can manage the collision prevention management by collecting the destination information as well as the regional transit information outside of the branch, so that it can manage the collision prevention more precisely than the conventional ones. By using a shank mark instead of using a car detector to check, the above-described effect can be obtained at a lower cost than in the prior art.

Claims (1)

Route information of the unmanned carrier vehicle through the reception line and the transmission line corresponding to the receiving line parallel to the part of the branching and confluence area including the branch and confluence point of the guideline crane giving the running route of the unmanned vehicle laid on the ground An anti-collision control device for collecting a command and transmitting a command for the unmanned vehicle to the transmitter, and a portion within the branch / join area of each section route joining the branch / join point of the traveling route. It has a check mark disposed by separating the flange gap between the branch and the confluence point, and the anti-collision control device has data for which the flange number is assigned to the flange interval portions on the respective division routes, respectively. Joining or diverting on the route of the unmanned carriage entering the flange interval of the flange (number) passing through the mark If there is a check for the presence of another unmanned carrier on multiple flange gaps, a collision giving atmospheric command to the entered unmanned carrier until the other unmanned carrier exits the shank mark that divides the plurality of flange gaps. It has a prevention program, The unmanned vehicle is a receiver that receives the signal sent to the transmission line, and the vehicle control unit for controlling the operation of the unmanned vehicle according to the received signal and its vehicle control unit to transmit at a predetermined period And a marker detector for transmitting vehicle information to the receiver line, and a marker detector for reading the shank mark and transmitting it to the vehicle control section.

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