TWI784837B - Rail car wireless control system and rail car wireless control method thereof - Google Patents

Abstract

A rail car wireless control system and a rail car wireless control method are provided. The rail car wireless control system includes an unmanned vehicle and a vehicle dispatching equipment. The unmanned vehicle has a first wireless communication circuit and a detection circuit. The vehicle dispatching equipment has a second wireless communication circuit. Vehicle dispatching equipment wirelessly transmits an arrival information to the unmanned vehicle. The unmanned vehicle obtains a driving information provided by the track through the detection circuit, and judges whether the driving information is consistent with the arrival information. When the unmanned vehicle judges that the driving information matches the arrival information, the unmanned vehicle stops. When the unmanned vehicle judges that the driving information does not meet the arrival information, the unmanned vehicle continues to travel on the track.

Description

Rail car wireless control system and rail car wireless control method

The invention relates to a rail car, in particular to a rail car wireless control system and a rail car wireless control method for unmanned automatic driving and automatic handling.

The RGV (Rail Guided Vehicle) control system used by the existing unmanned vehicles mainly adopts the method of stopping at every station. That is to say, when the unmanned vehicle is traveling on the track, it must stop every time it passes a station, and judge whether the unmanned vehicle needs to carry goods at the station. However, when this method is applied to the delivery room of the production line, the frequent stop and go movements of unmanned vehicles will inevitably lead to poor utilization rates. In addition, the power supply of existing unmanned vehicles is powered by electric rails, but the dust generated by electrode contact wear is also easy to contaminate the goods.

The technical problem to be solved by the present invention is to provide a rail car wireless control system and a rail car wireless control method in view of the deficiencies in the prior art.

An embodiment of the present invention provides a wireless control system for rail vehicles, including an unmanned vehicle and a vehicle dispatching device. Wherein the unmanned vehicle has a first wireless communication circuit and a detection circuit. The dispatching equipment has a second wireless communication circuit. The car dispatching device wirelessly transmits an arrival information to the first wireless communication circuit through the second wireless communication circuit, so that the unmanned vehicle can obtain the arrival information wirelessly. When the unmanned vehicle travels on a track, it detects and obtains the traffic information provided by the track through the detection circuit, and Determine whether the driving information matches the arrival information. Among them, when the unmanned vehicle judges that the driving information matches the arrival information, the unmanned vehicle stops, and when the unmanned vehicle judges that the driving information does not match the arrival information, the unmanned vehicle continues to travel on the track.

An embodiment of the present invention provides a wireless control method for a rail car, which is suitable for a vehicle dispatching device to control an unmanned vehicle to travel on a track, including: when the unmanned vehicle is traveling on the track, the unmanned vehicle obtains the traffic information provided by the track through a detection circuit; The unmanned vehicle judges whether the driving information conforms to the arrival information wirelessly transmitted by the dispatching equipment to the unmanned vehicle; when the driving information conforms to the arrival information, the unmanned vehicle stops while driving; The car continues to travel on the track.

To sum up, in the rail car wireless control system and rail car wireless control method provided by the embodiments of the present invention, the unmanned vehicle can quickly and accurately know the driving task of the unmanned vehicle by obtaining the driving information through the detection circuit, and there is no need to It can judge whether the station is stopped, which can effectively improve the utilization rate.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings related to the present invention. However, the provided drawings are only for reference and description, and are not intended to limit the present invention.

1: Rail car wireless control system

10: Unmanned vehicles

101: Unmanned vehicle controller

103: The first wireless communication circuit

105: Detection circuit

1051: identification circuit

1053: Proximity sensor

1055: distance sensor

107: Wireless charging circuit

109: Man-machine interface

111: warning interface

113: Motor controller

20: Dispatch equipment

201: car dispatch controller

203: The second wireless communication circuit

205: Handling controller

30: track

F1: first action block

F2: second action block

F3: The third action block

F4: The fourth action block

F5: fifth action block

B1: barcode

D1: the first direction

T1, T2, T3, T4, T5, T6: time

S201: Unmanned vehicle start

S203: The unmanned vehicle travels on the track at a certain speed

S205: Detect proximity sensor

S207: Trigger the deceleration process

S209: Enter the unmanned vehicle deceleration process

S211: trigger abnormal stop mechanism

S213: Enter the abnormal stop process

S215: Alarm

S217: exclude

S219: Trigger the speed change process

S221: Enter the unmanned vehicle speed change process

S301: trigger identification circuit

S303: start timing

S305: Deceleration

S307: Detect proximity sensor

S309: trigger stop mechanism

S311: Unmanned vehicle stop

S313: Alarm

S315: Exclude

S317: Read the identification result

S319: Get driving information

S321: Judging driving information

S323: Same as arrival information

S325: Enter the arrival process

S327: Same as track change information

S329: Enter the track change process

S331: Same as cornering information

S333: Enter the cornering process

S335: Enter the transit process

S337: Timing time up

S339: Close the identification circuit

S401: Detect proximity sensor

S403: trigger stop mechanism

S405: stop

S407: Notify the dispatching equipment

S409: read new site information

S411: The update is completed

S501: Detect proximity sensor

S503: trigger stop mechanism

S505: stop

S507: Notify the dispatching equipment

S509: Read track switching information

S511: track change completed

S601: Inform the dispatching equipment to arrive at the turning point

S603: Read curve vehicle information

S605: Whether the curve is passable

S607: Detect proximity sensor

S609: trigger stop mechanism

S611: stop

S613: Read curve vehicle information

S615: Whether the curve is passable

S617: Detect proximity sensor

S619: trigger stop mechanism

S701: Read the state of the unmanned vehicle

S703: Arrive at the stop

S705: update status

S707: reach the destination

S709: Carrying goods

S711: update to station

S713: Arrive to switch tracks

S715: Change track switching information

S717: Switch tracks

S719: Change track switching information

S721: Arriving at the corner

S723: Curve vehicle information can be passed

S725: Change the curve vehicle information to be unpassable

S727: The curved unmanned vehicle has left

S729: Change the curve vehicle information to passable

FIG. 1 is a schematic block diagram of a rail vehicle wireless control system provided by an embodiment of the present invention.

Fig. 2 is a control flow chart of an unmanned vehicle provided by an embodiment of the present invention.

Fig. 3 is a flow chart of the deceleration of the unmanned vehicle provided by the embodiment of the present invention.

Fig. 4 is a flow chart of the arrival of the unmanned vehicle according to the embodiment of the present invention.

Fig. 5 is a flow chart of a track change for an unmanned vehicle according to an embodiment of the present invention.

Fig. 6 is a flow chart for cornering of an unmanned vehicle according to an embodiment of the present invention.

Fig. 7 is a control flow chart of the dispatching equipment provided by the embodiment of the present invention.

Fig. 8 is a schematic diagram of an unmanned vehicle arriving at a station and matching parking.

Fig. 9 is a schematic diagram of unmanned vehicles not stopping when they arrive at a station.

The implementation of the present invention is illustrated through specific specific examples below, and those skilled in the art can understand the advantages and effects of the present invention from the content provided in this specification. The present invention can be implemented or applied through other different specific embodiments, and various modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, which is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the provided content is not intended to limit the protection scope of the present invention.

It should be understood that although terms such as "first", "second", and "third" may be used herein to describe various elements or signals, these elements or signals should not be limited by these terms. These terms are mainly used to distinguish one component from another component, or one signal from another signal. In addition, the term "or" used herein may include any one or a combination of more of the associated listed items depending on the actual situation.

Embodiments of the present invention provide a rail car wireless control system and a rail car wireless control method. The rail car wireless control system described here is an unmanned vehicle for unmanned automatic driving and for automatic cargo handling. The unmanned vehicle can communicate with remote The dispatching equipment of the company uses wireless communication technology for data transmission, so that the unmanned vehicle does not need to stop at each station to check whether it needs to move the goods, which can effectively improve the efficiency of goods handling. In addition, the unmanned vehicle integrates wireless charging technology, which can automatically perform wireless charging when parking, so as to avoid dust pollution caused by rail power supply.

〔Hardware Architecture of Rail Car Wireless Control System〕

Please refer to FIG. 1 . FIG. 1 is a schematic block diagram of a wireless control system for railcars according to an embodiment of the present invention. The rail vehicle wireless control system 1 described in this embodiment includes, for example, an unmanned vehicle 10 and a Vehicle equipment 20 . Wherein the relevant information of the unmanned vehicle 10 traveling on a track can be transmitted by wireless communication through the dispatching equipment 20, for example, the dispatching equipment 20 can set that the unmanned vehicle 10 needs to stop at a specific purpose station in the track to carry goods, and the unmanned vehicle 10 It is also possible to send the relevant information of track running back to the dispatching equipment 20 for monitoring.

The unmanned vehicle 10 includes but not limited to the unmanned vehicle controller 101 , the first wireless communication circuit 103 , the detection circuit 105 , the wireless charging circuit 107 , the man-machine interface 109 , the warning interface 111 and the motor controller 113 . The unmanned vehicle controller 101 is electrically connected to the first wireless communication circuit 103 , the detection circuit 105 , the wireless charging circuit 107 , the man-machine interface 109 , the warning interface 111 and the motor controller 113 . The car dispatching device 20 includes, but not limited to, a car dispatching controller 201 , a second wireless communication circuit 203 and a transport controller 205 , and the car dispatching controller 201 is electrically connected to the second wireless communication circuit 203 and the transport controller 205 .

Furthermore, the unmanned vehicle controller 101 can wirelessly transmit data to each other through the first wireless communication circuit 103 and the second wireless communication circuit 203 of the dispatching device 20 . For example, the car dispatching device 20 can wirelessly transmit the arrival information to the unmanned vehicle 10, so that the unmanned vehicle 10 can drive on the track and obtain the driving information. After the unmanned vehicle 10 can further confirm the driving information and the arrival information, to Know whether the unmanned vehicle 10 must stop when traveling to the station. In one embodiment, the driving information may be, for example, station passing information, arrival information, track changing information or cornering information, but the present invention is not limited thereto. In addition, the unmanned vehicle 10 can also wirelessly send relevant information back to the vehicle dispatching device 20 when traveling on the track, so that the vehicle dispatching device 20 can monitor the status of the unmanned vehicle 10 and make corresponding measures accordingly.

It should be noted that the above station passing information means that the unmanned vehicle 10 does not stop at a specific location on the track and reports information to the dispatching equipment 20 for monitoring. The arrival information means that the unmanned vehicle 10 stops after passing a specific position on the track, so as to automatically carry goods between a cargo handling station and the unmanned vehicle 10 . The track-changing information means that the unmanned vehicle 10 passes a specific position on the track and stops, and reports information to the dispatching device 20 to perform a track-changing operation on the track. Cornering information refers to the characteristics of the unmanned vehicle 10 on the track. Determine the location, and report information to the car dispatching device 20 to confirm whether the unmanned vehicle 10 can enter the curve. Various examples of the above driving information will be described in detail later, and the present invention is not limited thereto.

The detection circuit 105 provided on the unmanned vehicle 10 includes, but is not limited to, an identification circuit 1051 , a proximity sensor 1053 and a distance detector 1055 . The proximity sensor 1053 can obtain the action blocks arranged on the track when the unmanned vehicle 10 is traveling on the track, where the action blocks are, for example, deceleration action blocks, stop action blocks, acceleration action blocks, etc. used for various speed control, for The unmanned vehicle controller 101 can relatively control the traveling speed of the unmanned vehicle 10 to decelerate, stop or accelerate accordingly. In addition, the action block can also be further combined with a trigger function to control whether the identification circuit 1051 activates the identification function. The identification circuit 1051 can identify the identification parts installed on the track when the unmanned vehicle 10 is running on the track, so that the unmanned vehicle controller 101 can obtain driving information through the identification circuit 1051 . The distance sensor 1055 detects whether there are obstacles around the unmanned vehicle 10 when the unmanned vehicle 10 is traveling on the track, so that the unmanned vehicle controller 101 can control whether the unmanned vehicle 10 needs to be controlled according to the detection result of the distance detector 1055. Stop or warn. For example, when the distance detector 1055 detects an obstacle, the unmanned vehicle 10 can stop and alert relevant personnel to remove the obstacle.

In an embodiment, the identification circuit 1051 may be a code reader, and the identification element may be a barcode at this time. In another embodiment, the identification circuit 1051 can also be a near-field communication reader (RFID Reader), and at this time, the identification piece can be a near-field communication tag (RFID Tag), but the present invention is for the identification circuit 1051 and the identification piece Examples are not limited to this.

The wireless charging circuit 107 provides the unmanned vehicle 10 with a wireless charging function. The wireless charging circuit 107 includes, but is not limited to, a battery charger, a wireless charging module, and a battery. Therefore, when the unmanned vehicle 10 is traveling on the track, the wireless charging station can be combined and arranged at the parking site where the unmanned vehicle 10 needs to stop and carry goods, or the wireless charging station can be separately arranged beside the track, so when the unmanned vehicle 10 is parked in When the location of the wireless charging station is set, the wireless charging station can provide a charging power source to wirelessly charge the wireless charging circuit 107 of the unmanned vehicle 10 .

The man-machine interface 109 can be, for example, any combination of a button interface or a touch interface, and can be used by personnel to control the unmanned vehicle 10 through the man-machine interface 109 . The warning interface 111 can output warning information to achieve the warning effect when the unmanned vehicle 10 is abnormal or faulty. The warning interface 111 is, for example, various combinations of a display interface or an audio interface. The motor controller 113 is used to control the moving speed of the unmanned vehicle 10. For example, the unmanned vehicle controller 101 can relatively control the motor controller 113 according to the detection result of the detection circuit 105, so that the traveling speed of the unmanned vehicle 10 can meet various requirements. driving task.

In another embodiment, the man-machine interface 109 and the warning interface 111 can also be set in the vehicle dispatching equipment 20, so that the personnel can directly control the related operation of the unmanned vehicle 10 in the vehicle dispatching equipment 20, and obtain warnings returned by the unmanned vehicle 10 information.

〔Example of control for unmanned vehicles〕

Please refer to Figure 2. Fig. 2 is a control flow chart of an unmanned vehicle provided by an embodiment of the present invention. The flow chart shown in FIG. 2 is illustrated by using the architecture of FIG. 1 as an example, but not limited thereto. The process shown in Fig. 2 includes the following steps, for example.

In step S201, the unmanned vehicle 10 starts. Personnel can activate the unmanned vehicle 10 by manipulating the man-machine interface 109 on the unmanned vehicle 10 , for example, by pressing a button on the man-machine interface 109 .

In step S203, the unmanned vehicle 10 travels on the track at a speed. For example, the unmanned vehicle 10 is fixed on the track at a first driving speed.

In step S205, the proximity sensor 1053 is detected. When the unmanned vehicle 10 is moving, the proximity sensor 1053 can be used to know whether an action block is detected, so as to know whether the speed of the unmanned vehicle 10 needs to be adjusted accordingly.

In step S207, it is determined whether to trigger the deceleration process. Here, the unmanned vehicle controller 101 determines whether the proximity sensor 1053 detects a deceleration action block and then triggers the deceleration process.

In step S209, when the determination in step S207 is yes, enter into the process of decelerating the unmanned vehicle 10 .

In step S211, when the determination in step S207 is no, it is determined whether to trigger the abnormal stop mechanism. Here, the unmanned vehicle controller 101 determines whether the proximity sensor 1053 detects a stop action block and then triggers an abnormal stop process. The abnormal stop process here means that the unmanned vehicle 10 stops directly without a normal deceleration process.

In step S213, when the determination in step S211 is yes, enter into the abnormal stop process.

In step S215, an alarm is issued. The unmanned vehicle controller 101 outputs warning information through the warning interface 111 . In another embodiment, the unmanned vehicle 10 can also output warning information to the dispatching device 20, so that the dispatching device 20 can notify personnel to handle accordingly.

In step S217, it is determined whether to exclude. The unmanned vehicle controller 101 determines whether the warning information output by the warning interface 111 is eliminated, for example, personnel can operate through the man-machine interface 109 to eliminate the warning information. When step S217 judges yes, return to step S203. When the determination in step S217 is no, continue to execute step S217.

In step S219, if the judgment in step S211 is negative, it is judged whether to trigger the shifting process. Here, the unmanned vehicle controller 101 judges whether the proximity sensor 1053 detects the action block used for the speed change control, and then triggers the unmanned vehicle speed change process.

In step S221, when the determination in step S219 is yes, then enter into the unmanned vehicle speed change process. When step S219 judges no, return to step S205.

It should be noted that the unmanned vehicle speed change process described here is to adjust the speed of the unmanned vehicle 10. For example, when the original unmanned vehicle speed is low, it is adjusted to a medium speed, and when the original unmanned vehicle 10 speed is a medium speed, it is adjusted to a high speed. Originally, when the speed of the unmanned vehicle 10 is high speed, it is adjusted to a medium speed, but the present invention is not limited thereto.

[Example of deceleration of unmanned vehicles]

Please refer to Figure 3. Fig. 3 is a flow chart of the deceleration of the unmanned vehicle provided by the embodiment of the present invention. The flow chart shown in FIG. 3 is illustrated by using the architecture of FIG. 1 as an example, but not limited thereto. The process shown in FIG. 3 includes the following steps, for example, and is mainly described for step S209 in FIG. 2 .

In step S301, the identification circuit 1051 is triggered. When the unmanned vehicle controller 101 judges that the proximity sensor 1053 has detected an action block, the unmanned vehicle controller 101 triggers the identification circuit 1051, so that the identification circuit 1051 starts the detection function for subsequent detection of the track. Identify pieces.

In step S303, start timing.

In step S305, decelerate. When the unmanned vehicle 10 enters the deceleration process, it will decelerate the current first driving speed to the second driving speed.

In step S307, the proximity sensor 1053 is detected.

In step S309, it is determined whether the stop mechanism is triggered. Here, the unmanned vehicle controller 101 determines whether the proximity sensor 1053 detects a stop motion block and then triggers the stop mechanism.

In step S311, when the determination in step S309 is yes, the unmanned vehicle 10 stops.

In step S313, an alarm is issued. The unmanned vehicle controller 101 outputs warning information through the warning interface 111 .

In step S315, exclude. The unmanned vehicle controller 101 determines whether the warning information output by the warning interface 111 is eliminated, for example, personnel can operate through the man-machine interface 109 to eliminate the warning information. When step S315 judges yes, return to step S203; when step S315 judges no, return to step S315.

In step S317, when the determination in step S309 is otherwise, the identification result is read. Here, the unmanned vehicle controller 101 controls the identification circuit 1051 to read the identification piece.

In step S319, it is determined whether to obtain driving information. Here, the unmanned vehicle controller 101 determines whether to obtain the driving signal according to whether the identification circuit 1051 has identified the identification part. interest. For example, when the identification circuit 1051 recognizes the identification piece, the unmanned vehicle controller 101 can obtain the driving information represented by the identification piece, and when the identification circuit 1051 does not recognize the identification piece, the unmanned vehicle controller 101 is relatively unable to obtain the driving information. information.

In step S321, if the determination in step S319 is yes, the driving information is further determined. The driving information here is used as the basis for judging various driving tasks of the unmanned vehicle 10 in the future.

In step S323, it is determined whether the driving information is the same as the arrival information.

In step S325, if the judgment of step S323 is yes, then enter into the station arrival process for execution.

In step S327, if the determination in step S323 is negative, it is determined whether the driving information is the same as the track changing information.

In step S329, when step S327 judges yes, then enter the track change process for execution.

In step S331, if the determination in step S327 is otherwise, it is determined whether the driving information is the same as the cornering information.

In step S333, when the determination in step S331 is yes, then enter into the cornering process for execution.

In step S335, when the determination in step S331 is no, enter the transit process.

In step S337, when step S319 judges otherwise, it is judged whether the counting time has come.

In step S339, when the determination in step S337 is yes, the identification circuit 1051 is turned off. When step S337 determines otherwise, return to step S307 for execution.

The station passing process described here means that the unmanned vehicle 10 passes through without slowing down and sends back information to inform the dispatching equipment 20, so that the dispatching equipment 20 can know the traveling position of the unmanned vehicle 10 on the track.

FIG. 3 shows a possible way for the unmanned vehicle 10 to perform deceleration. In another embodiment, when the unmanned vehicle 10 enters the deceleration process, the function of the identification circuit 1051 can also be directly activated without performing step S301.

In addition, it is worth noting that the arrival information mentioned in step S323 is wirelessly output by the dispatching device 20 to the unmanned vehicle 10 , and the arrival information is, for example, a code that records the destination station to be stopped. When the unmanned vehicle 10 obtains the driving information through the identification circuit 1051, which represents the code of a certain site, and the code at this certain site is the same or conforms to the code of the purpose site, the unmanned vehicle 10 can determine that the driving information is consistent with the code of the purpose site. The arrival information is the same. The possible setting modes of the arrival information are only for illustration, and are not intended to limit the present invention.

〔Example of arrival of unmanned vehicles〕

Please refer to Figure 4. Fig. 4 is a flow chart of the arrival of the unmanned vehicle according to the embodiment of the present invention. The flow chart shown in FIG. 4 is illustrated by using the architecture of FIG. 1 as an example, but not limited thereto. The process shown in FIG. 4 includes, for example, the following steps, and is mainly described for step S325 in FIG. 3 .

In step S401, the proximity sensor 1053 is detected. The unmanned vehicle controller 101 learns whether the driving speed of the unmanned vehicle 10 needs to be adjusted by detecting the proximity sensor 1053 .

In step S403, it is determined whether the stop mechanism is triggered. Here, the unmanned vehicle controller 101 determines whether the proximity sensor 1053 detects a stop motion block and then triggers the stop mechanism.

In step S405, when the determination in step S403 is yes, the unmanned vehicle 10 stops. And when step S403 determines otherwise, return to step S401 for execution.

In step S407, the car dispatching device 20 is notified. Here, the unmanned vehicle controller 101 outputs a message to the car dispatching device 20 through the first wireless communication circuit 103, so that the car dispatching device 20 receives this information through the second wireless communication circuit 203 and can know that the unmanned vehicle 10 has arrived at the destination station point. The purpose site described here is for the unmanned vehicle 10 to stop, so that the unmanned vehicle 10 and the article handling station can automatically carry out cargo handling. Carry out loading or unloading of goods.

In step S409, new site information is read. The unmanned vehicle 10 can further read the new site information after the cargo handling is completed. The circuit 203 outputs new site information, which is read and received by the unmanned vehicle 10 through the first wireless communication circuit 103 .

In step S411, it is determined whether the update is completed. When the unmanned vehicle 103 receives the new site information provided by the dispatching device 20, it will update the arrival information of the next unmanned vehicle 10 that needs to stop and carry goods according to the new site information. When step S411 judges yes, return to step S203; when step S411 judges no, return to step S409.

In addition, in an embodiment, the unmanned vehicle 10 can also store multiple pieces of arrival information that need to stop and carry goods at one time, so that the unmanned vehicle 10 does not need to read new site information after arriving at the destination site as described in step S409.

In addition, when the automatic transfer of goods between the unmanned vehicle 10 and the object handling station is completed, the unmanned vehicle 10 can automatically resume its progress and continue to detect the proximity sensor 1053. For example, when an acceleration block is detected, the unmanned vehicle 10 will The traveling speed is correspondingly adjusted so that the traveling speed of the unmanned vehicle 10 can be restored to a normal speed from slow to fast.

[Example of changing tracks for unmanned vehicles]

Please refer to Figure 5. Fig. 5 is a flow chart of a track change for an unmanned vehicle according to an embodiment of the present invention. The flow chart shown in FIG. 5 is illustrated by the architecture of FIG. 1 , but not limited thereto. The process shown in FIG. 5 includes, for example, the following steps, and is mainly described for step S329 in FIG. 3 .

In step S501, the proximity sensor 1053 is detected.

In step S503, it is determined whether the stop mechanism is triggered. Here, the unmanned vehicle controller 101 determines whether the proximity sensor 1053 detects a stop motion block and then triggers the stop mechanism.

In step S505, when the determination in step S503 is yes, the unmanned vehicle 10 stops. And when step S503 determines otherwise, return to step S501 for execution.

In step S507, the car dispatching device 20 is notified. Here, the unmanned vehicle controller 101 outputs a message to the dispatching device 20 through the first wireless communication circuit 103, so that the dispatching device 20 transmits After receiving this information, the second wireless communication circuit 203 can know that the unmanned vehicle 10 has arrived at the track changing position. The car dispatching device 20 can remotely control the track at the current stop position of the unmanned vehicle 10 to perform track changing operations.

In step S509, the track switching information is read. The unmanned vehicle controller 101 reads the track switching information in the vehicle dispatching device 20 through the first wireless communication circuit 103, and the track switching information is used to indicate whether the track switching operation has been completed.

In step S511, it is determined whether the track change is completed. The unmanned vehicle controller 101 judges whether the track change is completed according to the read track change switching information. For example, when the track switching information indicates that the track switching operation has not been completed, return to step S509 for execution, and when the track switching information indicates that the track switching operation has been completed, then end the operation of the track switching process and return to step S203.

And when the track-changing process is over, the unmanned vehicle 10 can automatically resume traveling, and continue to detect the proximity sensor 1053, for example, when an acceleration block is detected, the speed of the unmanned vehicle 10 is adjusted accordingly, so that no one The speed of travel of car 10 can recover to normal speed from slow to fast.

[Example of cornering of unmanned vehicles]

Please refer to Figure 6. Fig. 6 is a flow chart of the arrival of the unmanned vehicle according to the embodiment of the present invention. The flow chart shown in FIG. 6 is illustrated by using the architecture of FIG. 1 as an example, but not limited thereto. The process shown in FIG. 6 includes the following steps, for example, and is mainly described for step S333 in FIG. 3 .

In step S601, the vehicle dispatching device 20 is notified that it has arrived at a turning point. Here, the unmanned vehicle controller 101 outputs a message to the car dispatching device 20 through the first wireless communication circuit 103, so that the car dispatching device 20 receives this information through the second wireless communication circuit 203 and can know that the unmanned vehicle 10 has arrived at the corner Location.

In step S603, the information of the curved vehicle is read. The unmanned vehicle controller 101 reads the curve vehicle information in the vehicle dispatching device 20 through the first wireless communication circuit 103, and the curve vehicle information is used to indicate whether there are other unmanned vehicles 10 in the curve.

In step S605, it is determined whether the curve is passable. The unmanned vehicle controller 101 judges whether there is an unmanned vehicle on the curve according to the read vehicle information on the curve. For example, when the curve vehicle information indicates that there is a car on the curve, it means that it is impossible to pass through, step S607 is executed, and when the curve vehicle information indicates that there is no vehicle on the bend, it means that it is possible to pass through, then step S617 is performed.

In step S607, the proximity sensor 1053 is detected when it is determined that the curve cannot be passed.

In step S609, it is determined whether the stop mechanism is triggered. Here, the unmanned vehicle controller 101 determines whether the proximity sensor 1053 detects a stop motion block and then triggers the stop mechanism.

In step S611, when the determination in step S609 is yes, the unmanned vehicle 10 stops. And when step S609 determines otherwise, return to step S607 for execution.

In step S613, the unmanned vehicle reads the curve vehicle information again.

In step S615, it is determined whether the curve is passable. If step S615 judges yes, then end the cornering process and return to step S203, at this time the unmanned vehicle 10 can automatically resume traveling. And if step S615 determines otherwise, return to step S613 for execution.

In step S617, the proximity sensor 1053 is detected.

In step S619, it is determined whether the stop mechanism is triggered. Here, the unmanned vehicle controller 101 determines whether the proximity sensor 1053 detects a stop motion block and then triggers the stop mechanism.

When step S619 judges yes, the unmanned vehicle 10 does not stop at this time but proceeds as usual and ends the curve-crossing process, so the curve at this time can be passed normally without vehicles.

〔Example of control of dispatching equipment〕

Please refer to Figure 7. Fig. 7 is a control flow chart of the dispatching equipment provided by the embodiment of the present invention. The flow chart shown in FIG. 7 is illustrated with the architecture of FIG. 1 as an example, but not limited thereto. The process shown in FIG. 7 includes the following steps, for example.

In step S701, the state of the unmanned vehicle 10 is read. Here dispatching car equipment 20 can pass through The second wireless communication circuit 203 and the first wireless communication circuit 103 of the unmanned vehicle 10 transmit data in a wireless manner, so that the car dispatching device 20 can obtain various driving states of the unmanned vehicle 10, such as the driving position and driving speed of the unmanned vehicle 10 , battery status or abnormal warning, etc., but the present invention is not limited thereto.

In step S703, it is judged whether the station has been reached. When the car dispatching device 20 judges whether it has wirelessly received the information notification sent back by the unmanned vehicle 10 passing the station, the car dispatching device 20 can grasp the position status of the unmanned vehicle 10 on the track through this information.

In step S705, the status is updated. When step S703 judges yes, that is, when the vehicle dispatching device 20 has wirelessly received the information notification returned by the unmanned vehicle 10 passing the station, the vehicle dispatching device 20 can update the latest status of the unmanned vehicle 10 according to this information. For example, the car dispatching device 20 can update the status to a user interface, so that relevant personnel can grasp the driving status of the unmanned vehicle 10 through the user interface.

In step S707, it is judged whether the arrival destination is reached. When the judgment in step S703 is negative, the car dispatching device 20 further judges whether the return information that the unmanned vehicle 10 has arrived at the destination site is received through the second wireless communication circuit 203 .

In step S709, the goods are moved. When step S707 is determined to be yes, that is, after the dispatching device 20 wirelessly receives the arrival information sent back by the unmanned vehicle 10, the dispatching controller 201 can control the handling controller 205 to start handling the goods, and the unmanned vehicle 10 and the article handling station are immediately Cargo handling can be carried out automatically.

In step S711, the destination station is updated. The car dispatching device 20 updates the arrival site where the next unmanned vehicle 10 needs to stop. For example, the car dispatching device 20 outputs new site information to the unmanned vehicle 10 through the second wireless communication circuit 203, so that after the unmanned vehicle 10 receives the new site information through the first wireless communication circuit 103, the unmanned vehicle 10 can send This arrival site is used as the next arrival information.

In step S713, it is determined whether a track change has been reached. When the judgment in step S707 is negative, the car dispatching device further judges whether the return information that the unmanned vehicle 10 has arrived at the track-changing position is received through the second wireless communication circuit 203 .

In step S715, the track switching information is changed. When step S713 is judged to be yes, that is, after the dispatching device 20 wirelessly receives the information that the unmanned vehicle 10 has reached the track-changing position, the dispatching controller 201 can change the track-changing switching information as the track-changing operation has not been completed, and provide The unmanned vehicle 10 reads the changed track switching information.

In step S717, switch tracks. The car dispatching equipment 20 performs track switching for the current unmanned vehicle 10 that has reached the track switching position.

In step S719, the track switching information is changed. When the track switching is completed, the dispatching controller 201 changes the track switching information to the track switching operation completed, and the unmanned vehicle 10 can resume traveling after reading the changed track switching information.

In step S721, it is determined whether a corner has been reached. When the judgment in step S713 is negative, the car dispatching device 20 further judges whether the feedback information that the unmanned vehicle 10 has arrived at the corner position is received through the second wireless communication circuit 203 .

In step S723, it is determined whether the curve vehicle information can pass. Here, the car dispatching device 20, for example, returns passing information by judging whether there are other unmanned vehicles 10 at the turn-in of the curved track. Therefore, when the car dispatching device 20 receives the passing information sent back by other unmanned vehicles 10 at the turn-in of the curved track, the car dispatching device 20 can determine that the current unmanned vehicle cannot pass. And when the car dispatching device 20 does not receive the passing information sent back by other unmanned vehicles 10 in the corner of the curved track, the car dispatching device 20 can determine that the unmanned vehicle 10 can pass.

In step S725, the curve vehicle information is changed to passable. When the determination in step S723 is yes, the car dispatching device 20 changes the information of the vehicles on the curve to that there are cars on the curve and cannot pass through the curve, that is, the current unmanned vehicle 10 can enter the curve, and other unmanned vehicles 10 cannot enter the curve.

In step S727, it is determined that the unmanned vehicle 10 has left the curve. When the judgment in step S723 is negative, the dispatching device 20 knows that the unmanned vehicle 10 in the curve has left by, for example, judging whether there are other unmanned vehicles 10 returning the passing information at the exit of the curve.

In step S729, the curve vehicle information is changed to passable. When the determination in step S727 is yes, the car dispatching device 20 changes the curve vehicle information to that no vehicle can pass the curve. And when step S727 judges no, then step S701 is executed.

Please refer to Figure 8 and Figure 9 at the same time. Fig. 8 is a schematic diagram of an unmanned vehicle arriving at a station and matching parking. Fig. 9 is a schematic diagram of unmanned vehicles not stopping when they arrive at a station. One side of the track 30 is set on a plurality of action blocks and identification parts. The action blocks mentioned here include, for example, the first action block F1, the second action block F2, the third action block F3, the fourth action block F4 and the second action block. Five action block F5, the identification part is illustrated here with barcode B1. The unmanned vehicle 10 advances along the track 30 in a first traveling direction D1. When the unmanned vehicle 10 advances on the track 30 in the first traveling direction D1 , the proximity sensor 1053 of the unmanned vehicle 10 can detect moving blocks on the track 30 . FIG. 8 and FIG. 9 are illustrated here by comparing the driving information with the arrival information. In other embodiments, the driving information can also be combined with other track-changing information or cornering information in this way.

As shown in FIG. 8 , at time T1 , the unmanned vehicle 10 preferentially detects the first action block F1 , and at this time the driving speed of the unmanned vehicle 10 will decelerate from high speed to medium speed. At time T2, the unmanned vehicle 10 detects the second action block F2. At this time, the driving speed of the unmanned vehicle 10 will decelerate from medium speed to low speed again, and at the same time, the identification circuit 1051 of the unmanned vehicle 10 will be triggered (a code reader is used as an example here. Explanation) Start the identification function, but at this time the unmanned vehicle 10 will still move forward without stopping. Here, the first action block F1 and the second action block F2 are both used as deceleration action blocks. At time T3, the unmanned vehicle 10 detects the identification piece (here, barcode B1 is used as an example), and when the unmanned vehicle controller 101 reads the barcode through the code reader to obtain the driving information, and the unmanned vehicle controller 101 judges This driving information is consistent with the arrival information. At time T4, the unmanned vehicle 10 can stop after detecting the third action block F3, the third action block F3 is here As a stop action block, and at this time, the unmanned vehicle 10 can automatically carry goods with the goods handling station. And when the cargo handling of the unmanned vehicle 10 is completed, it can automatically resume and advance to a low speed. When the fourth action block F4 is detected at time T5, the unmanned vehicle 10 accelerates from the low speed to the medium speed again, and the fourth action block F4 is used as an acceleration action block here. When the fifth action block F5 is detected at time T6, the unmanned vehicle 10 accelerates from the medium speed to the high speed again, and the fifth action block F5 is used as an acceleration action block here.

As shown in FIG. 9 , at time T1 , the unmanned vehicle 10 preferentially detects the first action block F1 , and at this time the driving speed of the unmanned vehicle 10 will decelerate from high speed to medium speed. At time T2, the unmanned vehicle 10 detects the second action block F2. At this time, the driving speed of the unmanned vehicle 10 will decelerate from medium speed to low speed again, and at the same time, the identification circuit 1051 of the unmanned vehicle 10 will be triggered (a code reader is used as an example here. Explanation) Start the identification function, but at this time the unmanned vehicle 10 will still move forward without stopping. Here, the first action block F1 and the second action block F2 are both used as deceleration action blocks. At time T3, the unmanned vehicle 10 detects the identification piece (here the barcode B1 is used as an example), when the unmanned vehicle controller 101 reads the barcode B1 through the barcode reader to obtain the driving information, and the unmanned vehicle controller 10 Judging that the driving information does not match the arrival information, the unmanned vehicle 10 will not stop at this time and will continue to move forward. At time T4, the unmanned vehicle 10 detects the third action block F3 but does not stop. When the fourth action block F5 is detected at time T5, the unmanned vehicle 10 accelerates from a low speed to a medium speed, and the fourth action block F4 is used as an acceleration action block here. When the fifth action block F5 is detected at time T6, the unmanned vehicle 10 accelerates from the medium speed to the high speed again, and the fifth action block F5 is used as an acceleration action block here.

8 and 9, the unmanned vehicle 10 obtains the identification parts through the identification circuit 1051, so that the unmanned vehicle 10 can quickly obtain the driving information without stopping on the track 30, and according to the interpretation result of the driving information Knowing what the driving task of the unmanned vehicle 10 is, the unmanned vehicle 10 can implement the corresponding driving task accordingly.

In addition, Fig. 8 and Fig. 9 illustrate with the action blocks arranged in different arrangements, for example, the first action block F1, the fourth action block F4 and the fifth action block F5 are arranged on the track 30 at the same height. The action block at the degree position, and the first action block F1, the fourth action block F4 and the fifth action block F5 are defined to be able to change the speed of the unmanned vehicle 10, as shown in Figure 8 and Figure 9 in the first action The block F1 acts as a deceleration action block, and the fourth action block F4 and the fifth action block F5 serve as an acceleration action block. In addition to being used as a deceleration action block, the second action block F2 can also be used as a trigger action block of the identification circuit 1051 . As for the third action block F3, it is used as a stop action block. In addition, when the recognition circuit 1051 mentioned above is triggered to activate the recognition function, the recognition operation can be automatically turned off when the recognition circuit 1051 successfully recognizes the recognition part subsequently.

However, it should be noted that the above-mentioned functions and setting positions defined for each action block are for illustration only, and the present invention is not limited thereto. For example, in another embodiment, when the unmanned vehicle 10 detects an action block during travel, it can directly trigger the recognition circuit 1051 to activate the recognition function without slowing down. In addition, the travel speed of the above-mentioned unmanned vehicle 10 is not limited to the three speeds of high speed, medium speed and low speed, and can also be set to travel speeds in different speed ranges according to actual needs.

In one embodiment, when the unmanned vehicle 10 executes the processes of the above-mentioned embodiments, the unmanned vehicle controller 101 can know whether there is an obstacle in the route of the unmanned vehicle 10 through the detection result of the distance sensor 1055 . When the detection result shows that there is an obstacle, the unmanned vehicle controller 101 can immediately control the unmanned vehicle 10 to stop, and output a warning signal through the warning interface 111, and until the abnormal situation is manually eliminated, the unmanned vehicle 10 can be operated again according to the human operation. Return to normal travel.

In one embodiment, the unmanned vehicle controller 101, the car dispatching controller 201, and the handling controller 205 can be, for example, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or system-on-chip (SOC) One of them or any combination thereof can cooperate with other related circuit elements and firmware to realize the above-mentioned functional process. The car dispatching device 20 is, for example, a computer device with computing power.

[Advantageous Effects of Embodiment]

Railcar wireless control system and railcar wireless controller provided by the present invention In this way, the unmanned vehicle does not need to stop and judge when it arrives at each station, which can effectively improve the utilization rate, and the way of obtaining the identification parts through the identification circuit can quickly and accurately know the driving task of the unmanned vehicle. Furthermore, by integrating wireless charging technology into unmanned vehicles, it is possible to effectively avoid the dust caused by rail power supply, thereby effectively ensuring the yield rate of the goods being transported.

The content provided above is only a preferred feasible embodiment of the present invention, and does not therefore limit the scope of the patent application of the present invention, so all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention within the scope of the patent.

1: Rail car wireless control system

10: Unmanned vehicles

101: Unmanned vehicle controller

103: The first wireless communication circuit

105: Detection circuit

1051: identification circuit

1053: Proximity sensor

1055: distance sensor

107: Wireless charging circuit

109: Man-machine interface

111: warning interface

113: Motor controller

20: Dispatch equipment

201: car dispatch controller

203: The second wireless communication circuit

205: Handling controller

Claims (9)

A wireless control system for a rail car, comprising: an unmanned vehicle, having an unmanned vehicle controller, a first wireless communication circuit and a detection circuit, the unmanned vehicle controller is electrically connected to the first wireless communication circuit and the detection circuit a circuit, the detection circuit includes a proximity sensor and an identification circuit, the proximity sensor detects an action block arranged on a track, and the identification circuit detects an identification member arranged on the track; and A car dispatching device has a second wireless communication circuit, and the car dispatching device wirelessly transmits an arrival information to the first wireless communication circuit through the second wireless communication circuit, so that the unmanned vehicle can wirelessly obtain the arrival information; When the unmanned vehicle detects that the action block is a deceleration action block through the proximity sensor when the track is traveling at a speed, the unmanned vehicle controller controls the unmanned vehicle to drop from a first driving speed to a At the second driving speed, the unmanned vehicle controller triggers the identification circuit to start the identification function of the identification circuit, and when the identification circuit recognizes that the identification part obtains the driving information or the identification circuit is when a timing time has expired and When the identification part is not recognized, the identification function of the identification circuit is turned off; wherein the unmanned vehicle judges the driving task of the unmanned vehicle according to the acquired driving information; wherein the unmanned vehicle judges that the driving information conforms to the arrival information, The unmanned vehicle stops, and the unmanned vehicle notifies the vehicle dispatching equipment, and the vehicle dispatching equipment controls the unmanned vehicle to carry out cargo handling. When the arrival information arrives, the unmanned vehicle does not stop and continues to travel on the track. The rail car wireless control system as described in claim 1, wherein the unmanned vehicle further includes a wireless charging circuit and a motor controller, the unmanned vehicle controller is electrically connected to the wireless charging circuit and the motor controller, the wireless charging circuit for no The line receives a charging power supply for charging, and the detection circuit further includes a distance sensor, which is used to detect an obstacle in the direction of travel of the unmanned vehicle, and the unmanned vehicle controller detects an obstacle on the distance sensor When the obstacle is detected, the unmanned vehicle is controlled to stop. The rail car wireless control system as described in claim 2, wherein the dispatching equipment includes a dispatching controller and a transfer controller, the dispatching controller is electrically connected to the second wireless communication circuit and the transfer controller, the The identification circuit is a code reader or a near-field communication reader, and the identification part is a barcode or a near-field communication label. The rail car wireless control system as described in claim 1, wherein when the identification circuit recognizes that the driving information is a station passing information, the unmanned vehicle keeps moving and wirelessly outputs a corresponding information to the dispatching equipment for supply The car dispatching device updates the driving status of the unmanned vehicle. When the identification circuit recognizes that the driving information is the arrival information, the unmanned vehicle stops and wirelessly outputs a corresponding message to the car dispatching device for the car dispatching device The device updates the arrival information of the unmanned vehicle. When the identification circuit recognizes that the driving information is a track change information, the unmanned vehicle stops and wirelessly outputs a corresponding message to the dispatching device for the dispatching device. The vehicle equipment controls the track to perform a track change process. When the identification circuit recognizes that the driving information is a cornering information, the unmanned vehicle wirelessly outputs a corresponding information to the vehicle dispatching equipment. If the unmanned vehicle receives the dispatch When the car equipment wirelessly returns the information of the car on the curve, the unmanned vehicle stops and resumes traveling until the car dispatching device wirelessly returns the information of no car on the curve. A wireless control method for rail cars, suitable for a vehicle dispatching device to control an unmanned vehicle to travel on a track, including: when the unmanned vehicle is traveling on the track, the unmanned vehicle obtains the driving information provided by the track through a detection circuit, the The detection circuit includes a proximity sensor and an identification circuit, the proximity sensor detects an action block arranged on a track, and the identification circuit detects an identification piece arranged on the track; When the unmanned vehicle travels on the track at a speed and detects that the action block is a deceleration action block through the proximity sensor, the unmanned vehicle is reduced from a first driving speed to a second driving speed, And the unmanned vehicle triggers the identification circuit to start the identification function of the identification circuit; when the identification circuit recognizes that the identification part obtains driving information or when the identification circuit has not recognized the identification part when a timing time has elapsed , turn off the identification function of the identification circuit; the unmanned vehicle judges the driving task of the unmanned vehicle according to the obtained driving information; , the unmanned vehicle stops during travel and the unmanned vehicle notifies the vehicle dispatching equipment and the vehicle dispatching equipment controls the unmanned vehicle to carry out cargo handling, and the unmanned vehicle resumes driving when the cargo transportation is completed; and when the unmanned vehicle judges that the driving When the information does not match the arrival information, the unmanned vehicle does not stop and continues to travel on the track. The wireless control method for rail cars as described in claim 5 further includes: wherein the identification circuit is a barcode reader or a near field communication reader, and the identification element is a barcode or a near field communication tag. The rail car wireless control method as described in claim 6, wherein when the driving information is the arrival information, the unmanned vehicle executes a station arrival process, including: the unmanned vehicle detects the location of the station through the proximity sensor When an action block on the track is a stop action block, the unmanned vehicle stops for a cargo handling station and the unmanned workshop to automatically carry goods; the unmanned vehicle wirelessly notifies the dispatching equipment that it has arrived at the cargo handling station; the unmanned vehicle Wirelessly receiving an update instruction from the car dispatching device to update the arrival information; when the unmanned vehicle stops, a wireless charging device wirelessly charges the unmanned vehicle. The wireless control method for rail vehicles as described in claim 6, wherein when the driving information is a track change information, the unmanned vehicle executes a track change process, including: the unmanned vehicle detects and installs on the When an action block on the track is a stop action block, the unmanned vehicle stops; the unmanned vehicle wirelessly notifies the vehicle dispatching equipment that it has arrived at the track change location; when the vehicle dispatching equipment performs the track change switch, the unmanned vehicle resumes moving. The rail car wireless control method as described in claim 6, wherein when the driving information is a cornering information, the unmanned vehicle executes a cornering process, including: the unmanned vehicle wirelessly notifies the vehicle dispatching device that it has reached the cornering point; The unmanned vehicle decides whether it can go through the curve according to the information of a curved vehicle provided by the dispatching equipment; When there is car information on the curve, the unmanned vehicle detects through the proximity sensor that an action block set on the track is a stop action block, and the unmanned vehicle stops until the dispatching device wirelessly returns the curved vehicle information as When there is no car information on the curve, it resumes driving; and when the driving information is a stop information, the unmanned vehicle keeps moving and wirelessly outputs a corresponding information to the dispatching device for the dispatching device to update the unmanned vehicle. The driving status of the car.

Images