TWM629334U - Rail car wireless control system - Google Patents

Abstract

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

Description

Rail car wireless control system

This creation relates to a rail car, in particular to a wireless control system for a rail car with 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 travels on the track, it must stop every time it passes a site, and judge whether the unmanned vehicle has to transport goods at the site. However, when this method is applied to the production room of the production line, the frequent stop-and-go actions of the unmanned vehicle will inevitably lead to poor utilization rate. In addition, the power supply of existing unmanned vehicles is powered by electric rails, but the dust generated by the contact wear and tear of the electrodes is also easy to contaminate the goods.

The technical problem to be solved by this creation is to provide a wireless control system for rail cars in view of the deficiencies of the prior art.

This creative embodiment provides a wireless control system for a rail car, including an unmanned vehicle and a vehicle dispatching device. The unmanned vehicle has a first wireless communication circuit and a detection circuit. The car dispatching device 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 wirelessly obtain the arrival information. The detection circuit detects and obtains the traveling information provided by the track when the unmanned vehicle travels on a track, and the unmanned vehicle controls the traveling speed according to the traveling information. The unmanned vehicle stops when the driving information matches the arrival information. And when the driving information of the unmanned vehicle does not match the arrival information, the unmanned vehicle continues to travel on the track.

To sum up, in the wireless control system for a rail car provided by this creative embodiment, 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 it is not necessary to stop at each station to judge, so It can effectively improve the utilization rate.

In order to further understand the features and technical content of this creation, please refer to the following detailed descriptions and drawings about this creation, however, the provided drawings are only for reference and description, and are not intended to limit this creation.

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: Human Machine Interface

111: Warning interface

113: Motor Controller

20: Dispatching equipment

201: Dispatch Controller

203: Second wireless communication circuit

205: Handling Controller

30: Orbit

F1: The first action block

F2: Second Action Block

F3: The third action block

F4: Fourth action block

F5: Fifth action block

B1: Barcode

D1: first direction

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

S201: Unmanned Vehicle Start

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

S205: Detect proximity sensor

S207: Trigger the deceleration process

S209: Enter the unmanned vehicle deceleration process

S211: Trigger the abnormal stop mechanism

S213: Enter the abnormal stop process

S215: Alarm

S217: Exclude

S219: Trigger the shifting process

S221: Enter the unmanned vehicle shifting process

S301: Trigger identification circuit

S303: start timing

S305: Slow down

S307: Detect proximity sensor

S309: Trigger stop mechanism

S311: Unmanned vehicle stopped

S313: Alarm

S315: Exclude

S317: Read the identification result

S319: Get driving information

S321: Determine the 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: Time is up

S339: Turn off the identification circuit

S401: Detect proximity sensor

S403: Trigger stop mechanism

S405: stop

S407: Notify the dispatching equipment

S409: Read new site information

S411: Update completed

S501: Detect proximity sensor

S503: Trigger stop mechanism

S505: stop

S507: Notify the dispatching equipment

S509: Read track change switching information

S511: Track change completed

S601: Notify the dispatching equipment to reach the turning point

S603: Read the vehicle information on the curve

S605: Is the corner passable?

S607: Detect proximity sensor

S609: Trigger stop mechanism

S611: stop

S613: Read the vehicle information on the curve

S615: Is the corner 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: Arrive at the station purpose

S709: Handling cargo

S711: Update to station

S713: Reaching for track change

S715: Change track switching information

S717: Switch Track

S719: Change track switching information

S721: Reaching the corner

S723: Vehicle information on curve can be passed

S725: Change the vehicle information on the curve to not passable

S727: The unmanned vehicle has left the curve

S729: Change the vehicle information on the curve to passable

FIG. 1 is a schematic block diagram of a wireless control system for a rail car according to an embodiment of the present invention.

FIG. 2 provides a control flow chart of an unmanned vehicle according to an embodiment of the present invention.

FIG. 3 provides a deceleration flow chart of an unmanned vehicle according to an embodiment of the present invention.

FIG. 4 provides a flow chart of the arrival of an unmanned vehicle in an embodiment of the present invention.

FIG. 5 provides a flow chart of a track change of an unmanned vehicle according to an embodiment of the present invention.

FIG. 6 provides a cornering flow chart of an unmanned vehicle according to an embodiment of the present invention.

FIG. 7 provides a control flow chart of a car dispatching device according to an embodiment of the present invention.

FIG. 8 is a schematic diagram of the unmanned vehicle arriving at the station and matching parking.

FIG. 9 is a schematic diagram showing that the unmanned vehicle does not meet the non-stop comparison when it arrives at the station.

The following are specific specific examples to illustrate the implementation of the present creation, and those skilled in the art can understand the advantages and effects of the present creation from the content provided in this specification. This creation can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this creation. In addition, the drawings in this creation are only for simple schematic illustration, and are not drawn according to the actual size, and are stated in advance. The following embodiments will further describe the related technical contents of the present creation in detail, but the provided contents are not intended to limit the protection scope of the present creation.

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 primarily used to distinguish one element from another, or a signal from another. In addition, the term "or", as used herein, should include any one or a combination of more of the associated listed items as the case may be.

An embodiment of the present invention provides a wireless control system for a rail car. The wireless control system for a rail car here is aimed at an unmanned vehicle that is driven by an unmanned driver and used to automatically transport goods. The unmanned vehicle can communicate with a remote vehicle dispatching device in a wireless manner Communication technology is used for data transmission, so that the unmanned vehicle does not need to stop at each stop to check whether it needs to carry 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 a rail car according to an embodiment of the present invention. The rail car wireless control system 1 in this embodiment includes, for example, an unmanned vehicle 10 and a car dispatching device 20 . The relevant information of the unmanned vehicle 10 traveling on a track can be transmitted through wireless communication through the vehicle dispatching device 20 . For example, the vehicle dispatching device 20 can set the unmanned vehicle 10 to stop at a specific destination site in the track to carry goods, and the unmanned vehicle 10 It is also possible to send the relevant information of the track running back to the car dispatching device 20 for monitoring.

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

Further, 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 car dispatching device 20 . For example, the car dispatching device 20 can wirelessly transmit the arrival information to the unmanned vehicle 10, so that after the unmanned vehicle 10 obtains the driving information while driving on the track, the unmanned vehicle 10 can further confirm the driving information and the arrival information to each other, so as to obtain the driving information. It is known whether the unmanned vehicle 10 has to stop when traveling to the station. In an embodiment, the driving information may be, for example, passing information, arrival information, track change information, or cornering information, but the present invention is not limited thereto. In addition, the unmanned vehicle 10 can also wirelessly send back relevant information to the vehicle dispatching device 20 when the track is traveling, so that the vehicle dispatching device 20 can monitor the state of the unmanned vehicle 10 and take corresponding actions accordingly.

It should be noted that the above-mentioned passing information refers to the fact that the unmanned vehicle 10 does not stop at a specific position on the track and reports the information to the vehicle dispatching device 20 for monitoring. The arrival information means that the unmanned vehicle 10 stops after passing through a specific position on the track, so that goods can be automatically transported between a cargo handling station and the unmanned vehicle 10 . The track change information means that the unmanned vehicle 10 travels at a specific position on the track and stops, and reports the information to the vehicle dispatching device 20 to perform a track change operation on the track. Cornering information refers to the fact that the unmanned vehicle 10 travels through a specific position on the track, and reports information to the vehicle dispatching device 20 for confirming whether the unmanned vehicle 10 can enter the curve. Various examples of the above driving information will be described in detail later, and this creation is not limited.

The detection circuit 105 provided in the unmanned vehicle 10 includes, but is not limited to, an identification circuit 1051 , a proximity sensor 1053 and a distance detector 1055 , for example. When the unmanned vehicle 10 travels on the track, the proximity sensor 1053 can obtain the action block arranged on the track, where the action block is, for example, a deceleration action block, a stop action block, an acceleration action block, etc. used for various speed change control, for the purpose of The unmanned vehicle controller 101 can accordingly control the traveling speed of the unmanned vehicle 10 to decelerate, stop or accelerate. 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. can. The identification circuit 1051 can identify the identification element disposed on the track when the unmanned vehicle 10 is traveling on the track, so that the unmanned vehicle controller 101 can obtain the 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 travels on the track, so that the unmanned vehicle controller 101 can control whether the unmanned vehicle 10 needs to 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 one embodiment, the identification circuit 1051 may be a barcode reader, and the identification element may be a barcode in this case. In another embodiment, the identification circuit 1051 may also be a near field communication reader (RFID Reader), and the identification element may be a near field communication tag (RFID Tag). 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, for example. Therefore, when the unmanned vehicle 10 travels on the track, the wireless charging station can be combined and set at the parking site where the unmanned vehicle 10 needs to park to transport goods, or the wireless charging station can be separately set beside the track, so when the unmanned vehicle 10 stops When the wireless charging station is installed, the wireless charging station can provide a charging power source to wirelessly charge the wireless charging circuit 107 of the unmanned vehicle 10 .

The human-machine interface 109 can be, for example, a button interface or any combination of touch-sensitive interfaces, and can be used by a person to control the unmanned vehicle 10 through the human-machine interface 109 . The warning interface 111 can output warning information to achieve an alarm effect when the unmanned vehicle 10 is abnormal or malfunctioning. The warning interface 111 is, for example, a combination of a display interface or a sound 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 driving task.

In another embodiment, the human-machine interface 109 and the warning interface 111 can also be arranged in The vehicle dispatching device 20 is used for personnel to directly control the operation of the unmanned vehicle 10 and obtain the warning information reported by the unmanned vehicle 10 from the vehicle dispatching device 20 .

[Example of Control of Unmanned Vehicles]

Please refer to Figure 2. FIG. 2 provides a control flow chart of an unmanned vehicle according to an embodiment of the present invention. The flowchart shown in FIG. 2 is an example of the architecture of FIG. 1 , but is not limited thereto. The flow shown in FIG. 2 includes, for example, the following steps.

In step S201, the unmanned vehicle 10 is started. 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 of 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 first travels on the track at a fixed first speed.

In step S205, the proximity sensor 1053 is detected. When the unmanned vehicle 10 is traveling, it is possible to know whether an action block is detected by detecting the proximity sensor 1053 , so as to know whether the traveling speed of the unmanned vehicle 10 needs to be adjusted accordingly.

In step S207, it is determined whether the deceleration process is triggered. 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, the process of decelerating the unmanned vehicle 10 is entered.

In step S211, when the determination in step S207 is NO, it is determined whether the abnormal stop mechanism is triggered. 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 it is determined as YES in step S211, the abnormal stop flow is entered.

In step S215, an alarm is issued. The unmanned vehicle controller 101 passes through the warning interface 111 Output warning information. In another embodiment, the unmanned vehicle 10 can also output warning information to the car dispatching device 20 so that the car dispatching device 20 can notify the personnel for processing 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 excluded. For example, a person can control through the man-machine interface 109 to exclude the warning information. When the determination in step S217 is YES, return to step S203. When the determination in step S217 is negative, step S217 is continuously executed.

In step S219, when the determination in step S211 is NO, it is determined whether to trigger the shifting process. Here, the unmanned vehicle controller 101 determines whether the proximity sensor 1053 detects an action block used for shifting control and then triggers the unmanned vehicle shifting process.

In step S221, when the determination in step S219 is YES, the unmanned vehicle shifting process is entered. When the determination in step S219 is NO, return to step S205.

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

[Example of deceleration of unmanned vehicles]

Please refer to Figure 3. FIG. 3 provides a deceleration flow chart of an unmanned vehicle according to an embodiment of the present invention. The flowchart shown in FIG. 3 is exemplified by the structure of FIG. 1 , but is not limited thereto. The flow shown in FIG. 3 includes, for example, the following steps, and is mainly described with respect to step S209 in FIG. 2 .

In step S301, the identification circuit 1051 is triggered. When the unmanned vehicle controller 101 determines that the proximity sensor 1053 has detected the action block, the unmanned vehicle controller 101 triggers the identification circuit 1051, so that the identification circuit 1051 activates the detection function for subsequent detection of the motion block disposed on the track. identification.

In step S303, start timing.

In step S305, decelerate. When the unmanned vehicle 10 enters the deceleration process, it will decelerate the current first travel speed to the second travel 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 the 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, it is excluded. The unmanned vehicle controller 101 determines whether the warning information output by the warning interface 111 is excluded. For example, a person can control through the man-machine interface 109 to exclude the warning information. When the judgment in step S315 is yes, go to step S203, and when the judgment in step S315 is no, go back 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 the driving information is acquired. Here, the unmanned vehicle controller 101 determines whether to obtain the driving information according to whether the identification circuit 1051 has identified the identification element. For example, when the identification circuit 1051 identifies 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 identify the identification piece, the unmanned vehicle controller 101 is relatively unable to obtain the driving information. information.

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

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

In step S325, if the answer in step S323 is yes, then enter the station arrival process for execution.

In step S327, when the determination in step S323 is no, it is determined whether the driving information is different from the driving information. Track change information is the same.

In step S329, when the determination in step S327 is yes, the track change process is executed.

In step S331, when 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 step S331 is determined to be yes, then enter the cornering process for execution.

In step S335, when the determination in step S331 is no, the process of passing the station is entered.

In step S337, when the determination in step S319 is otherwise, it is determined whether the timing time has expired.

In step S339, when the determination in step S337 is yes, the identification circuit 1051 is turned off. When it is determined in step S337 that it is otherwise, it returns to step S307 to execute.

The passing process described here means that the unmanned vehicle 10 passes through without decelerating and sends back information to notify the car dispatching device 20 so that the car dispatching device 20 can know the traveling position of the unmanned vehicle 10 on the track.

3 shows a possible manner in which the unmanned vehicle 10 performs 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 should be noted that the arrival information described in step S323 is wirelessly outputted to the unmanned vehicle 10 by the car dispatching device 20, and the arrival information is, for example, a code that records the destination site to be stopped. When the unmanned vehicle 10 obtains the driving information through the identification circuit 1051 as a code representing a certain site, and the code of the certain site is the same or matches the code of the destination site, the unmanned vehicle 10 can determine that the driving information is the same as the code of the destination site. The arrival information is the same. The possible setting methods of the arrival information are only examples here, and are not intended to limit this creation.

[Example of the arrival of unmanned vehicles]

Please refer to Figure 4. FIG. 4 provides a flow chart of the arrival of an unmanned vehicle in an embodiment of the present invention. The flowchart shown in FIG. 4 is an example of the architecture of FIG. 1 , but is not limited thereto. The flow shown in FIG. 4 includes, for example, the following steps, and is mainly described with respect to step S325 in FIG. 3 .

In step S401, the proximity sensor 1053 is detected. The unmanned vehicle controller 101 detects whether the driving speed of the unmanned vehicle 10 needs to be adjusted through the detection of 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 the 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 is determined to be otherwise, it returns to step S401 to execute.

In step S407, the 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 can know that the unmanned vehicle 10 has arrived at the destination station by receiving the information through the second wireless communication circuit 203. point. The destination site described here is for the unmanned vehicle 10 to stop, so that the unmanned vehicle 10 and the item handling station can automatically carry out cargo handling. Loading or unloading of goods.

In step S409, new site information is read. After the unmanned vehicle 10 completes the transportation of the goods, it can further read the new site information. For example, the dispatching device 20 outputs the new site information through the second wireless communication circuit 203 , and the unmanned vehicle 10 transmits the new site information through the first wireless communication circuit 103 . Read receive.

In step S411, it is determined whether the update is completed. When the unmanned vehicle 10 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 the judgment in step S411 is yes, go to step S203, and when the judgment in step S411 is no, go back to step S409.

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

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

[Example of rail change for unmanned vehicles]

Please refer to Figure 5. FIG. 5 provides a flow chart of a track change of an unmanned vehicle according to an embodiment of the present invention. The flowchart shown in FIG. 5 is exemplified by the architecture of FIG. 1 , but not limited thereto. The flow shown in FIG. 5 includes, for example, the following steps, and is mainly described with respect to 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 the 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 is determined to be otherwise, it returns to step S501 to execute.

In step S507, the 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 the information through the second wireless communication circuit 203 and can know that the unmanned vehicle 10 has reached the track change. Location. The vehicle dispatching device 20 can remotely control the track at the current stop position of the unmanned vehicle 10 to perform a track change operation.

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

In step S511, it is determined whether the track change is completed. The unmanned vehicle controller 101 determines whether the track change is completed according to the read track change switch information. For example, when the track-change switching information indicates that the track-changing operation has not been completed, the process returns to step S509 to execute, and when the track-changing switching information indicates that the track-changing operation has been completed When completed, the operation of the track change process is ended, and the process returns to step S203.

When the track change process ends, the unmanned vehicle 10 can automatically resume traveling, and continues to detect the proximity sensor 1053. For example, when an acceleration action block is detected, the traveling speed of the unmanned vehicle 10 is adjusted accordingly, so that no one is The traveling speed of the vehicle 10 can be restored to the normal speed from slow to fast.

[Example of cornering of unmanned vehicles]

Please refer to Figure 6. FIG. 6 provides a flow chart of the arrival of the unmanned vehicle in the embodiment of the present invention. The flowchart shown in FIG. 6 is exemplified by the structure of FIG. 1 , but not limited thereto. The flow shown in FIG. 6 includes, for example, the following steps, and is mainly described with respect to step S333 in FIG. 3 .

In step S601, the dispatching device 20 is notified to reach the 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 can know that the unmanned vehicle 10 has reached the corner by receiving the information through the second wireless communication circuit 203 . Location.

In step S603, the curve vehicle information is read. The unmanned vehicle controller 101 reads the curve vehicle information in the car 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 can be passed. The unmanned vehicle controller 101 determines whether there is an unmanned vehicle on the curve according to the read vehicle information on the curve. For example, when the vehicle information on the curve indicates that there is a car on the curve, it means that it is impossible to pass, and then step S607 is executed, and when the vehicle information on the curve indicates that there is no car on the bay road, it means that it can be passed, and then step S617 is executed.

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

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 the 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 is determined to be otherwise, it returns to step S607 to execute.

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

In step S615, it is determined whether the curve can be passed. If the determination in step S615 is yes, the cornering process is ended and the process returns to step S203, at which time the unmanned vehicle 10 can automatically resume running. However, if it is determined in step S615 as otherwise, it returns to step S613 to execute.

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 the stop motion block and then triggers the stop mechanism.

When the determination in step S619 is YES, the unmanned vehicle 10 will not stop at this time, but will travel as usual and end the cornering process. Therefore, no vehicle can pass through the curve normally.

[Example of Control of Dispatching Equipment]

Please refer to Figure 7. FIG. 7 provides a control flow chart of a car dispatching device according to an embodiment of the present invention. The flowchart shown in FIG. 7 is an example of the structure of FIG. 1 , but it is not limited thereto. The flow shown in FIG. 7 includes, for example, the following steps.

In step S701, the state of the unmanned vehicle 10 is read. Here, the car dispatching device 20 can wirelessly transmit data through the second wireless communication circuit 203 and the first wireless communication circuit 103 of the unmanned vehicle 10 , so that the car dispatching device 20 can obtain various driving states of the unmanned vehicle 10 accordingly, such as unmanned vehicles. The driving position, driving speed, battery status or abnormal warning of the car 10, etc., but this creation is not limited to this.

In step S703, it is determined whether the station has been reached. Here, when the car dispatching device 20 determines whether the information notification returned by the unmanned vehicle 10 passing through the station is wirelessly received, 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 the determination in step S703 is yes, the vehicle is dispatched to the device. When the device 20 has wirelessly received the information notification returned by the unmanned vehicle 10 passing the station, the vehicle dispatching device 20 can correspondingly update the latest status of the unmanned vehicle 10 according to the information. For example, the vehicle dispatching device 20 can update the status to a user interface, so that the relevant personnel can grasp the driving status of the unmanned vehicle 10 through the user interface.

In step S707, it is determined whether the station purpose is reached. When the determination in step S703 is NO, the vehicle dispatching device 20 further determines whether the feedback 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 cargo is transported. When the determination in step S707 is yes, that is, after the dispatching device 20 wirelessly receives the arrival information returned by the unmanned vehicle 10, the dispatching controller 201 can control the handling controller 205 to start the handling of goods, and the unmanned vehicle 10 and the item handling station are the same as Cargo handling can be carried out automatically.

In step S711, the destination station is updated. The car dispatching device 20 updates the next arrival site where the unmanned vehicle 10 needs to stop. For example, the car dispatching device 20 outputs the 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 the new site information to the unmanned vehicle 10 . This arrival station is used as the next arrival information.

In step S713, it is determined whether a track change is reached. When the determination in step S707 is negative, the vehicle dispatching device 20 further determines whether it has received the feedback information that the unmanned vehicle 10 has reached the track change position through the second wireless communication circuit 203 .

In step S715, the track switching information is changed. When the determination in step S713 is 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 to indicate that the track-changing operation has not been completed, and provide The unmanned vehicle 10 reads the changed track change switching information.

In step S717, the track is switched. Dispatching equipment 20 for current unmanned vehicles 10 The track change position has been reached for track switching.

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

In step S721, it is determined whether the cornering has been reached. When the determination in step S713 is NO, the car dispatching device 20 further determines whether it has received the feedback information that the unmanned vehicle 10 has reached the cornering position through the second wireless communication circuit 203 .

In step S723, it is determined whether the vehicle information on the curve can be passed. Here, the car dispatching device 20 returns the passing station information, for example, by judging whether there are other unmanned vehicles 10 at the entrance of the curved track. Therefore, when the car dispatching device 20 receives the passing information transmitted by other unmanned vehicles 10 at the entrance of the curved track, the car dispatching device 20 can determine that the unmanned vehicle cannot pass through at present. However, when the car dispatching device 20 does not receive the passing information transmitted by other unmanned vehicles 10 at the entrance of the curved track, the car dispatching device 20 can determine that the unmanned vehicle 10 can pass.

In step S725, the vehicle information on the curve is changed to indicate that the vehicle cannot pass. When the determination in step S723 is yes, the vehicle dispatching device 20 changes the vehicle information on the curve to indicate that there are vehicles on the curve that cannot pass through, 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 determination in step S723 is NO, the vehicle dispatching device 20 can know that the unmanned vehicle 10 in the curve has left by, for example, judging whether there are other unmanned vehicles 10 at the exit of the curved track.

In step S729, the vehicle information on the curve is changed to be passable. When the determination in step S727 is YES, the car dispatching device 20 changes the vehicle information on the curve to indicate that no vehicle can pass through the curve. And when the determination in step S727 is no, step S701 is executed.

Please refer to FIG. 8 and FIG. 9 at the same time. FIG. 8 is a schematic diagram of the unmanned vehicle arriving at the station and matching parking. FIG. 9 is a schematic diagram showing that the unmanned vehicle does not meet the non-stop comparison when it arrives at the station. where the track 30 side is Set in a plurality of action blocks and identification pieces, the action blocks described here include, for example, a first action block F1, a second action block F2, a third action block F3, a fourth action block F4 and a fifth action block F5. The file is illustrated here with barcode B1. The unmanned vehicle 10 travels along the track 30 in the first travel direction D1. When the unmanned vehicle 10 moves along the track 30 in the first traveling direction D1 , the proximity sensor 1053 of the unmanned vehicle 10 can detect the motion block on the track 30 . FIG. 8 and FIG. 9 illustrate the comparison between the driving information and the arrival information as an example. In other embodiments, the driving information may also be combined with other track change 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 be decelerated from the medium speed to the low speed again, and the identification circuit 1051 of the unmanned vehicle 10 will be triggered at the same time (here, the code reader is used as an example) Description) The identification function is activated, but the unmanned vehicle 10 will still travel without stopping at this time. 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 identifier (here, the barcode B1 is used as an example), when the unmanned vehicle controller 101 reads the barcode through the barcode reader to obtain the driving information, and the unmanned vehicle controller 101 determines This travel information matches 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 used as a stop action block here, and at this time, the unmanned vehicle 10 can automatically transport goods with the cargo handling station. When the unmanned vehicle 10 completes the transportation of goods, it can automatically resume to travel to a low speed. When the fourth action block F4 is detected at time T5, the unmanned vehicle 10 accelerates again from the low speed to the medium speed, and the fourth action block F4 is used as the acceleration action block here. When the fifth action block F5 is detected at time T6, the unmanned vehicle 10 accelerates again from the medium speed to the high speed, and the fifth action block F5 is used as the 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 the medium speed to the low speed again, and At the same time, the identification circuit 1051 of the unmanned vehicle 10 (a code reader is used as an example) is triggered to start the identification function, but at this time the unmanned vehicle 10 will still travel without stopping. Here, the first action block F1 and the second action block F2 are both Used as a deceleration action block. At time T3, the unmanned vehicle 10 detects the identification (the barcode B1 is used as an example here), when the unmanned vehicle controller 101 reads the barcode B1 through the barcode reader to obtain the driving information, and the unmanned vehicle controller 101 It is determined that the travel information does not match the arrival information, and the unmanned vehicle 10 will not stop at this time and will continue to travel. At time T4, the unmanned vehicle 10 detects the third action block F3 but does not stop. When the fourth action block F4 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 again from the medium speed to the high speed, and the fifth action block F5 is used as the acceleration action block here.

8 and 9, the unmanned vehicle 10 obtains the identification piece through the identification circuit 1051, so that the unmanned vehicle 10 can quickly obtain the driving information without stopping while traveling 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 then implement the corresponding driving task accordingly.

In addition, FIG. 8 and FIG. 9 are examples of 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 action blocks arranged on the track 30 at the same height 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. The first action block F1 shown in Fig. 8 and Fig. 9 is used as a deceleration action block , and the fourth action block F4 and the fifth action block F5 are used as acceleration action blocks. The second action block F2 is not only used as a deceleration action block, but also 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 above-mentioned identification circuit 1051 is triggered to activate the identification function, the identification operation can be automatically closed when the identification circuit 1051 successfully identifies the identification object subsequently.

However, it should be noted that the above-mentioned functions and setting positions defined for each action block are only It is an example, and this creation is not limited to this. For example, in another embodiment, the unmanned vehicle 10 can directly trigger the identification circuit 1051 to activate the identification function by not decelerating when detecting a motion block during the traveling process. In addition, the traveling speed of the unmanned vehicle 10 is not limited to three speeds of high speed, medium speed, and low speed, and can also be set to traveling speeds of different speed segments according to actual needs.

In one embodiment, when the unmanned vehicle 10 executes the processes of the above embodiments, the unmanned vehicle controller 101 can know whether there are obstacles in the traveling route of the unmanned vehicle 10 through the detection result of the distance sensor 1055 . When the detection result is 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 dispatch controller 201 , and the handling controller 205 may be, for example, application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or system-on-chip (SOCs). One or any combination of them can be combined with other related circuit components and firmware to realize the above functional process. The car dispatching device 20 is, for example, a computer device with computing capability.

[Advantageous effects of the embodiment]

The railway car wireless control system provided by this creation, the unmanned vehicle does not need to stop and judge when it arrives at each station, which can effectively improve the utilization rate, and can quickly and accurately know the driving task of the unmanned vehicle by obtaining the identification piece through the identification circuit. . Furthermore, by integrating the wireless charging technology into the unmanned vehicle, it is possible to effectively avoid the dust of the rail power supply, thereby effectively ensuring the yield of the goods to be carried.

The content provided above is only the preferred and feasible embodiment of this creation, and is not intended to limit the scope of the patent application of this creation. Therefore, any equivalent technical changes made by using the contents of the description and drawings of this creation are included in the application for this creation. 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: Human Machine Interface

111: Warning interface

113: Motor Controller

20: Dispatching equipment

201: Dispatch Controller

203: Second wireless communication circuit

205: Handling Controller

Claims (10)

A wireless control system for a rail car, comprising: an unmanned vehicle having a first wireless communication circuit and a detection circuit; and a car dispatching device having a second wireless communication circuit, the car dispatching device passing through the second wireless communication circuit wirelessly transmits an arrival information to the first wireless communication circuit for the unmanned vehicle to wirelessly obtain the arrival information; wherein the detection circuit detects and obtains the traveling information provided by the track when the unmanned vehicle travels on a track , the unmanned vehicle controls the traveling speed according to the driving information; wherein the unmanned vehicle stops when the driving information matches the arrival information, and the unmanned vehicle stops when the driving information does not match the arrival information. The car continues on the track. The wireless control system for rail cars as claimed in claim 1, wherein the unmanned vehicle further comprises an unmanned vehicle controller, the unmanned vehicle controller is electrically connected to the first wireless communication circuit and the detection circuit, and the detection circuit includes : a proximity sensor to detect an action block arranged on the track; an identification circuit to detect an identification piece arranged on the track; wherein when the unmanned vehicle is traveling and the proximity sensor detects When the action block is a deceleration action block, the unmanned vehicle controller controls the unmanned vehicle from a first speed to a second speed, and controls the identification circuit to start identifying the identification set on the track to obtain the driving information. The wireless control system for a rail car as claimed in claim 2, wherein the unmanned vehicle further comprises a wireless charging circuit and a motor controller, the unmanned vehicle controller is electrically connected to the wireless charging circuit and the motor controller, and the wireless charging The circuit is used for wirelessly receiving a charging power source for charging. The wireless control system for a rail car as claimed in claim 3, wherein a wireless charging station is further provided beside the track, and the wireless charging station provides a charging power source for the unmanned vehicle. The wireless charging circuit of the car performs wireless charging. The rail car wireless control system as claimed in claim 3, wherein the detection circuit further comprises a distance sensor, the distance sensor is electrically connected to the unmanned vehicle controller and used for detecting the traveling direction of the unmanned vehicle an obstacle, the unmanned vehicle controller controls the unmanned vehicle to stop when the distance sensor detects the obstacle. The rail car wireless control system according to claim 2, wherein the car dispatching device includes a car dispatching controller and a transporting controller, and the dispatching controller is electrically connected to the second wireless communication circuit and the transporting controller. The rail car wireless control system as claimed in claim 2, wherein the identification circuit is a barcode reader and the identification element is a barcode, and when the driving information obtained by the barcode reader is a stopover information, the unmanned The vehicle keeps traveling and wirelessly outputs a corresponding information to the vehicle dispatching device, and the vehicle dispatching device wirelessly receives the information to update the driving state of the unmanned vehicle. The rail car wireless control system as claimed in claim 2, wherein the identification circuit is a barcode reader and the identification element is a barcode, and when the travel information obtained by the barcode reader is the arrival information, the unmanned The car stops and wirelessly outputs a corresponding piece of information to the car dispatching device, and the car dispatching device wirelessly receives the information and updates the arrival information of the unmanned vehicle. The rail car wireless control system according to claim 2, wherein the identification circuit is a barcode reader and the identification element is a barcode, and when the driving information obtained by the barcode reader is a track change information, the unmanned The car stops and wirelessly outputs a corresponding information to the car dispatching device, and the car dispatching device wirelessly receives the information and controls the track to change tracks. The wireless control system for a rail car as claimed in claim 2, wherein the identification circuit is a barcode reader and the identification element is a barcode, and when the driving information read by the barcode reader is a cornering information, the unmanned vehicle Wirelessly output a corresponding message to the car dispatching device, and the unmanned vehicle will wirelessly return the car dispatching device to the car dispatching device. At rest, the unmanned vehicle stops, and when the vehicle dispatching device wirelessly transmits no vehicle information at the curve to the unmanned vehicle, the unmanned vehicle resumes traveling.

Images